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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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This paper presents a rule-based fuzzy traversability index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data.
Traversability index is introduced in this paper as a new and simple measure for traversability of natural terrains by mobile robots.
Fuzzy Traversability Index is introduced in this paper as a new and simple measure for quantifying the ease of traversal of natural terrains by field mobile robots.
The National Aeronautics and Aerospace Administration’s (NASA) Mars Architecture Team (MAT) developed a concept for power management operations to support a thirty-day, minimal infrastructure Mars surface mission. The surface elements in this minimal surface mission concept include three landers as platforms for surface operations, a crewed Mars ascent vehicle (MAV), an unpressurized rover, and a pressurized rover where the crew will live for the duration of the thirty-day mission. In this analysis the power system is a ten kilowatt fission power system, which has been selected for its resiliency to dust storms, and will provide power for all aspects of the surface mission including thermal management of propellant and electronic systems, communications, and battery recharge of mobile surface assets. Developing a power management plan with the consideration of the various elements and mission phases helps define the traverse and exploration capabilities for the crew in the pressurized rover. Also, considerations need to be made for the different power requirements for each phase of the surface mission including arrival, offload, surface exploration, launch preparation, and departure. The described analysis aims to achieve a balance of maintaining power to critical systems while enabling desired traverse and exploration range in the pressurized rover. Additionally, a few enhancing technologies were explored that could expand the power capability if the additional capacity is necessary in the future. This study is used as a baseline to understand the constraints on all aspects of the surface mission for a minimal surface infrastructure human Mars campaign if a ten-kilowatt fission surface power system is available on the surface.
Many areas of scientific interest in planetaryexploration, such as lunar pits, icy-moon crevasses, and Martiancraters, are inaccessible to current wheeled rovers. Rappellingrovers can safely traverse these steep surfaces, but requiretechniques to navigate their complex terrain. This dynamicnavigation is inherently time-critical and communication constraints(e.g. delays and small communication windows) willrequire planetary systems to have some autonomy.Autonomous navigation for Martian rovers is well studiedon moderately sloped and locally planar surfaces, but thesemethods do not readily transfer to tethered systems in nonplanar3D environments. Rappelling rovers in these situationshave additional challenges, including terrain-tether interactionand its effects on rover stability, path planning and control.This paper presents novel traversability analysis and pathplanning algorithms for rappelling rovers operating on steepterrains that account for terrain-tether interaction and theunique stability and reachability constraints of a rapellingsystem. The system is evaluated with a series of simulations andan analogue mission. In simulation, the planner was shown toreliably find safe paths down a 55 degree slope when a stabletether-terrain configuration exists and never recommended anunsafe path when one did not. In a planetary analogue mission,elements of the system were used to autonomously navigateAxel, a JPL rappelling rover, down a 30 degree slope with95% autonomy by distance travelled over 46 meters.
The National Aeronautics and Aerospace Administration’s (NASA) Mars Architecture Team (MAT) developed a concept for power management operations to support a thirty-day, minimal infrastructure Mars surface mission. The surface elements in this minimal surface mission concept include three landers as platforms for surface operations, a crewed Mars ascent vehicle (MAV), an unpressurized rover, and a pressurized rover where the crew will live for the duration of the thirty-day mission. In this analysis the power system is a ten kilowatt fission power system, which has been selected for its resiliency to dust storms, and will provide power for all aspects of the surface mission including thermal management of propellant and electronic systems, communications, and battery recharge of mobile surface assets. Developing a power management plan with the consideration of the various elements and mission phases helps define the traverse and exploration capabilities for the crew in the pressurized rover. Also, considerations need to be made for the different power requirements for each phase of the surface mission including arrival, offload, surface exploration, launch preparation, and departure. The described analysis aims to achieve a balance of maintaining power to critical systems while enabling desired traverse and exploration range in the pressurized rover. Additionally, a few enhancing technologies were explored that could expand the power capability if the additional capacity is necessary in the future. This study is used as a baseline to understand the constraints on all aspects of the surface mission for a minimal surface infrastructure human Mars campaign if a ten-kilowatt fission surface power system is available on the surface.
This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data.
Fuel system for jet engine afterburner using water traverse technique
Ablation-type thermal protection of objects traversing an atmosphere - earth and mars
Laboratory measurements of spectral band absorptance of radiation traversing cells in series for atmospheric slant path absorption laws understanding
Data handling and telemetry requirements for manned scientific traverse, discussing MOL INSTRUMENTATION and data parameters
Traverse research on lunar geology, including post-Apollo landing missions and improved photogrammetric reduction techniques
Underwater simulation of lunar surface traverse
Satellite observations of aberrations of radio signals traversing auroral ionosphere indicating decreasing trend in scintillation activity
Energy and time costs of lunar walking or riding traverses, and scientific tasks on J-type missions, and capabilities of A7L suits and life support systems
In-flight use of traversing boundary layer pitot probes with mechanical and electrical features and sample boundary layer profiles
Thermal conductivity rapid measurement in 300-1200 K range using traversing thermocouple technique
A semi-automatic, self-levelling lunar gravimeter was designed for the purpose of measuring gravity at predetermined stops along the route of a lunar rover vehicle to obtain a gravity profile. The traverse gravimeter is completely self-contained and is powered by an internal battery. The gravity sensor is a vibrating string accelerometer (VSA) which is enclosed in a precision oven. Gravity data are obtained by initiating a measurement. After the gravimeter has levelled, the VSA difference frequency is counted down and a gate is generated to enable a crystal-controlled clock to a BCD counter. The BCD counter stores the data which are a measurement of gravity. These data, displayed upon command by the astronaut, are transmitted by voice back to earth. It is expected that the accuracy of the gravimeter will be better than one milligal. Low power, light weight, reliability, and simplicity of operation are major considerations in the design of the gravimeter.