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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.

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NASA NTRS2008

Random Testing and Model Checking: Building a Common Framework for Nondeterministic Exploration

Two popular forms of dynamic analysis, random testing and explicit-state software model checking, are perhaps best viewed as search strategies for exploring the state spaces introduced by nondeterminism in program inputs. We present an approach that enables this nondeterminism to be expressed in the SPIN model checker's PROMELA language, and then lets users generate either model checkers or random testers from a single harness for a tested C program. Our approach makes it easy to compare model checking and random testing for models with precisely the same input ranges and probabilities and allows us to mix random testing with model checking's exhaustive exploration of non-determinism. The PROMELA language, as intended in its design, serves as a convenient notation for expressing nondeterminism and mixing random choices with nondeterministic choices. We present and discuss a comparison of random testing and model checking. The results derive from using our framework to test a C program with an effectively infinite state space, a module in JPL's next Mars rover mission. More generally, we show how the ability of the SPIN model checker to call C code can be used to extend SPIN's features, and hope to inspire others to use the same methods to implement dynamic analyses that can make use of efficient state storage, matching, and backtracking.

dynamic analysis↗
NASA NTRS2000

Mars proximity link operations

Given the recent setbacks of the Mars 98 missions, the Jet Propulsion Laboratory (JPL) is reassessing its approach and architecture for future MARS exploration.

in-situ operations↗
NASA NTRS1994

Customizing the JPL Multimission Ground Data System: Lessons learned

The Multimission Ground Data System (MGDS) at NASA's Jet Propulsion Laboratory has brought improvements and new technologies to mission operations. It was designed as a generic data system to meet the needs of multiple missions and avoid re-inventing capabilities for each new mission and thus reduce costs. It is based on adaptable tools that can be customized to support different missions and operations scenarios. The MGDS is based on a distributed client/server architecture, with powerful Unix workstations, incorporating standards and open system architectures. The distributed architecture allows remote operations and user science data exchange, while also providing capabilities for centralized ground system monitor and control. The MGDS has proved its capabilities in supporting multiple large-class missions simultaneously, including the Voyager, Galileo, Magellan, Ulysses, and Mars Observer missions. The Operations Engineering Lab (OEL) at JPL has been leading Customer Adaptation Training (CAT) teams for adapting and customizing MGDS for the various operations and engineering teams. These CAT teams have typically consisted of only a few engineers who are familiar with operations and with the MGDS software and architecture. Our experience has provided a unique opportunity to work directly with the spacecraft and instrument operations teams and understand their requirements and how the MGDS can be adapted and customized to minimize their operations costs. As part of this work, we have developed workstation configurations, automation tools, and integrated user interfaces at minimal cost that have significantly improved productivity. We have also proved that these customized data systems are most successful if they are focused on the people and the tasks they perform and if they are based upon user confidence in the development team resulting from daily interactions. This paper will describe lessons learned in adapting JPL's MGDS to fly the Voyager, Galileo, and Mars Observer missions. We will explain how powerful, existing ground data systems can be adapted and packaged in a cost effective way for operations of small and large planetary missions. We will also describe how the MGDS was adapted to support operations within the Galileo Spacecraft Testbed. The Galileo testbed provided a unique opportunity to adapt MGDS to support command and control operations for a small autonomous operations team of a handful of engineers flying the Galileo Spacecraft flight system model.

