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NASA NTRS2008

Simulation of Ground Winds Time Series

A simulation process has been developed for generation of the longitudinal and lateral components of ground wind atmospheric turbulence as a function of mean wind speed, elevation, temporal frequency range and distance between locations. The distance between locations influences the spectral coherence between the simulated series at adjacent locations. Short distances reduce correlation only at high frequencies; as distances increase correlation is reduced over a wider range of frequencies. The choice of values for the constants d1 and d3 in the PSD model is the subject of work in progress. An improved knowledge of the values for zO as a function of wind direction at the ARES-1 launch pads is necessary for definition of d1. Results of other studies at other locations may be helpful as summarized in Fichtl's recent correspondence. Ideally, further research is needed based on measurements of ground wind turbulence with high resolution anemometers at a number of altitudes at a new KSC tower located closer to the ARES-1 launch pad .The proposed research would be based on turbulence measurements that may be influenced by surface terrain roughness that may be significantly different from roughness prior to 1970 in Fichtl's measurements. Significant improvements in instrumentation, data storage end processing will greatly enhance the capability to model ground wind profiles and ground wind turbulence.

Adelfang, S. I.↗

NASA NTRS2009

Potential of Probing the Lunar Regolith using Rover-Mounted Ground Penetrating Radar: Moses Lake Dune Field Analog Study

Probing radars have been widely recognized by the science community to be an efficient tool to explore lunar subsurface providing a unique capability to address several scientific and operational issues. A wideband (200 to 1200 MHz) Ground Penetrating Radar (GPR) mounted on a surface rover can provide high vertical resolution and probing depth from few tens of centimeters to few tens of meters depending on the sounding frequency and the ground conductivity. This in term can provide a better understand regolith thickness, elemental iron concentration (including ilmenite), volatile presence, structural anomalies and fracturing. All those objectives are of important significance for understanding the local geology and potential sustainable resources for future landing sites in particular exploring the thickness, structural heterogeneity and potential volatiles presence in the lunar regolith. While the operation and data collection of GPR is a straightforward case for most terrestrial surveys, it is a challenging task for remote planetary study especially on robotic platforms due to the complexity of remote operation in rough terrains and the data collection constrains imposed by the mechanical motion of the rover and limitation in data transfer. Nevertheless, Rover mounted GPR can be of great support to perform systematic subsurface surveys for a given landing site as it can provide scientific and operational support in exploring subsurface resources and sample collections which can increase the efficiency of the EVA activities for potential human crews as part of the NASA Constellation Program. In this study we attempt to explore the operational challenges and their impact on the EVA scientific return for operating a rover mounted GPR in support of potential human activity on the moon. In this first field study, we mainly focused on the ability of GPR to support subsurface sample collection and explore shallow subsurface volatiles.

Horz, F.↗

NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗

NASA NTRS2010

Launchable and Retrievable Tetherobot

A proposed robotic system for scientific exploration of rough terrain would include a stationary or infrequently moving larger base robot, to which would be tethered a smaller hopping robot of the type described in the immediately preceding article. The two-robot design would extend the reach of the base robot, making it possible to explore nearby locations that might otherwise be inaccessible or too hazardous for the base robot. The system would include a launching mechanism and a motor-driven reel on the larger robot. The outer end of the tether would be attached to the smaller robot; the inner end of the tether would be attached to the reel. The figure depicts the launching and retrieval process. The launching mechanism would aim and throw the smaller robot toward a target location, and the tether would be paid out from the reel as the hopping robot flew toward the target. Upon completion of exploratory activity at the target location, the smaller robot would be made to hop and, in a coordinated motion, the tether would be wound onto the reel to pull the smaller robot back to the larger one.

Younse, Paulo↗

NASA NTRS2010

High Speed Lunar Navigation for Crewed and Remotely Piloted Vehicles

Increased navigation speed is desirable for lunar rovers, whether autonomous, crewed or remotely operated, but is hampered by the low gravity, high contrast lighting and rough terrain. We describe lidar based navigation system deployed on NASA's K10 autonomous rover and to increase the terrain hazard situational awareness of the Lunar Electric Rover crew.

Pedersen, L.↗

NASA NTRS2011

LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing

In support of NASA s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project, an extended Kalman filter routine has been developed for estimating the position, velocity, and attitude of a spacecraft during the landing phase of a planetary mission. The proposed filter combines measurements of acceleration and angular velocity from an inertial measurement unit (IMU) with range and Doppler velocity observations from an onboard light detection and ranging (LIDAR) system. These high-precision LIDAR measurements of distance to the ground and approach velocity will enable both robotic and manned vehicles to land safely and precisely at scientifically interesting sites. The filter has been extensively tested using a lunar landing simulation and shown to improve navigation over flat surfaces or rough terrain. Experimental results from a helicopter flight test performed at NASA Dryden in August 2008 demonstrate that LIDAR can be employed to significantly improve navigation based exclusively on IMU integration.

