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At least 55 records · Page 3

Habitability Considerations for a Notional Five-Day Small Pressurized Rover Excursion

Within the Artemis program, the Pressurized Rover (PR) is intended to support two-person mobile habitation up to roughly thirty days in duration. Lunar surface use of the PR, however, assumes a crew swap approximately halfway through a 33-day surface mission. Within that shorter duration, a rover crew may perform one or more excursions to remote sites in support of specific mission science or operational objectives. An important consideration in rover design is ensuring that the habitation accommodations in the vehicle support these types of missions. No pressurized rovers have ever been used in human spaceflight, but several have been proposed. The current NASA pressurized rover reference configuration is based on the third generation of the prototype small pressurized rover initially developed under Constellation. Using the NASA reference configuration, habitability considerations are discussed in the context of a notional five-day science excursion. The primary focus will be on the time the crew spends in the cabin, as opposed to time spent outside the vehicle on science-based EVAs. On each day of the excursion, the specific crew activities will be detailed. Crew activities that will be assessed include post sleep, EVA preparation, daily planning conference, private medical conference, traverse driving, EVA cabin egress, EVA cabin ingress, post-EVA activity, crew meals, pre-egress site observation and analysis, crew exercise, pre-sleep, and sleep. Considerations for crew fatigue will be discussed, including lessons learned from field testing. Finally, the assessment will identify hypotheses to assess in future analog missions and suitable test campaigns to evaluate them.

Pressurized Rover↗

Remote Diagnosis and Operational Response to an In-Flight Failure of the Drill Feed Mechanism Onboard the Mars Science Laboratory Rover

On November 30th, 2016 (Sol 1536 of the mission), the Mars Science Laboratory (MSL) flight operations team commanded the Curiosity rover to drill into a Martian rock to acquire the mission’s 16th rock powder sample. The drilling operation was halted when the drill feed mechanism unexpectedly stalled shortly after disengaging its magnetically-actuated friction brake at the start of a long move to extend the drill bit into contact with the target rock. The drilling campaign was put on hold and later abandoned as diagnostic experimentation revealed a tendency for the actuator to transition in and out of a high-drag state in which the mechanism could not actuate. In the subsequent months, the team conducted a variety of in-flight and ground-based investigations to determine root cause and identify mitigation strategies for continued operation. Mechanism reliability continued to degrade and by June 2017, it became clear that the mechanism could not be relied upon to support drilling operations. The team succeeded in fully extending the feed, enabling the development of new sampling techniques that would not rely on the feed mechanism. The first feed-extended drilling sample was successfully collected on Sol 2057, 521 sols after the initial feed stall. This paper discusses the anomaly investigation process, failure analysis, and feed mechanism operation mitigation strategies. It concludes with key lessons learned about mechanism design, mission architecture, and operational best practices.

Lin, Megan Richardson↗

Using RSVP for analyzing state and previous activities for the Mars Exploration Rovers

Current developments in immersive environments for mission planning include several tools which make up a system for performing and rehearsing missions. This system, known as the Rover Sequencing and Visualization Program (RSVP), includes tools for planning long range sorties for highly autonomous rovers, tools for planning operations with robotic arms, and advanced tools for visualizing telemetry from remote spacecraft and landers. One of the keys to successful planning of rover activities is knowing what the rover has accomplished to date and understanding the current rover state. RSVP builds on the lessons learned and the heritage of the Mars Pathfinder mission This paper will discuss the tools and methodologies present in the RSVP suite for examining rover state, reviewing previous activities, visually comparing telemetered results to rehearsed results, and reviewing science and engineering imagery. In addition we will present how this tool suite was used on the Mars Exploration Rovers (MER) project to explore the surface of Mars.

