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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 NTRS2002

Robots and Humans in Planetary Exploration: Working Together?

Today's approach to human-robotic cooperation in planetary exploration focuses on using robotic probes as precursors to human exploration. A large portion of current NASA planetary surface exploration is focussed on Mars, and robotic probes are seen as precursors to human exploration in: Learning about operation and mobility on Mars; Learning about the environment of Mars; Mapping the planet and selecting landing sites for human mission; Demonstration of critical technology; Manufacture fuel before human presence, and emplace elements of human-support infrastructure

Landis, Geoffrey A.↗

NASA NTRS2010

Ultra Low Temperature Ultra Low Power Instrument Packages for Planetary Surfaces

Achievement of solar system exploration roadmap goals will involve robotic or human deployment and longterm operation of surface science packages remote from human presence, thus requiring autonomous, self-powered operation. The major challenge such packages face will be operating during long periods of darkness in extreme cold potentially without the Pu238 based power and thermal systems available to Apollo era packages (ALSEP). Development of such science payloads will thus require considerable optimization of instrument and subsystem design, packaging and integration for a variety of planetary surface environments in order to support solar system exploration fully. Our work supports this process through the incorporation of low temperature operational components and design strategies which radically minimize power, mass, and cost while maximizing the performance under extreme surface conditions that are in many cases more demanding than those routinely experienced by spacecraft in deep space. Chief instruments/instrument package candidates include those which could provide long-term monitoring of the surface and subsurface environments for fundamental science and human crew safety. The initial attempt to design a 10 instrument environmental monitoring package with a solar/battery based power system led to a package with a unacceptably large mass (500 kg) of which over half was battery mass. In phase 1, a factor of 5 reduction in mass was achieved, first through the introduction of high performance electronics capable of operating at far lower temperature and then through the use of innovative thermal balance strategies involving the use of multi-layer thin materials and gravity-assisted heat pipes. In phase 2, reported here, involves strategies such as universal incorporation of ULT/ULP digital and analog electronics, and distributed or non-conventionally packaged power systems. These strategies will be required to meet the far more challenging thermal requirements of operating through a normal 28 day diurnal cycle. The limited temperature range of efficient battery operation remains the largest obstacle.

Clark, P. E.↗

NASA NTRS2019

SPARROW: Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

The Steam Propelled Autonomous Retrieval Robot (SPARROW) for Ocean Worlds was a Phase I mission concept study funded under the NASA NIAC program. This report represents the findings of that study and recommendations for future work. SPARROW, envisioned as a soccer ball-sized payload to a primary lander mission, is a propulsively hopping robot for the exploration of Europa's rugged, icy surface. A multi-thruster, passively gimballed robot within a protective, spherical shell, SPARROW is able to freely rotate, self-right, and tumble over chaotic terrains. Europa's abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW is to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixelâ€”still far larger than a typical rover. A key benefit of SPARROW's hopping, impact-tolerant design, is that it eliminates the need for a priori information regarding terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is believed to be entirely terrain agnostic. In this report we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientific interest, and iii) to characterize the impact of SPARROW's range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW's sensitivity to uncertainty in: initial pose, thrust profile, and vehicle-terrain interaction. A science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa's evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Autonomous↗

NASA NTRS2016

Precision Instrument Targeting via Image Registration for the Mars 2020 Rover

A key component of Mars exploration is the operation of robotic instruments on the surface, such as those on board the Mars Exploration Rovers, the Mars Science Laboratory (MSL), and the planned Mars 2020 Rover. As the instruments carried by these rovers have become more advanced, the area targeted by some instruments becomes smaller, revealing more fine-grained details about the geology and chemistry of rocks on the surface. However, thermal fluctuations, rover settling or slipping, and inherent inaccuracies in pointing mechanisms all lead to pointing error that is on the order of the target size (several millimeters) or larger. We show that given a target located on a previously acquired image, the rover can align this with a new image to visually locate the target and refine the current pointing. Due to round-trip communication constraints, this visual targeting must be done efficiently on board the rover using relatively limited computing hardware. We employ existing ORB features for landmark-based image registration, describe and theoretically justify a novel approach to filtering false landmark matches, and employ a random forest classifier to automatically reject failed alignments. We demonstrate the efficacy of our approach using over 3,800 images acquired by Remote Micro-Imager on board the “Curiosity” rover.

