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NASA NTRSDate not supplied

On-Orbit Cross Calibration Between the Osiris-Rex Orbiting Laser Altimeter and Navigation Camera

Accurate shape models of small bodies provide both science value and resources for precision relative navigation. One instrument commonly used for generating shape models is the laser altimeter. Laser altimeters require accurate intrinsic and extrinsic calibration knowledge to produce accurate shape models. Here, we describe a method used for updating the intrinsic and extrinsic calibration parameters of the laser altimeter onboard the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft, OLA (OSIRISREx Laser Altimeter). We perform the calibration update by comparing the OLA scans with monocular camera images of the asteroid surface captured by the primary navigation camera.

Andrew J. Liounis↗

NASA NTRS2018

OSIRIS-REx Encounters Bennu: Initial Assessment from the Approach Phase

The OSIRIS-REx spacecraft launched on September 8, 2016, on a seven-year journey to return samples from asteroid (101955) Bennu. This presentation summarizes the scientific results from the Approach and Preliminary Survey phases. Bennu observations are set to begin on August 17, 2018,when the asteroid is bright enough for detection by the PolyCam. PolyCam and MapCam collect data to survey the asteroid environment for any hazards and characterize the asteroid point-source photometric properties. Resolved images acquired during final approach, starting in late October 2018, allow the creation of a shape model using stereophotoclinometry (SPC), needed by both the navigation team and science planners. The OVIRS and OTES spectrometers characterize the point- source spectral properties over a full rotation period, providing a first look at any features and thermophysical properties. TAGSAM is released from the launch container and deployed into the sampling configuration then returned to the stow position.Preliminary Survey follows the Approach Phase in early December 2018. This phase consists of a series of hyperbolic trajectories that cross over the North and South poles and the equator of Bennu at a close-approach distance of 7 km. Images from these Preliminary Survey passes provide data to complete the 75-cm resolution SPC global shape model and solve for the rotation state. Once the shape model is complete, the asteroid coordinate system is defined for co-registration of all data products. These higher-resolution images also constrain the photometric properties and allow for an initial assessment of the geology. In Preliminary Survey the team also obtains the first OLA data, providing a measure of the surface topography. OVIRS and OTES collect data as "ride-along" instruments, with the spacecraft pointing driven by imaging constraints. These data provide a first look at the spectral variation across the surface of Bennu. Radio science measurements, combined with altimetry and imagery, determine Bennu's mass, a prerequisite to placing the spacecraft into orbit in late December 2018. Together, data from the Approach and Preliminary Survey phases set the stage for the extensive mapping planned for 2019. These dates are the baseline plan. Any contingency or unexpected discovery may change this mission profile.

Lauretta, Dante S.↗

NASA NTRS2017

Lessons Learned from OSIRIS-Rex Autonomous Navigation Using Natural Feature Tracking

The Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (Osiris-REx) spacecraft is scheduled to launch in September, 2016 to embark on an asteroid sample return mission. It is expected to rendezvous with the asteroid, Bennu, navigate to the surface, collect a sample (July 20), and return the sample to Earth (September 23). The original mission design called for using one of two Flash Lidar units to provide autonomous navigation to the surface. Following Preliminary design and initial development of the Lidars, reliability issues with the hardware and test program prompted the project to begin development of an alternative navigation technique to be used as a backup to the Lidar. At the critical design review, Natural Feature Tracking (NFT) was added to the mission. NFT is an onboard optical navigation system that compares observed images to a set of asteroid terrain models which are rendered in real-time from a catalog stored in memory on the flight computer. Onboard knowledge of the spacecraft state is then updated by a Kalman filter using the measured residuals between the rendered reference images and the actual observed images. The asteroid terrain models used by NFT are built from a shape model generated from observations collected during earlier phases of the mission and include both terrain shape and albedo information about the asteroid surface. As a result, the success of NFT is highly dependent on selecting a set of topographic features that can be both identified during descent as well as reliably rendered using the shape model data available. During development, the OSIRIS-REx team faced significant challenges in developing a process conducive to robust operation. This was especially true for terrain models to be used as the spacecraft gets close to the asteroid and higher fidelity models are required for reliable image correlation. This paper will present some of the challenges and lessons learned from the development of the NFT system which includes not just the flight hardware and software but the development of the terrain models used to generate the onboard rendered images.