Busnardo, David M.↗

NASA NTRS2011

Science Operations Development for Field Analogs: Lessons Learned from the 2010 Desert RATS Test

Eppler, D. B.↗

NASA NTRS2011

Managing Science Operations During Planetary Surface: The 2010 Desert RATS Test

Desert Research and Technology Studies (Desert RATS) is a multi-year series of hardware and operations tests carried out annually in the high desert of Arizona on the San Francisco Volcanic Field. Conducted since 1997, these activities are designed to exercise planetary surface hardware and operations in conditions where long-distance, multi-day roving is achievable. Such activities not only test vehicle subsystems through extended rough-terrain driving, they also stress communications and operations systems and allow testing of science operations approaches to advance human and robotic surface capabilities. Desert RATS is a venue where new ideas can be tested, both individually and as part of an operation with multiple elements. By conducting operations over multiple yearly cycles, ideas that make the cut can be iterated and tested during follow-on years. This ultimately gives both the hardware and the personnel experience in the kind of multi-element integrated operations that will be necessary in future human planetary exploration.

Eppler, Dean B.↗

NASA NTRS2006

2D/3D Visual Tracker for Rover Mast

A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems that require coordination of vision and robotic motion.

Bajracharya, Max↗

NASA NTRS2005

Development of Software for a Lidar-Altimeter Processor

A report describes the development of software for a digital processor that operates in conjunction with a finite-impulse-response (FIR) chip in a spaceborne lidar altimeter. Processing is started by a laser-fire interrupt signal that is repeated at intervals of 25 ms. For the purpose of discriminating between returns from the ground and returns from such things as trees, buildings, and clouds, the software is required to scan digitized lidar-return data in reverse of the acquisition sequence in order to distinguish the last return pulse from within a commanded ground-return range window. The digitized waveform information within this range window is filtered through 6 matched filters, in the hardware electronics, in order to maximize the probability of finding echoes from sloped or rough terrain and minimize the probability of selecting cloud returns. From the data falling past the end of the range window, there is obtained a noise baseline that is used to calculate a threshold value for each filter. The data from each filter is analyzed by a complex weighting scheme and the filter with the greatest weight is selected. A region around the peak of the ground return pulse associated with the selected filter is placed in telemetry, as well as information on its location, height, and other characteristics. The software requires many uplinked parameters as input. Included in the report is a discussion of major software-development problems posed by the design of the FIR chip and the need for the software to complete its process within 20 ms to fit within the overall 25-ms cycle.

Rosenberg, Jacob S.↗

NASA NTRS2003

Energy-Absorbing, Lightweight Wheels

Improved energy-absorbing wheels are under development for use on special-purpose vehicles that must traverse rough terrain under conditions (e.g., extreme cold) in which rubber pneumatic tires would fail. The designs of these wheels differ from those of prior non-pneumatic energy-absorbing wheels in ways that result in lighter weights and more effective reduction of stresses generated by ground/wheel contact forces. These wheels could be made of metals and/or composite materials to withstand the expected extreme operating conditions. As shown in the figure, a wheel according to this concept would include an isogrid tire connected to a hub via spring rods. The isogrid tire would be a stiff, lightweight structure typically made of aluminum. The isogrid aspect of the structure would both impart stiffness and act as a traction surface. The hub would be a thin-walled body of revolution having a simple or compound conical or other shape chosen for structural efficiency. The spring rods would absorb energy and partially isolate the hub and the supported vehicle from impact loads. The general spring-rod configuration shown in the figure was chosen because it would distribute contact and impact loads nearly evenly around the periphery of the hub, thereby helping to protect the hub against damage that would otherwise be caused by large loads concentrated onto small portions of the hub.

Waydo, Peter↗

NASA NTRS2011

BOK-Underfill Optimization for FPGA Package/Assembly

Commercial-off-the-shelf area array package technologies in high-reliability versions are being considered for NASA electronic systems. These packages are prone to early failure due to the severe mechanical shock and vibration of launch, as well as other less severe conditions, such as mechanical loading during descent, rough terrain mobility, handling, and ground tests. As the density of these packages increases and the size of ball interconnections decrease, susceptibility to mechanical loading and cycling fatigue grows. This report presents a summary of the body of knowledge developed for the evaluation of area array packages and is based on surveys of literature from industry and academia. For high-reliability applications, the limited data that exists will be presented. Most data from industry deals with mechanical fatigue caused by four-point bend tests, as well as from drop tests for hand-held electronics; the most recent data will be presented, along with a brief background of prior literature. Understanding the key design guidelines and failure mechanisms from past tests is critical to developing an approach that will minimize future failures. Additional specific testing enables low-risk insertion of these advanced electronic packages.