Doran, Gary↗

NASA NTRS2019

SPARROW: A Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

This paper presents the results of a NIAC Phase I study into the use of a propulsively hopping robot for the exploration of Europa’s rugged, icy surface. Named the“Steam Propelled Retrieval Robot for Ocean Worlds,” SPARROW is a multi-thruster robot passively gimballed within a protective, spherical shell, which enables it to freely rotate, self-right, and tumble over chaotic terrains. SPARROW is envisioned as a soccerball-sized payload to a primary lander mission. Europa’s abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW would be to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixel—still far larger than a typical rover. A key beneﬁt of SPARROW’s hopping, impact-tolerant design, is that it eliminates the need for a piori information on the terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is entirely terrain agnostic. In this paper we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientiﬁc interest, and iii) to characterize the impact of SPARROW’s range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW’s sensitivity to uncertainty in: initial conditions, thrust control, and cage-terrain interaction. Finally, a science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa’s evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Phillips, Cynthia↗

NASA NTRS2007

Multiple-Agent Air/Ground Autonomous Exploration Systems

Autonomous systems of multiple-agent air/ground robotic units for exploration of the surfaces of remote planets are undergoing development. Modified versions of these systems could be used on Earth to perform tasks in environments dangerous or inaccessible to humans: examples of tasks could include scientific exploration of remote regions of Antarctica, removal of land mines, cleanup of hazardous chemicals, and military reconnaissance. A basic system according to this concept (see figure) would include a unit, suspended by a balloon or a blimp, that would be in radio communication with multiple robotic ground vehicles (rovers) equipped with video cameras and possibly other sensors for scientific exploration. The airborne unit would be free-floating, controlled by thrusters, or tethered either to one of the rovers or to a stationary object in or on the ground. Each rover would contain a semi-autonomous control system for maneuvering and would function under the supervision of a control system in the airborne unit. The rover maneuvering control system would utilize imagery from the onboard camera to navigate around obstacles. Avoidance of obstacles would also be aided by readout from an onboard (e.g., ultrasonic) sensor. Together, the rover and airborne control systems would constitute an overarching closed-loop control system to coordinate scientific exploration by the rovers.

Fink, Wolfgang↗

NASA NTRS2013

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

robotics↗

NASA NTRS2012

Sliding GAIT Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

The design of a surface robotic system typically involves a trade between the traverse speed of a wheeled rover and the terrain-negotiating capabilities of a multi-legged walker. The ATHLETE mobility system, with both articulated limbs and wheels, is uniquely capable of both driving and walking, and has the flexibility to employ additional hybrid mobility modes. This paper introduces the Sliding Gait, an intermediate mobility algorithm faster than walking with better terrain-handling capabilities than wheeled mobility.

terrain anomaly↗

NASA NTRS1993

Opportunity for early science return by the Artemis Program

The purpose of the Artemis Program is to gather vital scientific and engineering data by conducting robotic exploration missions on the lunar surface both prior to and concurrent with human missions. The Artemis Program includes rapid, near-term development of a variety of small experimental and operational payloads, a low-cost capacity to deliver these payloads to any location on the lunar surface, and the analysis of the data returned. The Artemis Program will provide opportunities to improve the understanding of lunar geosciences, to demonstrate the Moon's unique capacity as an astronomical platform to study the universe, to conduct scientific and technology development experiments, and to prepare for and complement human missions.

Meyer, Charles↗

NASA NTRS1992

Artemis common lunar lander. Phase 2: Study results for external review

The purpose of the Artemis Program is to gather vital reconnaissance data by conducting robotic exploration missions to the lunar surface both prior to and concurrent with human exploration missions. The Artemis Program includes rapid, near-term development of a variety of small experimental and operational payloads, provides a low-cost capability to deliver these payloads to any location on the lunar surface, and supports the analysis of the data returned. The Artemis Program will improve the understanding of lunar geosciences, demonstrate the Moon's unique capability as an astronomical platform to study the universe, and to conduct scientific and technology development experiments, and will prepare for, enhance, and complement human mission The Artemis Common Lunar Lander Phase 2 Study results for external review are included.

Source record↗

NASA NTRS2001

Optical designs for the Mars '03 Rover cameras

In 2003, NASA is planning to send two robotic rover vehicles to explore the surface of mars. The spacecraft will land on airbags in different, carefully chosen locations.

