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Resource Prospector Propulsion System Cold Flow Testing

Resource Prospector (RP) is a NASA mission being led by NASA Ames Research Center with current plans to deliver a scientific payload package aboard a rover to the lunar surface. As part of an early risk reduction activity, Marshall Space Flight Center (MSFC) and Johnson Space Flight Center (JSC) have jointly developed a government-version concept of a lunar lander for the mission. The spacecraft consists of two parts, the lander and the rover which carries the scientific instruments. The lander holds the rover during launch, cruise, and landing on the surface. Following terminal descent and landing the lander portion of the spacecraft become dormant after the rover embarks on the science mission. The lander will be equipped with a propulsion system for lunar descent and landing, as well as trajectory correction and attitude control maneuvers during transit to the moon. Hypergolic propellants monomethyl hydrazine and nitrogen tetroxide will be used to fuel sixteen 70-lbf descent thrusters and twelve 5-lbf attitude control thrusters. A total of four metal-diaphragm tanks, two per propellant, will be used along with a high-pressure composite-overwrapped pressure vessel for the helium pressurant gas. Many of the major propulsion system components are heritage missile hardware obtained by NASA from the Air Force. In parallel with the flight system design activities, a simulated propulsion system based on flight drawings was built for conducting a series of water flow tests to characterize the transient fluid flow of the propulsion system feed lines and to verify the critical operation modes such as system priming, waterhammer, and crucial mission duty cycles. The primary objective of the cold flow testing was to simulate the RP propulsion system fluid flow operation through water flow testing and to obtain data for anchoring analytical models. The models will be used to predict the transient and steady state flow behaviors in the actual flight operations. All design and build efforts, including the analytical modeling, have been performed. The cold flow testing of the propulsion system was set up and conducted at a NASA MSFC test facility. All testing was completed in the summer of 2014, and this paper documents the results of that testing and the associated fluid system modeling efforts.

Williams, Hunter↗

Spaceflight Autonomous Multigenerational Microbial Sequencer in Support of Plant-Growth Systems

The CubeSat platform has proven successful in obtaining meaningful life science information when biological payloads are incorporated. Examples include: 1) the first-ever CubeSat with a biological payload, GeneSat-1, which demonstrated decreased growth rates for flight samples of Escherichia coli in low Earth orbit (Parra et al. 2008); 2) PharmaSat, demonstrated that Saccharomyces cerevisiae in the microgravity environment exhibits a significant level of metabolic activity even at high doses of applied antifungal (Ricco et al. 2011); 3) O/OREOS, which used Bacillus subtilis(bacteria) to demonstrate for the first time that microorganisms can be loaded in a dried, dormant form and then rehydrated and grown in orbit months after launch (Nicholson et al. 2011; Ehrenfreund et al. 2014; 4) the SporeSat payload, which investigated Ceratopteris richardii(fern spores) using lab-on-a-chip devices (BioCDs) and minicentrifuges to produce artificial gravitational forces in ground studies (Park et al. 2017), with demonstration of the BioCD and minicentrifuge in space; 5) EcAMSat, the first CubeSat to be directly deployed from the ISS for an experiment assessing antibiotic resistance of E. coli in the microgravity environment (Padgen et al. 2020); 6) BioSentinel, exposed a culture of yeast to galactic cosmic radiation (GCR) and solar particle events while in heliocentric orbit to measure the rate of double-strand-break repair using DNA-repair-deficient mutants. This effort measures the metabolic parameters of yeast in a deep-space environment compared to Earth ambient conditions using a 3-color LED detection system (Ricco et al. 2020; Padgen et al. 2021). We aim to expand this list to include a Spaceflight Autonomous Multigenerational Microbial Sequencer (SAMMS). SAMMS will allow for the genome level understanding of changes in growth and metabolic activity for any organism. While microbes are suitable for early studies in our proposed platform because of their small size, small and relatively less-complicated genomes, fast generation times, and relevance to life support systems; multicellular organisms can similarly be evaluated for their genetic response to the spaceflight environment. The Spaceflight Autonomous Multigenerational Microbial Sequencer (SAMMS) will enable autonomous sequencing of biological samples in plant production units, cislunar orbit and on the lunar surface to examine spaceflight effects (ie. radiation, altered gravity, reduced pressures) on plant and microbial genomes.On this team a Kennedy Space Center (KSC) space crop production and water systems microbiologist/molecular biologist works with a Johnson Space Center (JSC) International Space Station (ISS) microbial sequencing expert and an Ames Research Center (ARC) CubeSat Engineering team to convert an automated Oxford Nanopore librarypreparation and sequencing method to a fluidic CubeSat payload system. The Oxford Nanopore MinION sequencing platform has proven successful in the spaceflight environment onboard the ISS (Stahl-Rommel et al. 2021). Further long-duration spaceflight and exposure to high levels of radiation will cause genotypic effects in biological organisms that may affect their function. Monitoring the adaption of a population to the spaceflight environment and any subsequent beneficial mutations will allow for the harnessing of organisms best suited for use in life support systems. This will ensure that the selected life support-essential microorganisms maintain their intended specified function over generations of culturing in the relevant spaceflight environment without becoming hazardous to crew or spacecraft systems.