mechanical fatigue↗

NASA NTRS2016

Failure Simulation Testing of the Z-1 Spacesuit Titanium Bearing Assemblies

The Z-2 is a candidate for NASA's next generation spacesuit, designed for a range of possible missions with enhanced mobility for spacewalks both on planetary surfaces and in microgravity. Increased mobility was accomplished through innovations in shoulder and hip joints, using a number of new bearings to allow spacesuit wearers to dip, walk, and bend with ease; all important tasks for a planetary explorer collecting samples or traveling over rough terrain. The Advanced Spacesuit Development Team of NASA Johnson Space Center requested that the NASA White Sands Test Facility (WSTF) perform a series failure simulation tests on three titanium bearing assemblies, an elemental part of the joint construction used in new spacesuit designs. This testing simulated two undetected failures within the bearings and as a result the objective of this test program was to evaluate whether a failed or failing bearing could result in ignition of the titanium race material due to friction. The first failure was an inner seal leak sufficient to pressurize the race with +99 percent oxygen. The second failure was an improperly installed or mismatched ball port that created a protrusion in the ball bearing race, partially obstructing the nominal rolling path of each ball bearing. When the spacesuit bearings are assembled, bearing balls are loaded into the assembly via a ball port. The ball port is specific and unique to each bearing assembly (matched pair). The simulated mismatched ball port is a significant source of friction, which would be caused by an assembly error. To evaluate this risk, the bearings were cycled in a simulated worst-case scenario environment, with operational loads, and potential flaw conditions. During test the amount of actuation torque required and heat generated through continuous operation were measured and the bearings were observed for sparks or burning events. This paper provides detailed descriptions of the test hardware, methodology, and results.

de Baca, Richard C.↗

NASA NTRS2017

Controlling Tensegrity Robots through Evolution using Friction based Actuation

Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

Tensegrit↗

NASA NTRS2019

Analysis of Mercury Laser Altimeter Crossovers with Improved Mercury and MESSENGER Ephemerides

Based on previous applications of laser altimetry to planetary geodesy at GSFC [Mazarico et al. (2014),(2016)] and taking advantage of new accurate Mercury and MESSENGER orbits by [Genova et al. (2019)], we analyze altimetric crossovers from the MESSENGER (Mercury Surface, Space Environment, Geochemistry and Ranging) Laser Altimeter (MLA) to solve for orbital and geodetic parameters (e.g., rotation and orientation). We present our results based on a new Python software package recently developed at GSFC that can simulate and process altimetry data in a closed-loop. Realistic simulations of MLA data, including an appropriate range noise from the instrument and realistic terrain roughness, are performed in order to fully characterize the robustness of the solution. The simulation results are then applied to our analysis of the full dataset acquired by the MLA instrument.

Bertone, Stefano↗

NASA NTRS2003

Integrated system for sensing and traverse of cliff faces

In this paper, we describe the development of an integrated suite of autonomous, adaptive hardware/software control methods called SMART (System for Mobility and Access to Rough Terrain) that enables mobile robots to explore potentially important science sites currently beyond the reach of conventional rover designs.

cooperative↗

NASA NTRS2004

Visual target tracking for rover-based planetary exploration

To command a rover to go to a location of scientific interest on a remote planet, the rover must be capable of reliably tracking the target designated by the scientist from ten or more meters away. The rover must maintain lock on the target while traversing rough terrain and avoiding obstacles without the need for communication with Earth.

Bualat, Maria↗

NASA NTRS2021

Maximum entropy modeling to identify physical drivers of shallow snowpack heterogeneity using unpiloted aerial system (UAS) lidar

Understanding the spatial variability of the snowpack is valuable for hydrologists and ecologists seeking to predict hydrological processes in a cold region. Snow distribution is a function of interactions among static variables, such as terrain, vegetation, and soil properties, and dynamic meteorological variables, such as solar radiation, wind speed and direction, and soil moisture. However, identifying the dominant physical drivers responsible for spatial patterns of the snowpack, particularly for ephemeral, shallow snowpacks, has been challenging due to the lack of the high-resolution snowpack and physical variables with high vertical accuracy as well as inherent limitations in traditional approaches. This study uses an Unpiloted Aerial System (UAS) lidar-based snow depth and static variables (1-m spatial resolution) to analyze field-scale spatial structures of snow depth and apply the Maximum Entropy (MaxEnt) model to identify primary controls over open terrain and forests at the University of New Hampshire Thompson Farm Research Observatory, New Hampshire, United States. We found that, among nine topographic and soil variables, plant functional type and terrain roughness contribute up to 80% and 76% of relative importance in the MaxEnt framework to predict locations of deeper or shallower snowpacks, respectively, across a mixed temperate forested and field landscape. Soil variables, such as organic matter and saturated hydraulic conductivity, were also important controls (up to 70% and 81%) on snow depth spatial variations for both open and forested landscapes suggesting spatial variations in soil variables under snow can control thermal transfer among soil, snowpack, and surface-atmosphere. This work contributes to improving land surface and snow models by informing parameterization of the sub-grid scale snow depths, down-scaling remotely sensed snow products, and understanding field scale snow states.

Eunsang Cho↗