Navigation↗

NASA NTRS1991

Effects of grain size and shape in modeling reflectance spectra of mineral mixtures

The effects of grain size and shape on the reflectance spectra of mineral mixtures are investigated to improve a reflectance model called the isograin model, whose prototype was proposed by M. Kinoshita in 1985. The sample powder was assumed to consist of an infinite number of layers, each of which has the same thickness with the grain size d.

Hiroi, T.↗

NASA NTRS1995

Analysis of Gaspra lightcurves using Galileo shape and photometric models

Galileo-based models for the shape of 951 Gaspra and the global-average photometric behavior of its surface have been used to model a representative subset of the asteroid's telescopic lightcurves. Fitting the synthetic lightcurves to the observed timing of lightcurve extrema, and knowing the orientation of Gaspra's axes at the time of the Galileo flyby, leads to a sidereal rotation period for the asteroid of 7.042024 +/- 0.000020 hr, a slight change from the period reported by Magnusson et al. (1992). Initially, the shapes, amplitudes, and absolute photometry of the synthetic and observed lightcurves agree with each other to within 0.05-0.1 mag. Small modifications to the Gaspra shape model on sides of the asteroid poorly imaged by Galileo (changes of 700 m or less in the southern hemisphere at longitudes 90 deg-270 deg W) reduce the typical discrepancies to approximately 0.05 mag in lightcurve shape and less than 0.03 mag in absolute photometry. The result demonstrates that Earth-based lightcurves can be used to refine the shape of a spacecraft-imaged irregular object in areas that are poorly constrained by the spacecraft observations. The consistency and phase-angle dependence of the Galileo-based model for Gaspra photometry, supports the accuracy of the absolute calibration of the Galileo SSI camera, and confirms the Earth-based determination of the V-filter geometric albedo of the asteroid (0.22 +/- 0.03; Tholen et al., submitted for publication). Remaining discrepancies between the synthetic and observed lightcurves show no indication of systematic latitudinal variations in albedo and also cannot be explained entirely by isolated albedo spots. These discrepancies are most likely caused by (1) small, remaining, hard-to-constrain errors in the Gaspra shape model and/or (2) moderate variations in macroscopic roughness across the asteroid's surface, in particular making longitudes 130 deg to 300 deg W moderately rougher than the opposite hemisphere.

Simonelli, Damon P.↗

DOE OSTI2024

The Case for Co-Designing Model Architectures with Hardware

While GPUs are responsible for training the vast majority of state-of-the-art deep learning models, the implications of their architecture are often overlooked when designing new deep learning (DL) models. As a consequence, modifying a DL model to be more amenable to the target hardware can significantly improve the runtime performance of DL training and inference. In this paper, we provide a set of guidelines for users to maximize the runtime performance of their transformer models. These guidelines have been created by carefully considering the impact of various model hyperparameters controlling model shape on the efficiency of the underlying computation kernels executed on the GPU. We find the throughput of models with “efficient” model shapes is up to 39% higher while preserving accuracy compared to models with a similar number of parameters but with unoptimized shapes.

Yin, Junqi↗

NASA NTRS2017

A Minimal State Augmentation Algorithm for Vision-Based Navigation without Using Mapped Landmarks

This paper describes MAVeN (Minimal State Augmentation Algorithm for Vision-Based Navigation), which is a new algorithm for vision-based navigation that has only 21 states, yet is able to track features in successive camera images and use them to propagate estimates of the spacecraft position and velocity. The filter dimension drops to 12 if attitude information is already available. The low filter dimension makes MAVeN a very reliable and practical algorithm for real-time flight implementation. The main idea is to project observed features onto a rough shape model of the ground surface, which are then used by the filter as pseudo-landmarks. The shape model is assumed to be known beforehand, as would be obtained from prior surveillance of the landing site from orbit. MAVeN does not require pre-mapped landmarks, so it is able to navigate terrain that has not been previously observed up close. This property is especially important for close proximity operations in small body missions where ground surface features are being seen for the first time at close range. MAVeN is also able to hover motionless above the ground without position error growth, which is unusual for this class of vision-based navigation algorithms.