Aubrie E Orourke↗

Lunar Regolith Characterization for Simulant Design and Evaluation using Figure of Merit Algorithms

NASA's Marshall Space Flight Center (MSFC), in conjunction with the United States Geological Survey (USGS) and aided by personnel from the Astromaterials Research and Exploration Science group at Johnson Space Center (ARES-JSC), is implementing a new data acquisition strategy to support the development and evaluation of lunar regolith simulants. The first analyses of lunar regolith samples by the simulant group were carried out in early 2008 on samples from Apollo 16 core 64001/64002. The results of these analyses are combined with data compiled from the literature to generate a reference composition and particle size distribution (PSD)) for lunar highlands regolith. In this paper we present the specifics of particle type composition and PSD for this reference composition. Furthermore. we use Figure-of-Merit (FoM) routines to measure the characteristics of a number of lunar regolith simulants against this reference composition. The lunar highlands regolith reference composition and the FoM results are presented to guide simulant producers and simulant users in their research and development processes.

Schrader, Christian M.↗

Characterization of the JWST Pathfinder Mirror Dynamics Using the Center of Curvature Optical Assembly (CoCOA)

The JWST (James Webb Space Telescope) Optical Telescope Element (OTE) consists of a 6.6 meter clear aperture, 18-segment primary mirror, all-reflective, three-mirror anastigmat operating at cryogenic temperatures. To verify performance of the primary mirror, a full aperture center of curvature optical null test is performed under cryogenic conditions in Chamber A at NASA Johnson Space Center using an instantaneous phase measuring interferometer. After phasing the mirrors during the JWST Pathfinder testing, the interferometer is utilized to characterize the mirror relative piston and tilt dynamics under different facility configurations. The correlation between the motions seen on detectors at the focal plane and the interferometer validates the use of the interferometer for dynamic investigations. The success of planned test hardware improvements will be characterized by the multi-wavelength interferometer (MWIF) at the Center of Curvature Optical Assembly (CoCOA).

Wells, Conrad↗

Characterization of the JWST Pathfinder Mirror Dynamics Using the Center of Curvature Optical Assembly (CoCOA)

The JWST (James Webb Space Telescope) Optical Telescope Element (OTE) consists of a 6.6 meter clear aperture, 18-segment primary mirror, all-reflective, three-mirror anastigmat operating at cryogenic temperatures. To verify performance of the primary mirror, a full aperture center of curvature optical null test is performed under cryogenic conditions in Chamber A at NASA Johnson Space Center using an instantaneous phase measuring interferometer. After phasing the mirrors during the JWST Pathfinder testing, the interferometer is utilized to characterize the mirror relative piston and tilt dynamics under different facility configurations. The correlation between the motions seen on detectors at the focal plane and the interferometer validates the use of the interferometer for dynamic investigations. The success of planned test hardware improvements will be characterized by the multi-wavelength interferometer (MWIF) at the Center of Curvature Optical Assembly (CoCOA).