Mars Exploration Rover (MER)↗

An in Situ Technique for Elemental Analysis of Lunar Surfaces

An in situ analytical technique that can remotely determine the elemental constituents of solids has been demonstrated. Laser-Induced Breakdown Spectroscopy (LIBS) is a form of atomic emission spectroscopy in which a powerful laser pulse is focused on a solid to generate a laser spark, or microplasma. Material in the plasma is vaporized, and the resulting atoms are excited to emit light. The light is spectrally resolved to identify the emitting species. LIBS is a simple technique that can be automated for inclusion aboard a remotely operated vehicle. Since only optical access to a sample is required, areas inaccessible to a rover can be analyzed remotely. A single laser spark both vaporizes and excites the sample so that near real-time analysis (a few minutes) is possible. This technique provides simultaneous multielement detection and has good sensitivity for many elements. LIBS also eliminates the need for sample retrieval and preparation preventing possible sample contamination. These qualities make the LIBS technique uniquely suited for use in the lunar environment.

Kane, K. Y.↗

Astrobiology Survey of a Lava Cave at Lava Beds National Monument by a Rover Carrying a Remote Sensing Instrument Payload

We report here on a survey of a lava tube cave by a rover that is instrumented for astrobiology missions. The NASA Ames testbed rover, CaveR, was deployed in Valentine Cave in Lava Beds National Monument (N. CA, USA) during August of 2018. The rover carried an instrument package consisting of Near Infrared and Visible Spectrometer System (NIRVSS) a point spectrometer operating in 1590-3400 nm range, sensitive to H2O and -OH bearing minerals, pyroxenes, and carbonates (Roush, et al 2018); the bore sighted Drill Operations Camera (DOC), a monochrome imager illuminated by LEDs at 410, 540, 640, 740, 905 and 940 nm; a Realsense ™ depth sensor system for 3D model generation; and a high resolution DSLR stereo camera. The payload was mounted on a tiltable instrument platform attached to the left side of the rover. The rover was driven manually in the cave by field operators, following instructions from a remote science operations team, and simulating a mission concept with science-guided autonomy. A simulated mission took place for 3 days with a team of 3 scientists selecting targets and interpreting data from the payload. To begin the mission, the rover drove along one wall of the cave imaging continuously with the Realsense in 20 m cave segments, three total. At the start of each day, the images from a 20m segment and a panorama stitched from them were provided to the science team to examine. The science team used these data to prioritize specific points along the cave wall for the collection of NIRVSS, DOC, and DSLR data. The objective of the data collection was to identify and study putative biological and mineralogical features in the cave. The data were delivered in xGDS, a customized mapping, planning, and data base management software developed at NASA Ames (Lee, et al 2013). Once the targets for further observations were selected, a plan for collecting the observations (positions in the cave and pointing for each requested observation) was constructed using xGDS and delivered to a rover team to execute the science data collection plan. Acquired data were delivered back to the science team for analysis. Preliminary results from the experiment illustrate the utility of the system (rover plus payload) to study the cave geology and mineralogy and its potential for identifying biomineral features.