San Martin, A. Miguel↗

NASA NTRS1989

Computing induced velocity perturbations due to a helicopter fuselage in a free stream

The velocity field of a representative helicopter fuselage in a free stream is computed. Perturbation velocities due to the fuselage are computed in a plan above the location of the helicopter rotor (rotor removed). The velocity perturbations computed by a source-panel model of the fuselage are compared with experimental measurements taken with a laser velocimeter. Three paneled fuselage models are studied: fuselage shape, fuselage shape with hub shape, and a body of revolution. The velocity perturbations computed for both fuselage shape models agree well with the measured velocity field except in the close vicinity of the rotor hub. In the hub region, without knowing the extent of separation, modeling of the effective source shape is difficult. The effects of the fuselage perturbations are not well-predicted with a simplified ellipsoid fuselage. The velocity perturbations due to the fuselage at the plane of the measurements have magnitudes of less than 8 percent of free-stream velocity. The velocity perturbations computed by the panel method are tabulated for the same locations at which previously reported rotor-inflow velocity measurements were made.

Berry, John D.↗

NASA NTRS1992

Effects of grain size and shape in modeling reflectance spectra of mineral mixtures

An 'isograin model' of reflectance from particulate material is presented. The model treats reflectance as a series of grain interactions, incorporating optical constants of each material and two parameters that model the activity of scattering and absorption in the vertical and the horizontal directions, respectively. Mixing ratios of components in mixture are treated as variables and are calculated using least-squares fit. Grain size and shape have a significant effect on the accuracy of predicting mixing ratios but can be modeled by introducing the concept of effective grain size. The model calculates spectra in good agreement with measured spectra and models reflectance within 1 percent and mixing ratios within 5 wt pct.

Hiroi, T.↗

NASA NTRS1996

Constitutive Models for Shape Memory Alloy Polycrystals

Shape memory alloys (SMA) exhibiting the superelastic or one-way effects can produce large recoverable strains upon application of a stress. In single crystals this stress and resulting strain are very orientation dependent. We show experimental stress/strain curves for a Ni-Al single crystal for various loading orientations. Also shown are model predictions; the open and closed circles indicate recoverable strains obtained at various stages in the transformation process. Because of the strong orientation dependence of shape memory properties, crystallographic texture can be expected to play an important role in the mechanical behavior of polycrystalline SMA. It is desirable to formulate a constitutive model to better understand and exploit the unique properties of SMA.

Comstock, R. J., Jr.↗

NASA NTRS2021

3D Shape Reconstruction of Small Bodies from Sparse Features

The autonomous approach of spacecraft to a small body (comet or asteroid) relies on using all available information at each phase of the approach. This paper presents new algorithms for global shape reconstructions from sparse tracked surface points. These methods leverage estimates from earlier phases, such as rotation pole, as well as a priori knowledge, such as a genus-0 body (i.e. without boundaries or topological holes). A mapping algorithm is proposed, which performs faithful reconstructions while enforcing genus-0 output through spherical parameterization. To estimate the shape of permanently shadowed regions of the body, a symmetry reconstruction method is added to the reconstruction algorithms. This method is shown to substantially increase the reconstruction accuracy but is subject to the symmetry of the body perpendicular to the rotation pole. The proposed mapping algorithm is compared to stateof- the-practice surface reconstruction algorithms, assessing their accuracy and ability to correctly generate genus-0 shape models for 2400 datasets and three small bodies. The proposed spherical parameterization algorithm performed consistently with the state-of-the-practice while being the only algorithm to always produce genus-0 shape models.

Nesnas, Issa↗

NASA NTRS1993

Linear structures on the small inner satellites of Saturn

Shape modelling methods developed for non-spherical worlds were applied to four satellites of Saturn: Prometheus, Pandora, Janus, and Epimetheus. This results in the first detailed shaded relief maps of their surfaces. Ridges and valleys are described with their implications for satellite history and asteroid 951 Gaspra. They probably result from fracturing during break-up of parent bodies and/or later large impacts. Prometheus and perhaps Gaspra may be coated with debris from parent body fragmentation as well as more recent regolith. These four satellites are covered by relatively few useful images, so the shapes are imperfectly known and positions of features on maps may be wrong by up to a few tens of degrees in some areas (worst where a feature is seen only near a limb). Nevertheless, these shape models are more useful than the previous triaxial ellipsoid models.