Wells, C.↗

Doppler wind profile experiment

The data collection phase of a Doppler wind measurement experiment supported by high-resolution Jimsphere/FPS-16 wind data and Windsonde data was carried out at the Kennedy Space Center in February, March and early April of 1985. The Doppler wind measurements were made using a hybrid doppler profiler put in place by the Johnson Space Center and a SOUSY profiler operated by Radian Corporation. Both systems operated at 50 Mhz. Although the doppler profiler systems were located 10 km apart to enable concurrent operation of the systems for data comparison, little concurrent data were obtained due to set-up delays with the SOUSY system, and system problems with the WPL system during the last month of the test. During the test period, special serial Jimsphere soundings were taken at two-hour intervals on six days in March and April in addition to balloon soundings taken in support of the Shuttle launch operations. In addition, there is temperature, moisture and wind information available from the daily morning Radiosonde sounding taken at the Kennedy site. The balloon release point was at the same location as the SOUSY profiler. Vertical resolution of the SOUSY profiler was 150 M to approximately 20 km. The vertical resolution of the WPL profiler was 290 M to 10 km and 870 M to 17 km. Winds determined form the Jimsphere balloon have a vertical resolution of 30 M.

Arnold, J. E.↗

Workshop on Mercury: Space Environment, Surface, and Interior

This volume contains abstracts that have been accepted for presentation at the Workshop on Mercury: Space Environment, Surface, and Interior, October 4-5, 2001. The Scientific Organizing Committee consisted of Mark Robinson (Northwestern University), Marty Slade (Jet Propulsion Laboratory), Jim Slavin (NASA Goddard Space Flight Center), Sean Solomon (Carnegie Institution), Ann Sprague (University of Arizona), Paul Spudis (Lunar and Planetary Institute), G. Jeffrey Taylor (University of Hawai'i), Faith Vilas (NASA Johnson Space Center), Meenakshi Wadhwa (The Field Museum), and Thomas Watters (National Air and Space Museum). Logistics, administrative, and publications support were provided by the Publications and Program Services Departments of the Lunar and Planetary Institute.

Source record↗

Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations

The Engineering and Mission Operations Directorates at NASA Johnson Space Center are combining laboratories and expertise to establish the Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations. This is a testbed for human centered design, development and evaluation of intelligent autonomous and assistant systems that will be needed for human exploration and development of space. This project will improve human-centered analysis, design and evaluation methods for developing intelligent software. This software will support human-machine cognitive and collaborative activities in future interplanetary work environments where distributed computer and human agents cooperate. We are developing and evaluating prototype intelligent systems for distributed multi-agent mixed-initiative operations. The primary target domain is control of life support systems in a planetary base. Technical approaches will be evaluated for use during extended manned tests in the target domain, the Bioregenerative Advanced Life Support Systems Test Complex (BIO-Plex). A spinoff target domain is the International Space Station (ISS) Mission Control Center (MCC). Prodl}cts of this project include human-centered intelligent software technology, innovative human interface designs, and human-centered software development processes, methods and products. The testbed uses adjustable autonomy software and life support systems simulation models from the Adjustable Autonomy Testbed, to represent operations on the remote planet. Ground operations prototypes and concepts will be evaluated in the Exploration Planning and Operations Center (ExPOC) and Jupiter Facility.