Optical design Mars Rover↗

NASA NTRS2009

The Applications of NASA Mission Technologies to the Greening of Human Impact

I will give an overview talk about flight software systems, robotics technologies and modeling for energy minimization as applied to vehicles and buildings infrastructures. A dominant issue in both design and operations of robotic spacecraft is the minimization of energy use. In the design and building of spacecraft increased power is acquired only at the cost of additional mass and volumes and ultimately cost. Consequently, interplanetary spacecrafts are designed to have the minimum essential power and those designs often incorporate careful timing of all power use. Operationally, the availability of power is the most influential constraint for the use of planetary surface robots, such as the Mars Exploration Rovers. The amount of driving done, the amount of science accomplished and indeed the survivability of the spacecraft itself is determined by the power available for use. For the Mars Exploration Rovers there are four tools which are used: (1) models of the rover and it s thermal and power use (2) predictive environmental models of power input and thermal environment (3) fine grained manipulation of power use (4) optimization modeling and planning tools. In this talk I will discuss possible applications of this methodology to minimizing power use on Earth, especially in buildings.

Sims, Michael H.↗

NASA NTRS2000

Ground Mobility Systems for Planetary Exploration

This paper surveys past and current designs of surface mobility systems for planetary exploration robots developed at JPL/Caltech.

planetary↗

NASA NTRSDate not supplied

DC Modeling of 4H-SiC JFET Gate Length Reduction at 500°C

The development of robust, high-performance integrated circuits (ICs) will enable numerous potential NASA missions of current interest, including long-duration robotic missions exploring the 460 °C surface of Venus. Currently, NASA is looking towards SiC-based devices to provide such a solution. However, the current NASA silicon carbide (SiC) JFET device with a channel length of 6μm (for recently fabricated Gen. 11 ICs) limits on mission relevant circuit capabilities [1]. In this study, we combined experiments with simulations to explore two straightforward fabrication strategies to reduce the SiC JFET channel length while maintaining turn-off behavior (Fig. 1a) needed to realize 500 °C circuit operation. The first fabrication strategy uses a shallow self-align nitrogen implant (Figure 1b) along the device's top surface but not below the gate combined with a high-dose phosphorous implant directly below the source and drain contacts. For the second fabrication strategy (Figure 1c), the high-dose phosphorous implants extended from below the contacts all the way up to the gate edges. Simulations guided gate length reductions without significant degradation in the turn-off performance. In total 12 SiC JFET variants implementing using the different fabrication strategies, gate lengths, and n-channel epilayer thickness were implemented in our simulation framework implemented in COMSOL. Since the COMSOL database does not have the material properties for 4H-SiC, these parameters were taken from the literature and implemented in COMSOL. The empirical models [2] for incomplete ionization, Auger recombination, low field mobility, and Shockley-Read-Hall recombination were implemented to account for material-specific device behavior.

4H-SiC JFET↗

NASA NTRSDate not supplied

DC Modeling of 4H-SiC nJFET Gate Length Reduction at 500°C

4H-SiC nJFET↗

NASA NTRSDate not supplied

DC Modeling of 4H-SiC nJFET Gate Length Reduction at 500°C

4H-SiC nJFET↗

NASA NTRS1995

NASA Robotics Programs: Future Directions and Relevance to DoD

There are similarities and differences between NASA telerobotics technologies currently under development, and the corresponding technologies required for DoD unmanned ground vehicle systems. There are many opportunities for collaboration. Discussed are: program goals, applicable missions, planetary surface exploration technology needs, microinstruments, space station robotics, mine detection, etc.

Telerobotics Robotics Ground Vehicle Technology↗

NASA NTRS2004

Mars Environmental Chamber for Dynamic Dust Deposition and Statics Analysis

Recent observations of the 2001 dust storms encircling Mars confirm predictions of environmental challenges for exploration. Martian dust has been found to completely mantle the Martian surface over thousands of square kilometers and the opacity of airborne dust has been shown to be capable of modifying atmospheric temperature, radiative transfer and albedo. Planetary dust cycling dynamics are suggested to be a key factor in the evolution of the Martian surface. Long-term robotic and manned exploration of Mars will be confronted by dust deposition in periods of atmospheric calm and violent wind storms. Aeolian dust deposition recorded during the Mars Pathfinder mission was estimated to fall at rates of 20-45 microns per Earth year. Although many tools of exploration will be challenged by coating, adhesion, abrasion and possible chemical reaction of deposited, wind blown and actively disturbed Martian dust, solar cells are thought to be of primary concern. Recent modeling work of power output by gallium arsenide/germanium solar cells was validated by the Pathfinder Lander data and showed power output decreases of 0.1 to 0.5% per Martian day. A major determinant for the optimal positioning angle of solar panels employed in future missions is the angle of repose of the settling dust particles that is dependent on a variety of physical and chemical properties of the particles, the panel surface, and the environmental conditions on the Mars surface. While the effects of many of these factors are well understood qualitatively, quantitative analyses, especially under physical and chemical conditions prevailing on the Mars surface are lacking.

L.E. Moeller↗