Murphy, Susan C.↗
NASA NTRS2021

Reducing Risk of InSight Surface Operations Through High-Fidelity Command Sequence Modeling

Simulating spacecraft behavior is crucial for the success of deep space missions, and failure to do so may result in damages to or the loss of the spacecraft. Many previous deep space missions have made use of ground-simulation of sequenced commanding, at speeds far greater than real time, to predict spacecraft state over time through the execution of onboard sequences. This type of modeling can be done at any fidelity, and most missions have opted to decrease fidelity to reduce cost and complexity. However, NASA’s Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) mission expanded the scope of ground modeling considerably, which has led to numerous benefits over past implementations. This paper will discuss the process and products that InSight created, as well as the lessons learned from successfully operating the spacecraft on Mars. InSight is the first JPL mission to expand the scope of ground modeling to include the uplink of files from Earth to the spacecraft, rather than making the simplification that any command sequences already exist onboard the spacecraft. The advantages of modeling the uplink of files are numerous. First, it allows for accurate modeling of the onboard filesystem of the spacecraft at all points in time, meaning that all file loads and deletions throughout the mission are modeled at the exact moment they are predicted to actually happen. Second, operators can be more certain that dependencies between sequences are not broken due to the dynamic nature of the filesystem as files are deleted, copied, and uplinked. Lastly, spacecraft filesystem tracking allows for management of sequences prior to uplink, limiting the uplink to only new sequences. The onboard filesystem model became crucial to mission success, emphasizing the importance of investing in accurate models before the need for them arises. During daily tactical operations of a spacecraft on Mars, a model is only useful if the results can be interpreted quickly. In this fast-paced environment, it is essential that command products are modeled and reviewed, errors are found and diagnosed, and new command products are redelivered, remodeled, re-reviewed in a timely manner. It is impossible to review the entire model and therefore the results of the model must be condensed and presented in a fashion that is intuitive, easy-to-navigate, complete, and trustworthy. InSight developed a number of innovative sequence review products that are designed to provide operators with the information required to quickly assess the validity of command products and diagnose potential issues. Together, these products provide a complete, yet succinct picture of the command and sequence model to the operators and facilitate a quick assessment of all sequence command products. This paper will cover planning and sequencing innovations made during InSight surface operations, and will compare the tools, processes, and results to those on other missions. Additionally, the paper will cover the flexible, yet robust nature of the planning and sequencing system architecture and how that flexibility allowed for rapid development and response to the unpredictability of Mars.

Cloutier, Kyle↗
NASA NTRS2003

Mars mission concepts incorporating a 3 kWe surface fission power system

A team from JPL and the DOE has recently completed a study to investigate the utility of a 3 kWe surface fission power system for Mars missions. In the course of this study it became clear that the application of such a power system was enabling to a wide variety of potential surface missions.

nuclear reactor Mars Lander cryobot rover↗
NASA NTRS1997

Design of the Cassini Gimbal Actuator: Some Lessons Learned Along the Way

The evolution of a linear servoactuator design is presented. The linear actuator was needed to position Cassini's redundant rocket motors. A device design inherited from JPL's Mariner and Viking Mars missions served as a starting point. The various improvements made and the efforts involved in developing new component sources are discussed. Because the brush type DC motor from the old design was retained, special attention was placed on the reliability testing of the motor and mechanism at all stages of procurement and assembly.

actuators DC motors reliability lifetime↗
NASA NTRS2017

Synopsis of Precision Landing and Hazard Avoidance (PL&HA) Capabilities for Space Exploration

Until recently, robotic exploration missions to the Moon, Mars, and other solar system bodies relied upon controlled blind landings. Because terrestrial techniques for terrain relative navigation (TRN) had not yet been evolved to support space exploration, landing dispersions were driven by the capabilities of inertial navigation systems combined with surface relative altimetry and velocimetry. Lacking tight control over the actual landing location, mission success depended on the statistical vetting of candidate landing areas within the predicted landing dispersion ellipse based on orbital reconnaissance data, combined with the ability of the spacecraft to execute a controlled landing in terms of touchdown attitude, attitude rates, and velocity. In addition, the sensors, algorithms, and processing technologies required to perform autonomous hazard detection and avoidance in real time during the landing sequence were not yet available. Over the past decade, NASA has invested substantial resources on the development, integration, and testing of autonomous precision landing and hazard avoidance (PL&HA) capabilities. In addition to substantially improving landing accuracy and safety, these autonomous PL&HA functions also offer access to targets of interest located within more rugged and hazardous terrain. Optical TRN systems are baselined on upcoming robotic landing missions to the Moon and Mars, and NASA JPL is investigating the development of a comprehensive PL&HA system for a Europa lander. These robotic missions will demonstrate and mature PL&HA technologies that are considered essential for future human exploration missions. PL&HA technologies also have applications to rendezvous and docking/berthing with other spacecraft, as well as proximity navigation, contact, and retrieval missions to smaller bodies with microgravity environments, such as asteroids.