Malin, Jane T.↗

NASA Today - Mars Observer Segment (Part 4 of 6)

This videotape consists of eight segments from the NASA Today News program. The first segment is an announcement that there was no date set for the launch of STS-51, which had been postponed due to mechanical problems. The second segment describes the MidDeck Dynamic Experiment Facility. The third segment is about the scheduled arrival of the Mars Observer at Mars, it shows an image of Mars as seen from the approaching Observer spacecraft, and features an animation of the approach to Mars, including the maneuvers that are planned to put the spacecraft in the desired orbit. The fourth segment describes a discovery from an infrared spectrometer that there is nitrogen ice on Pluto. The fifth segment discusses the Aerospace for Kids (ASK) program at the Goddard Space Flight Center (GSFC). The sixth segment is about the high school and college summer internship programs at GSFC. The seventh segment announces a science symposium being held at Johnson Space Center. The last segment describes the National Air and Space Museum and NASA's cooperation with the Smithsonian Institution.

Source record↗

Portable Simulator for On-Board International Space Station Emergency Training

The crew on-board the International Space Station (ISS) have to be prepared for any possible emergency. The emergencies of most concern are a fire, depressurization or a toxic atmosphere. The crew members train on the ground before launch but also need to practice their emergency response skills while they are on orbit for 6 months. On-Board Training (OBT) events for emergency response proficiency used to require the crew and ground teams to use paper "scripts" that showed the path through the emergency procedures. This was not very realistic since the participants could read ahead and never deviate from this scripted path. The new OBT emergency simulator allows the crew to view dynamic information on an iPad only when it would become available during an event. The simulator interface allows the crew member to indicate hatch closures, don and doff masks, read pressures, and sample smoke or atmosphere levels. As the crew executes their actions using the on-board simulator, the ground teams are able to monitor those actions via ground display data flowing through the ISS Ku Band communication system which syncs the on-board simulator software with a ground simulator which is accessible in all the control centers. The OBT Working Group (OBT WG), led by the Chief Training Office (CTO) at Johnson Space center is a Multilateral working group with partners in Russia, Japan, Germany and U.S.A. The OBTWG worked together to create a simulator based on these principles: (a) Create a dynamic simulation that gives real-time data feedback; (b) Maintain real-time interface between Mission Control Centers and crew during OBTs; (c) Provide flexibility for decision making during drill execution; (d) Materially reduce Instructor and Flight Control Team man-hour costs involved with developing, updating, and maintaining emergency OBT cases/scenarios; and (e) Introduce an element of surprise to emergency scenarios so the team can't tell the outcome of the case by reading ahead in a paper script. This paper details some of the background as the project evolved with the International Partners. It also provides more details on how the simulator information for the crew is also shared with the ground teams. Finally, the paper will discuss how this remote simulator concept can be useful for future, longer term space missions.

Bolt, Kathy↗

New Method for Characterizing the State of Optical and Opto-Mechanical Systems

James Webb Space Telescope Optical Telescope Element (OTE) is a three mirror anastigmat consisting of a 6.5 m primary mirror (PM), secondary mirror (SM) and a tertiary mirror. The primary mirror is made out of 18 segments. The telescope and instruments will be assembled at Goddard Space Flight Center (GSFC) to make it the Optical Telescope Element-Integrated Science Instrument Module (OTIS). The OTIS will go through environmental testing at GSFC before being transported to Johnson Space Center for testing at cryogenic temperature. The objective of the primary mirror Center of Curvature test (CoC) is to characterize the PM before and after the environmental testing for workmanship. This paper discusses the CoC test including both a surface figure test and a new method for characterizing the state of the primary mirror using high speed dynamics interferometry.