Wong, Uland↗

“Just Do It” Mission Operations Training in a COVID World

“No”- “not”- “can’t do it” – these words don’t fly in M2020 Mission Operations. The M2020 Surface Mission Operations Team trained for landing the Perseverance Rover under COVID-19 remote work/mandatory stay-at-home conditions. Training activities included presenting Flight Schools to the team via video conferencing, training COVID personal safety requirements to on-premises staff, and constantly updating and communicating COVID restrictions to the team as safety requirements changed. This paper explores the impact of COVID on the Mission System Training for M2020 Mission Operations. The layers of COVID, aptly named the “COVID Tax” by team management, affected project roles, communications, personnel interactions, operations facility usage and training exercises practiced by the team. Flight Schools and Operational Readiness Tests (ORTs) are driving forces behind the surface mission operations training. These activities work hand-in-hand to prepare the team for landing day, surface operations that transition from cruise to nominal operations, and nominal operations. Under normal training conditions, Flight Schools and ORTs are only concerned with tactical operations for the Uplink (Command) Downlink (Analysis) and Campaign Implementation (Planning) Teams of scientists and system engineers. Due to COVID, and the necessity to maintain physical distance between people, training for the landing team needed to include the new category of COVID personal safety. COVID also necessitated remote teams and video conferencing of the entirety of Flight Schools. This reliance on distance learning had not been done on previous missions. We will explore the advantages and disadvantages of video conferencing as a training platform; training effectiveness in communicating and practicing the multiple changes to the COVID safety protocols; and the timing in which we received and responded to COVID directives. Additionally, this paper will review the practical measures taken by the on-premises team and how the team adapted during the readiness tests, landing, and early mission operations, as well as how the team responded to the post-vaccine ramping down of COVID Protocols. The M2020 Surface Mission Operations Team responded very well to the challenges of COVID. All pre-landing operational and COVID-related training was completed. Post-landing COVID Training was provided as needed to new on-premises personnel. Training presented on COVID for the first operational readiness test (ORT) consisted of 2.5 hours of training. Each ORT had COVID Training. A person who had participated in all of the ORTs from September 2020 – February 2021 would have received over 7 hours of COVID Training. By ORT-12 (approximately 8 weeks after the first ORT), the Training team consolidated the original COVID training to a one-hour COVID Basic Training course, with additional recommended training. The Basic training course was updated after landing, as vaccines became available. COVID Training had multiple Flight Schools in the self-directed Blackboard Learning system, as well as a Quick Reference Wiki for Onboarding of new on-premises personnel and keeping on-premises personnel up-to-date. COVID Training covered many topics including practical methods of 6-foot distancing, how to interact with an IT professional when help was needed at a workstation, and challenging indoor meal-eating protocols. COVID Training continued to be updated, as the lab and the project respond to the virus variants and federal, state and local ordinances.

Rosette, Theresa↗

Incorporating AEGIS Autonomous Science into Mars Science Laboratory Rover Mission Operations

The AEGIS (Autonomous Exploration for Gathering Increased Science) intelligent targeting software system has been in use on the Mars Science Laboratory (MSL) mission since 2016. The system allows on-board autonomous selection of targets for the ChemCam remote geochemistry instrument based on analysis of images taken by the rover. This paper describes the deployment of AEGIS to MSL and the operational use of the system since rollout to science operations in May of 2016.

Deflores, Lauren↗

Simulating Operation of a Planetary Rover

Simulating Operation of a Planetary Rover Rover Analysis, Modeling, and Simulations (ROAMS) is a computer program that simulates the operation of a robotic vehicle (rover) engaged in exploration of a remote planet. ROAMS is a roverspecific extension of the DARTS and Dshell programs, described in prior NASA Tech Briefs articles, which afford capabilities for mathematical modeling of the dynamics of a spacecraft as a whole and of its instruments, actuators, and other subsystems. ROAMS incorporates mathematical models of kinematics and dynamics of rover mechanical subsystems, sensors, interactions with terrain, solar panels and batteries, and onboard navigation and locomotion-control software. ROAMS provides a modular simulation framework that can be used for analysis, design, development, testing, and operation of rovers. ROAMS can be used alone for system performance and trade studies. Alternatively, ROAMS can be used in an operator-in-the-loop or flight-software closed-loop environment. ROAMS can also be embedded within other software for use in analysis and development of algorithms, or for Monte Carlo studies, using a variety of terrain models, to generate performance statistics. Moreover, taking advantage of realtime features of the underlying DARTS/Dshell simulation software, ROAMS can also be used for real-time simulations.

Jain, Abhinandan↗

Generating CAHV and CAHVOR Images with Shadows in ROAMS

Part of the Rover Analysis, Modeling and Simulation (ROAMS) software that synthesizes images of terrain has been augmented to make the images more realistic. [ROAMS was described in "Simulating Operation of a Planetary Rover" (NPO-30722), NASA Tech Briefs, Vol. 28, No. 9 (September 2004), page 52. ROAMS simulates the operation of a robotic vehicle (rover) exploring terrain on a remote planet.] The images are needed for modeling responses of rover cameras that provide sensory inputs for machine-vision-based algorithms for controlling the motion of the rover. The augmented image-synthesizing part of the ROAMS software supports terrain geometry and texture specifiable by the user, CAHV and CAHVOR camera models, and more-realistic shadowing (see figure). (The letters in "CAHV" represent vectors in a standard photogrammetric model of a pinhole camera. Letters O and R in "CAHVOR" represent vectors used to model distortions.) A contemplated future version of ROAMS would support the CAHVORE model, which represents more-general cameras, including those having fish-eye or other wide-field-of-view lenses. (Letter E in "CAHVORE" represents a vector used to model apparent motion of a camera entrance pupil.)