Robertson, Edward A.↗
NASA NTRS2001

Jet Propulsion Laboratory: Annual Report 1999

The Jet Propulsion Laboratory, located in the foothills near Pasadena, California, is the nation's lead center for the robotic exploration of space. Intense activity in space missions was the hallmark of the Jet Propulsion Laboratory as a new generation of smaller, less expensive spacecraft were sent out from Earth. From late 1998 to mid-1999, JPL launched a craft testing a futuristic ion engine, an orbiter and lander bound for Mars, a mission to fly by a comet and return a sample of its dust to Earth, a small infrared telescope, and an Earth-circling satellite that uses radar to gauge winds over the oceans. This unprecedented schedule resulted in spectacular achievements, tempered by highly visible mission losses. Weighed together, the successes and failures dramatically underscored the difficulty and risk involved in the unique business of space science and exploration. Among the achievements, the ion-engine-powered Deep Space 1, comet-bound Stardust and Earth-orbiting SeaWinds were joined by such ongoing missions as Mars Global Surveyor, Galileo and Cassini in delivering on their promise and, in some cases, providing surprising new views of space and Earth. At the same time, mission teams were disappointed by the losses of an orbiter and lander at Mars, as well as a small infrared telescope. JPL worked closely with NASA to learn from these experiences and build successful future missions. The Laboratory also achieved a key goal by winning the International Organization of Standards' 'ISO 9001' certification - a standard shared by the world's best engineering organizations. As the year rolled to a close, clocks rolled over from 1999 to 2000. Operations teams at JPL and NASA watched with satisfaction as a major campaign of Year 2000 readiness paid off with no problems among the thousands of computer systems that support the Laboratory's missions. With that auspicious beginning, JPL was positioned to step into the 21st century and embark on even yet unimagined future explorations.

Jet Propulsion Laboratory (JPL)↗
NASA NTRS2003

Robotic Mars Sample Return: Risk Assessment and Analysis Report

A comparison of the risk associated with two alternative scenarios for a robotic Mars sample return mission was conducted. Two alternative mission scenarios were identified, the Jet Propulsion Lab (JPL) reference Mission and a mission proposed by Johnson Space Center (JSC). The JPL mission was characterized by two landers and an orbiter, and a Mars orbit rendezvous to retrieve the samples. The JSC mission (Direct/SEP) involves a solar electric propulsion (SEP) return to earth followed by a rendezvous with the space shuttle in earth orbit. A qualitative risk assessment to identify and characterize the risks, and a risk analysis to quantify the risks were conducted on these missions. Technical descriptions of the competing scenarios were developed in conjunction with NASA engineers and the sequence of events for each candidate mission was developed. Risk distributions associated with individual and combinations of events were consolidated using event tree analysis in conjunction with Monte Carlo techniques to develop probabilities of mission success for each of the various alternatives. The results were the probability of success of various end states for each candidate scenario. These end states ranged from complete success through various levels of partial success to complete failure. Overall probability of success for the Direct/SEP mission was determined to be 66% for the return of at least one sample and 58% for the JPL mission for the return of at least one sample cache. Values were also determined for intermediate events and end states as well as for the probability of violation of planetary protection. Overall mission planetary protection event probabilities of occurrence were determined to be 0.002% and 1.3% for the Direct/SEP and JPL Reference missions respectively.