Optical Testing↗

Future Homes in Space: Development of Concepts for Exploration Space Habitats

NASA’s Artemis campaign seeks to return humans to the moon and establish a sustained presence on the lunar surface. This session will emphasize how habitation capabilities on the moon and in cislunar space can potentially contribute to the sustainability objectives of Artemis. Habitable elements represent opportunities to enable longer duration stays, increase the number of crew members present, enhance science and utilization activities, drive technology development for future Mars exploration, perform analog missions, and fuel economic opportunities for US industry. Panelists include Paul Kessler (NASA Marshall Space Flight Center, deputy lead for lunar surface habitation); Andrew Choate (NASA Marshall Space Flight Center, Mars habitation lead); Krystofer Dudzinski (NASA Marshall Space Flight Center, a space architect within the MSFC Advanced Concepts Office); and Larry Toups (retired from NASA Johnson Space Center, currently an adjunct professor at University of Houston in space architecture). The panel is moderated by Tracie Prater (NASA Marshall Space Flight Center, Habitation Systems Development Office). The panel will begin with an overview of the history of habitation concepts and an academic perspective on general considerations in space habitat design (Larry Toups). Paul Kessler and Andrew Choate will introduce NASA’s principle of “architecting from the right” to help define objectives for Artemis missions, needs/characteristics, use cases, and functions (as published in the agency’s Architecture Definition Document) and provide perspective on how this principle informs habitation concept development work. NASA panelists will discuss key engineering challenges identified for developing, deploying, and operating habitable assets on the lunar surface and/or in deep space. These may include dust mitigation, outfitting of inflatable softgoods (for concepts which may use softgoods as a primary structural material), survival in lunar darkness, human health and performance considerations, maintenance/repair/sparing, and autonomy. These identified challenges represent risks for habitation systems development and relate closely to capability gaps identified by the agency. While the work of NASA Marshall Space Flight Center’s habitation development office is primarily focused on habitats which are launched from earth pre-integrated (referred to as Class I in the framework previously developed by NASA space architects Kennedy/Cohen) or launched from earth and deployed at the point of use (Class II), there is also extensive work in NASA, academia, and companies on constructed habitats, which would be built on a planetary surface using indigenous resources (Class III habitats). Panelist Krystopher Dudzinski will discuss potential evolutionary pathways from Class I and Class II habitats to Class III habitats, unique and common architectural challenges within each habitat class, and key gaps in implementing Class III habitats from an architectural perspective. NASA panelists and the moderator will also provide an overview of partnership opportunities and avenues for further engagement to advance habitation systems for the SpaceCom audience. NASA is currently developing notional concepts for a lunar surface habitat and Mars transit habitat, which will be discussed during this panel session and used as examples. These concepts represent options for habitation system design and are a point of departure. They do not represent a final plan or formal recommendation on the part of the agency. Based on the most recent analysis cycle, NASA’s lunar surface habitat (SH) concept nominally supports two crew members for 30 days, with the capacity to support four crew during a surge period where crew will swap between the SH and another surface asset, such as a pressurized rover. This example design has a metallic airlock for ingress/egress and the upper portion is an inflatable material system which serves as the habitation module. The notional interior of the habitat is a three-deck layout/configuration which supports all crew mission functions, including exercise, stowage, extravehicular activity (EVA), sleep, hygiene waste collection, maintenance and repair, and meal preparation. Under analysis assumptions for habitation, the Mars Transit Habitat (TH) concept would support four crew on an up to 1,200 day Mars mission. One option for the concept is to initially dock Transit Habitat at Gateway, where it can be used to increase the duration of crew stays in cislunar space and perform shakedown and analog missions prior to a Mars departure. One challenge in longer duration missions which involve both surface exploration and transit is understanding crew adaptation when transitioning between partial gravity and microgravity environments. TH at Gateway offers an opportunity to study this transition and in doing so reduce risks associated with future Mars exploration. Like lunar SH, the most recent analysis cycle concept of a Mars TH is a hybrid structure design, with a metallic section supporting EVAs, axial/radial docking, and Safe Haven capabilities, and an inflatable softgoods structure for the primary habitation function. Interior layouts to optimize crew usability and livability are currently under trade. The panel will include presentation material, but also seeks to engage the audience in a highly interactive conversation regarding the potential role for habitation in future exploration initiatives. Potential topics for discussion include the influence of the crew experience on habitation systems design and livability/usability considerations, the benefits of space habitation development in terrestrial applications, and challenges and opportunities in “feeding forward” lunar surface habitation systems development to Mars exploration.