Stooke, Philip J.↗

NASA NTRSDate not supplied

Evaluating a spatiotemporal shape-matching model for the generation of synthetic high spatiotemporal resolution time series of multiple satellite data

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Xiaoyang Zhang↗

NASA NTRS2004

Quantitative Analysis of Spectral Interference of Spontaneous Raman Scattering in High-Pressure Fuel-Rich H2-Air Combustion

We present a theoretical study of the spectral interferences in the spontaneous Raman scattering spectra of major combustion products in 30-atm fuel-rich hydrogen-air flames. An effective methodology is introduced to choose an appropriate line-shape model for simulating Raman spectra in high-pressure combustion environments. The Voigt profile with the additive approximation assumption was found to provide a reasonable model of the spectral line shape for the present analysis. The rotational/vibrational Raman spectra of H2, N2, and H2O were calculated using an anharmonic-oscillator model using the latest collisional broadening coefficients. The calculated spectra were validated with data obtained in a 10-atm fuel-rich H2-air flame and showed excellent agreement. Our quantitative spectral analysis for equivalence ratios ranging from 1.5 to 5.0 revealed substantial amounts of spectral cross-talk between the rotational H2 lines and the N2 O-/Q-branch; and between the vibrational H2O(0,3) line and the vibrational H2O spectrum. We also address the temperature dependence of the spectral cross-talk and extend our analysis to include a cross-talk compensation technique that removes the nterference arising from the H2 Raman spectra onto the N2, or H2O spectra.

Kojima, Jun↗

NASA NTRS2006

Solar Sail Topology Variations Due to On-Orbit Thermal Effects

The objective of this research was to predict the influence of non-uniform temperature distribution on solar sail topology and the effect of such topology variations on sail performance (thrust, torque). Specifically considered were the thermal effects due to on orbit attitude control maneuvers. Such maneuvers are expected to advance the sail to a position off-normal to the sun by as much as 35 degrees; a solar sail initially deformed by typical pre-tension and solar pressure loads may suffer significant thermally induced strains due to the non-uniform heating caused by these maneuvers. This on-orbit scenario was investigated through development of an automated analytical shape model that iterates many times between sail shape and sail temperature distribution before converging on a final coupled thermal structural affected sail topology. This model utilizes a validated geometrically non-linear finite element model and a thermal radiation subroutine. It was discovered that temperature gradients were deterministic for the off-normal solar angle cases as were thermally induced strains. Performance effects were found to be moderately significant but not as large as initially suspected. A roll torque was detected, and the sail center of pressure shifted by a distance that may influence on-orbit sail control stability.

Banik, Jeremy A.↗

NASA NTRS1994

Laser/lidar analysis and testing

Section 1 of this report details development of a model of the output pulse frequency spectrum of a pulsed transversely excited (TE) CO2 laser. In order to limit the computation time required, the model was designed around a generic laser pulse shape model. The use of such a procedure allows many possible laser configurations to be examined. The output pulse shape is combined with the calculated frequency chirp to produce the electric field of the output pulse which is then computationally mixed with a local oscillator field to produce the heterodyne beat signal that would fall on a detector. The power spectral density of this heterodyne signal is then calculated. Section 2 reports on a visit to the LAWS laser contractors to measure the performance of the laser breadboards. The intention was to acquire data using a digital oscilloscope so that it could be analyzed. Section 3 reports on a model developed to assess the power requirements of a 5J LAWS instrument on a Spot MKII platform in a polar orbit. The performance was assessed for three different latitude dependent sampling strategies.

Spiers, Gary D.↗

NASA NTRSDate not supplied

Ares: A Coupling Methodology for Ablation Modeling

To enable modeling of complex and coupled ablation problems, a multi-physics framework is developed. A methodology for modeling shape change in coupled systems is presented. The approach taken to model gas-surface interactions and translate coupled surface phenomena to physically meaningful boundary conditions in the distinct solvers is discussed. Particular emphasis is placed on the nature of coupled boundary conditions pertaining to surface energy and mass balances as well as surface chemistry modeling. The developed methodology is used to simulate a shear test in arc-jet conditions in order to assess the validity of the coupled approach as well as the implementation of the relevant physical processes.

EDL↗

NASA NTRSDate not supplied

Ares: A Coupling Methodology for Ablation Modeling

EDL↗