Madison, Richard↗

Automated Targeting for the MER Rovers

The Autonomous Exploration for Gathering Increased Science System (AEGIS) will soon provide automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which currently which currently has two rovers exploring the surface of Mars. Currently, targets for rover remote-sensing instruments, especially narrow field-of-view instruments (such as the MER Mini- TES spectrometer or the 2011 Mars Science Laboratory (MSL) Mission ChemCam Spectrometer), must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In this paper, we first provide some background information on the larger autonomous science framework in which AEGIS was developed. We then describe how AEGIS was specifically developed and tested on the JPL FIDO rover. Finally we discuss how AEGIS will be uploaded and used on the Mars Exploration Rover (MER) mission in early 2009.

rover autonomy↗

Photo-realistic Terrain Modeling and Visualization for Mars Exploration Rover Science Operations

Modern NASA planetary exploration missions employ complex systems of hardware and software managed by large teams of. engineers and scientists in order to study remote environments. The most complex and successful of these recent projects is the Mars Exploration Rover mission. The Computational Sciences Division at NASA Ames Research Center delivered a 30 visualization program, Viz, to the MER mission that provides an immersive, interactive environment for science analysis of the remote planetary surface. In addition, Ames provided the Athena Science Team with high-quality terrain reconstructions generated with the Ames Stereo-pipeline. The on-site support team for these software systems responded to unanticipated opportunities to generate 30 terrain models during the primary MER mission. This paper describes Viz, the Stereo-pipeline, and the experiences of the on-site team supporting the scientists at JPL during the primary MER mission.

Edwards, Laurence↗

Mars Rover Sample Return - Rover challenges

Mission requirements, design considerations, and scenarios are presented for the Mars Rover Sample Return mission to send rovers to Mars to collect samples for return to earth. Rover automation is examined in detail. Issues of rover design related to mobility, local navigation, and sample acquisition are discussed. Scenarios for rover operation are given, including a comparison between the level of automation of the computer-aided remote driving system and the level of the semiautonomous navigation system. It is suggested that the rover must be more automated than previous aircraft.

Allen, Lew↗

Using Degradation Modeling to Identify Fragile Operational Conditions in Human- and Component-driven Resilience Assessment

Studying failure events shows that many high-impact events result from the complex interactions between precipitating failure events and degraded operational conditions. Often, when a system is put in operations, unforeseen practical realities (e.g., maintenance and/or workforce availability) lead the system to be operated in configurations outside its envisioned nominal range. However, design-time failure models often assume that the failure events are initiated in an idealized, nominal state of system operation, resulting in an incomplete assessment of future risk. To solve this, this paper develops a framework to consider degraded operational performance in scenario-based resilience models which uses a corresponding model of performance degradation to determine the values of deteriorated model parameters in the resilience model. This framework is demonstrated on a remotely-piloted rover to determine the (individual and combined) effect of drive-train wear and operator fatigue on the resilience of the rover to drive-train faults. This demonstration showed the substantial impact that degradation has on resilience, highlighting the need to account for degradation in resilience models–specifically, unconsidered degradation can lead to overestimates of resilience (and thus underestimates of safety margin) and because resilience can degrade prior to visible unreliability, which can lead to an operational environment with a high propensity for high-impact unforeseen failure events.

resilience↗

Using Degradation Modeling to Identify Fragile Operational Conditions in Human- and Component-driven Resilience Assessment