space habitats↗

The dynamics of hydroponic crops for simulation studies of the CELSS initial reference configurations

During the past several years, the NASA Program in Controlled Ecological Life Support Systems (CELSS) has continued apace with crop research and logistic, technological, and scientific strides. These include the CELSS Test Facility planned for the space station and its prototype Engineering Development Unit, soon to be active at Ames Research Center (as well as the advanced crop growth research chamber at Ames); the large environmental growth chambers and the planned human test bed facility at Johnson Space Center; the NSCORT at Purdue with new candidate crops and diverse research into the CELSS components; the gas exchange data for soy, potatoes, and wheat from Kennedy Space Center (KSC); and the high-precision gas exchange data for wheat from Utah State University (USU). All these developments, taken together, speak to the need for crop modeling as a means to connect the findings of the crop physiologists with the engineers designing the system. A need also exists for crop modeling to analyze and predict the gas exchange data from the various locations to maximize the scientific yield from the experiments. One fruitful approach employs what has been called the 'energy cascade'. Useful as a basis for CELSS crop growth experimental design, the energy cascade as a generic modeling approach for CELSS crops is a featured accomplishment in this report. The energy cascade is a major tool for linking CELSS crop experiments to the system design. The energy cascade presented here can help collaborations between modelers and crop experimenters to develop the most fruitful experiments for pushing the limits of crop productivity. Furthermore, crop models using the energy cascade provide a natural means to compare, feature for feature, the crop growth components between different CELSS experiments, for example, at Utah State University and Kennedy Space Center.

Volk, Tyler↗

The Integration and Test Program of the James Webb Space Telescope

With the delivery of its flight scientific instruments and the completion of all telescope optics both scheduled to occur later this year, the James Webb Space Telescope (JWST) will enter into a challenging integration and test (I&T) program. Highlights of that program include cryo-vacuum tests of the Integrated Science Instrument Module (ISIM) at Goddard Space Flight Center, ambient integration of the ISIM and the Optical Telescope Element (OTE) at Goddard, and an end-to-end cryo-vacuum test of the OTE + ISIM system at Johnson Space Center. We review the overall flow of the I&T program, highlighting the key activities and the critical verifications to be performed at each step.

Randy, Kimble↗

Skylab short-lived event alert program

During the three manned Skylab missions, the Center for Short-Lived Phenomena (CSLP) reported a total of 39 significant events to the Johnson Space Center (JSC) as part of the Skylab Short-Lived Event Alert Program. The telegraphed daily status reports included the names and locations of the events, the track number and revolution number during which the event could be observed, the time (GMT) to within plus or minus 2 sec when Skylab was closest to the event area, and the light condition (daylight or darkness) at that time and place. The messages sent to JSC during the Skylab 4 mission also included information pertaining to ground-truth studies and observations being conducted on the events. Photographic priorities were assigned for each event.

Citron, R. A.↗

Programmable Logic Device (PLD) Design Description for the Integrated Power, Avionics, and Software (iPAS) Space Telecommunications Radio System (STRS) Radio