Lalk, Thomas R.↗
NASA NTRS1993

Imaging spectrometry of the Earth and other solar system bodies

Imaging spectrometry is a relatively new tool for remote sensing of the Earth and other bodies of the solar system. The technique dates back to the late 1970's and early 1980's. It is a natural extension of the earlier multi-spectral imagers developed for remote sensing that acquire images in a few, usually broad spectral bands. Imaging spectrometers combine aspects of classical spectrometers and imaging systems, making it possible to acquire literally hundreds of images of an object, each image in a separate, narrow spectral band. It is thus possible to perform spectroscopy on a pixel-by-pixel basis with the data acquired with an imaging spectrometer. Two imaging spectrometers have flown in space and several others are planned for future Earth and planetary missions. The French-built Phobos Infrared Spectrometer (ISM) was part of the payload of the Soviet Mars mission in 1988, and the JPL-built Near Infrared Mapping Spectrometer (NIMS) is currently en route to Jupiter aboard the Galileo spacecraft. Several airborne imaging spectrometers have been built in the past decade including the JPL-built Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) which is the only such sensor that covers the full solar reflected portion of the spectrum in narrow, contiguous spectral bands. NASA plans two imaging spectrometers for its Earth Observing System, the Moderate and the High Resolution Imaging Spectrometers (MODIS and HIRIS). A brief overview of the applications of imaging spectrometry to Earth science will be presented to illustrate the value of the tool to remote sensing and indicate the types of measurements that are required. The system design for AVIRS and a planetary imaging spectrometer will be presented to illustrate the engineering considerations and challenges that must be met in building such instruments. Several key sensor technology areas will be discussed in which miniaturization and/or enhanced performance through micromachining and nanofabrication may allow smaller, more robust, and more capable imaging spectrometers to be built in the future.

Vane, Gregg↗
NASA NTRS1994

Re-engineering the Multimission Command System at the Jet Propulsion Laboratory

The Operations Engineering Lab (OEL) at JPL has developed the multimission command system as part of JPL's Advanced Multimission Operations System. The command system provides an advanced multimission environment for secure, concurrent commanding of multiple spacecraft. The command functions include real-time command generation, command translation and radiation, status reporting, some remote control of Deep Space Network antenna functions, and command file management. The mission-independent architecture has allowed easy adaptation to new flight projects and the system currently supports all JPL planetary missions (Voyager, Galileo, Magellan, Ulysses, Mars Pathfinder, and CASSINI). This paper will discuss the design and implementation of the command software, especially trade-offs and lessons learned from practical operational use. The lessons learned have resulted in a re-engineering of the command system, especially in its user interface and new automation capabilities. The redesign has allowed streamlining of command operations with significant improvements in productivity and ease of use. In addition, the new system has provided a command capability that works equally well for real-time operations and within a spacecraft testbed. This paper will also discuss new development work including a multimission command database toolkit, a universal command translator for sequencing and real-time commands, and incorporation of telecommand capabilities for new missions.

Alexander, Scott↗
NASA NTRS1997

Updating Gimbal Actuators for the Long Journey to Saturn

The Cassini mission requires extraordinary life and reliability from the linear servo-actuators which position the spacecraft's redundant rocket engines. Both commercial actuators and existing in-house actuator designs were studied for this application. Ultimately a device inherited from JPL's Mariner and Viking missions to Mars was selected because of its close match to functional requirements and its flight pedigree. However, several design improvements were necessary to meet life and reliability goals. Special attention was focused on reliability testing of the motor and mechanism at all stages of procurement and assembly because a brush type of DC motor was retained from the old design. These improvements and, in particular, efforts to develop new component sources are discussed in this paper.