Studying failure events shows that many high-impact events result from the complex interactions between precipitating failure events and degraded operational conditions. Often, when a system is put in operations, unforeseen practical realities (e.g., maintenance and/or workforce availability) lead the system to be operated in configurations outside its envisioned nominal range. However, design-time failure models often assume that the failure events are initiated in an idealized, nominal state of system operation, resulting in an incomplete assessment of future risk. To solve this, this paper develops a framework to consider degraded operational performance in scenario-based resilience models which uses a corresponding model of performance degradation to determine the values of deteriorated model parameters in the resilience model. This framework is demonstrated on a remotely-piloted rover to determine the (individual and combined) effect of drive-train wear and operator fatigue on the resilience of the rover to drive-train faults. This demonstration showed the substantial impact that degradation has on resilience, highlighting the need to account for degradation in resilience models--specifically, unconsidered degradation can lead to overestimates of resilience (and thus underestimates of safety margin) and because resilience can degrade prior to visible unreliability, which can lead to an operational environment with a high propensity for high-impact unforeseen failure events.

Daniel Hulse↗

Space Telerobotics and Rover Research at JPL

The goal of our program is to develop, integrate and demonstrate the science and technology of remote telerobotics leading to increases in operational capability, safety, cost effectiveness and probability of success of NASA missions. To that end, the program fosters the development of innovative system concepts for on-orbit servicing and planetary surface missions which use telerobotic systems as an important central component. These concepts are carried forward into develoments which are used to evaluate and demonstrate technology in realistic flight and ground experiments.

telepresence rover technology robotic assisted mic↗

Remotely-Sensed Geology from Lander-Based to Orbital Perspectives: Results for FIDO Rover Field Tests

Tests of the FIDO (Field Integration Design and Operations) rover and Athena-like operational scenarios were conducted May 7-16, 2000. A group located at the Jet Propulsion Lab, Pasadena, CA, formed the Core Operations Team (COT) that designed experiments and command sequences while another team tracked, maintained, and secured the rover in the field. The COT had no knowledge of the specific field location, thus the tests were done "blind." In addition to FIDO rover instrumentation, the COT had access to LANDSAT 7, TIMS, and AVIRIS regional coverage and color descent images. Using data from the FIDO instruments, primarily a color microscopic imager (CMI), infrared point spectrometer (IPS; 1.5-2.4 microns), and a three-color stereo panoramic camera (Pancam), the COT correlated lithologic features (mineralogy, rock types) from the simulated landing site to a regional scale. The May test results provide an example of how to relate site geology from landed rover investigations to the regional geology using remote sensing. The capability to relate mineralogic signatures using the point IR spectrometer to remotely sensed, multispectral or hyperspectral data proved to be key to integration of the in-situ and remote data. This exercise demonstrated the potential synergy between lander-based and orbital data, and highlighted the need to investigate a landing site in detail and at multiple scales.

Jolliff, B.↗

Photovoltaic Power System and Power Distribution Demonstration for the Desert RATS Program

A stand alone, mobile photovoltaic power system along with a cable deployment system was designed and constructed to take part in the Desert Research And Technology Studies (RATS) lunar surface human interaction evaluation program at Cinder Lake, Arizona. The power system consisted of a photovoltaic array/battery system. It is capable of providing 1 kW of electrical power. The system outputs were 48 V DC, 110 V AC, and 220 V AC. A cable reel with 200 m of power cable was used to provide power from the trailer to a remote location. The cable reel was installed on a small trailer. The reel was powered to provide low to no tension deployment of the cable. The cable was connected to the 220 V AC output of the power system trailer. The power was then converted back to 110 V AC on the cable deployment trailer for use at the remote site. The Scout lunar rover demonstration vehicle was used to tow the cable trailer and deploy the power cable. This deployment was performed under a number of operational scenarios, manned operation, remote operation and tele-robotically. Once deployed, the cable was used to provide power, from the power system trailer, to run various operational tasks at the remote location.

Colozza, Anthony↗

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Exploration crew time in space is precious – every hour could yield immense scientific discovery. However, overhead tasks such as logistics, maintenance, and assembly greatly limit crew time available for science and exploration. Robotic remote operations capabilities offer a solution, but operating mobile dexterous robots in human centered environments presents many unknowns and challenges, therefore testing is needed. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation for space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular task environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of remote space robot operations systems with Earth supervision.

Robotics↗