The Space Telecommunications Radio System (STRS) provides a common, consistent framework for software defined radios (SDRs) to abstract the application software from the radio platform hardware. The STRS standard aims to reduce the cost and risk of using complex, configurable and reprogrammable radio systems across NASA missions. To promote the use of the STRS architecture for future NASA advanced exploration missions, NASA Glenn Research Center (GRC) developed an STRS compliant SDR on a radio platform used by the Advance Exploration System program at the Johnson Space Center (JSC) in their Integrated Power, Avionics, and Software (iPAS) laboratory. At the conclusion of the development, the software and hardware description language (HDL) code was delivered to JSC for their use in their iPAS test bed to get hands-on experience with the STRS standard, and for development of their own STRS Waveforms on the now STRS compliant platform.The iPAS STRS Radio was implemented on the Reconfigurable, Intelligently-Adaptive Communication System (RIACS) platform, currently being used for radio development at JSC. The platform consists of a Xilinx ML605 Virtex-6 FPGA board, an Analog Devices FMCOMMS1-EBZ RF transceiver board, and an Embedded PC (Axiomtek eBox 620-110-FL) running the Ubuntu 12.4 operating system. Figure 1 shows the RIACS platform hardware. The result of this development is a very low cost STRS compliant platform that can be used for waveform developments for multiple applications.The purpose of this document is to describe the design of the HDL code for the FPGA portion of the iPAS STRS Radio particularly the design of the FPGA wrapper and the test waveform.

VHDL↗

Simpler ISS Flight Control Communications and Log Keeping via Social Tools and Techniques

The heart of flight operations control involves a) communicating effectively in real time with other controllers in the room and/or in remote locations and b) tracking significant events, decisions, and rationale to support the next set of decisions, provide a thorough shift handover, and troubleshoot/improve operations. International Space Station (ISS) flight controllers speak with each other via multiple voice circuits or loops, each with a particular purpose and constituency. Controllers monitor and/or respond to several loops concurrently. The primary tracking tools are console logs, typically kept by a single operator and not visible to others in real-time. Information from telemetry, commanding, and planning systems also plays into decision-making. Email is very secondary/tertiary due to timing and archival considerations. Voice communications and log entries supporting ISS operations have increased by orders of magnitude because the number of control centers, flight crew, and payload operations have grown. This paper explores three developmental ground system concepts under development at Johnson Space Center s (JSC) Mission Control Center Houston (MCC-H) and Marshall Space Flight Center s (MSFC) Payload Operations Integration Center (POIC). These concepts could reduce ISS control center voice traffic and console logging yet increase the efficiency and effectiveness of both. The goal of this paper is to kindle further discussion, exploration, and tool development.

Scott, David W.↗

Hazard Detection Software for Lunar Landing

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing a system for safe and precise manned lunar landing that involves novel sensors, but also specific algorithms. ALHAT has selected imaging LIDAR (light detection and ranging) as the sensing modality for onboard hazard detection because imaging LIDARs can rapidly generate direct measurements of the lunar surface elevation from high altitude. Then, starting with the LIDAR-based Hazard Detection and Avoidance (HDA) algorithm developed for Mars Landing, JPL has developed a mature set of HDA software for the manned lunar landing problem. Landing hazards exist everywhere on the Moon, and many of the more desirable landing sites are near the most hazardous terrain, so HDA is needed to autonomously and safely land payloads over much of the lunar surface. The HDA requirements used in the ALHAT project are to detect hazards that are 0.3 m tall or higher and slopes that are 5 or greater. Steep slopes, rocks, cliffs, and gullies are all hazards for landing and, by computing the local slope and roughness in an elevation map, all of these hazards can be detected. The algorithm in this innovation is used to measure slope and roughness hazards. In addition to detecting these hazards, the HDA capability also is able to find a safe landing site free of these hazards for a lunar lander with diameter .15 m over most of the lunar surface. This software includes an implementation of the HDA algorithm, software for generating simulated lunar terrain maps for testing, hazard detection performance analysis tools, and associated documentation. The HDA software has been deployed to Langley Research Center and integrated into the POST II Monte Carlo simulation environment. The high-fidelity Monte Carlo simulations determine the required ground spacing between LIDAR samples (ground sample distances) and the noise on the LIDAR range measurement. This simulation has also been used to determine the effect of viewing on hazard detection performance. The software has also been deployed to Johnson Space Center and integrated into the ALHAT real-time Hardware-in-the-Loop testbed.

Huertas, Andres↗