Iskenderian, Theodore↗
NASA NTRS2010

Controlling Precision Stepper Motors in Flight Using (Almost) No Parts

This concept allows control of high-performance stepper motors with minimal parts count and minimal flight software complexity. Although it uses a small number of common flight-qualified parts and simple control algorithms, it is capable enough to meet demanding system requirements. Its programmable nature makes it trivial to implement changes to control algorithms both during integration & test and in flight. Enhancements such as microstepping, half stepping, back-emf compensation, and jitter reduction can be tailored to the requirements of a large variety of stepper motor based applications including filter wheels, focus mechanisms, antenna tracking subsystems, pointing and mobility. The hardware design (using an H-bridge motor controller IC) was adapted from JPL's MER mission, still operating on Mars. This concept has been fully developed and incorporated into the MCS instrument on MRO, currently operating in Mars orbit. It has been incorporated into the filter wheel mechanism and linear stage (focus) mechanism for the AMT instrument. On MCS/MRO, two of these circuits control the elevation and azimuth of the MCS telescope/radiometer assembly, allowing the instrument to continuously monitor the limb of the Martian atmosphere. Implementation on MCS/MRO resulted in a 4:1 reduction in the volume and mass required for the motor driver electronics (100:25 square inches of PCB space), producing a very compact instrument. In fact, all of the electronics for the MCS instrument are packaged within the movable instrument structure. It also saved approximately 3 Watts of power. Most importantly, the design enabled MCS to meet very its stringent maximum allowable torque disturbance requirements.

Randall, David↗
NASA NTRS2015

Comparison of Human Exploration Architecture and Campaign Approaches

As part of an overall focus on space exploration, National Aeronautics and Space Administration (NASA) continues to evaluate potential approaches for sending humans beyond low Earth orbit (LEO). In addition, various external organizations are studying options for beyond LEO exploration. Recent studies include NASA's Evolvable Mars Campaign and Design Reference Architecture (DRA) 5.0, JPL's Minimal Mars Architecture; the Inspiration Mars mission; the Mars One campaign; and the Global Exploration Roadmap (GER). Each of these potential exploration constructs applies unique methods, architectures, and philosophies for human exploration. It is beneficial to compare potential approaches in order to better understand the range of options available for exploration. Since most of these studies were conducted independently, the approaches, ground rules, and assumptions used to conduct the analysis differ. In addition, the outputs and metrics presented for each construct differ substantially. This paper will describe the results of an effort to compare and contrast the results of these different studies under a common set of metrics. The paper will first present a summary of each of the proposed constructs, including a description of the overall approach and philosophy for exploration. Utilizing a common set of metrics for comparison, the paper will present the results of an evaluation of the potential benefits, critical challenges, and uncertainties associated with each construct. The analysis framework will include a detailed evaluation of key characteristics of each construct. These will include but are not limited to: a description of the technology and capability developments required to enable the construct and the uncertainties associated with these developments; an analysis of significant operational and programmatic risks associated with that construct; and an evaluation of the extent to which exploration is enabled by the construct, including the destinations visited and the exploration capabilities provided at those destinations. Based upon the comparison of constructs, the paper will identify trends and lessons learned across all of the candidate studies.

Goodliff, Kandyce↗
NASA NTRS2004

Coordination of Mars Orbiting Assets to Support Entry, Descent, and Landing (EDL) Activities

NASA policy requires continuous telecommunications with missions during the execution of their critical events, which implies constraints on where missions to other planets may land or inject into orbit. JPL is working to establish a telecommunications network at Mars to provide contact with inbound missions to Mars and assets that have landed on the Martian surface, thus reducing the constraints on where critical events may be performed. Coordination of network assets is required to cover an inbound mission's critical event, such as EDL. This paper describes the development of a tool to evaluate EDL coverage capability of Mars network assets over a specified launch date/arrival date space.

Mars Network↗
NASA NTRS2004

Coordination of Mars orbiting assets to support entry, descent, and landing (EDL) activities

NASA policy requires continuous telecommunications with missions during the execution of their critical events, which implies constraints on where missions to other planets may land or inject into orbit. JPL is working to establish a telecommunications network at Mars to provide contact with inbound missions to Mars and assets that have landed on the Martian surface, thus reducing the constraints on where critical events may be performed.

Craig, Lynn↗