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NASA NTRS2019

The SPLICE Project: Continuing NASA Development of GN&C Technologies for Safe and Precise Landing

Guidance, Navigation and Control (GN&C) technologies for precise and safe landing are essential for future robotic science and human exploration missions to solar system destinations with targeted surface locations that pose a signiﬁcant risk to successful landing and subsequent mission operations. These Entry, Descent and Landing (EDL) technologies are a part of the NASA domain called PL&HA (Precision Landing and Hazard Avoidance) and are considered high-priority capabilities within NASA space technology development roadmaps to promote and enable new mission concepts. The SPLICE (Safe & Precise Landing – Integrated Capabilities Evolution) project is a multi-center, multi-directorate NASA project focused on continuing the decade-plus of NASA investments and projects focused on PL&HA technology development and infusion. This paper highlights the GN&C technologies in development within SPLICE, along with the simulation and ﬁeld test plans for validation of the capabilities and Technology Readiness Level (TRL) maturation toward infusion into potential near-term robotic lunar landing missions.

Tse, Teming↗

NASA NTRS1992

Fiber optic-based laser vapor screen flow visualization systems for aerodynamic research in larger-scale subsonic and transonic wind tunnels

The design, installation, and application of the NASA laser vapor screen (LVS) flow visualization systems developed by 10-foot high speed tunnel and 8-foot transonic pressure tunnel are discussed. Sufficient quantity of water is injected into the wind tunnel diffuser section to increase the relative humidity and promote condensation of the water vapor in the flow field about the model. Vortex-dominated flows are illuminated with an intense sheet of laser light. Fiber optics are used to deliver the laser beam through the plenum shell that surrounds the test section of each facility and to the light sheet-generating optics positioned in the ceiling window of the test section. Operational experience indicates that fiber optic-based systems are safe, reliable, and capable of proving high-quality off-surface flow visualization in larger scale subsonic and transonic wind tunnels.

Erickson, Gary E.↗

NASA NTRS2018

An Introduction to Human Mars Mission Equipment and Operations

The exploration of Mars by human crews will be a complex endeavor as illustrated by this description of NASA's current architecture for the human exploration of the surface of Mars. The surface environment, in particular the ubiquitous dust, will be an important factor in designing the systems and operations needed for a safe and effective campaign of missions to achieve this objective. This introduction describes the exploration architecture with some indication of where and how dust could affect it. The remainder of this volume describes details of these dust effects on the crews, the systems, and the operations that make up this exciting and challenging enterprise.

dust↗

NASA NTRSDate not supplied

Crewed Mars Mission Mode Options for Nuclear Electric/Chemical Hybrid Transportation System

NASA's Human Exploration and Operation Mission Directorate is continuing to study different concepts and options to field human Mars missions as part of NASA's Moon2Mars directive. For crewed missions to Mars, the transportation system sizing is highly dependent on the total mission duration, Mars orbit dwell time, mission concept of operations, and the chosen propulsion system. NASA has been investigating the use of low-thrust electric propulsion systems to augment high-thrust chemical propulsion system for crewed Mars mission to enable a more energy-efficient operations. Recent studies on these missions have focused on ``All-Up'' piloted mission modes in which the in-space transportation system for crew transit departs Earth with everything it needs for the roundtrip journey, with only the Mars landers and surface assets pre-deployed. This design choice was made to minimize the mission operation risk, as the crew could return safely to Earth in the event of a failure to rendezvous or other failure of any pre-deployed assets. As the Mars Architecture Team continues to investigate and understand the Mars mission trade space, alternate mission mode studies were conducted to understand their impact to the transportation system. These include pre-positioning return assets and discarding expended stages to reduce the overall system mass.

Patrick R Chai↗

NASA NTRSDate not supplied

Lidar-Based Safe Site Relative Navigation

There has been a renewed focus in exploration of the lunar surface and maximizing scientific potential of such missions is made possible in part by minimizing the time required to set up operations; that is, reducing transit time on the surface by increasing the landing precision with respect to the intended target. Established SPLICE project precision landing requirements necessitate a navigation filter architecture and underlying models developed specifically with these needs in mind. To date, test flights to characterize SPLICE GNC system performance have not provided a means to divert from the a priori selected landing site due to hazardous conditions. With the inclusion of a new sensor, the HDL, coupled with safe landing site selection algorithms, GNC can divert from the originally planned trajectory and navigate relative to the new targeted landing site. This work presents a novel hazard relative measurement model and covariance transformation methodology that enable the navigation system to inform a safe-site relative guidance profile to meet project precision landing goals.

Navigation↗

NASA NTRS2009

Initial Concept for Terminal Area Conflict Detection, Alerting, and Resolution Capability on or Near the Airport Surface

The Next Generation Air Transportation System (NextGen) concept for 2025 envisions the movement of large numbers of people and goods in a safe, efficient, and reliable manner. The NextGen will remove many of the constraints in the current air transportation system, support a wider range of operations, and deliver an overall system capacity up to 3 times that of current operating levels. In order to achieve the NextGen vision, research is necessary in the areas of surface traffic optimization, maximum runway capacity, reduced runway occupancy time, simultaneous single runway operations, and terminal area conflict prevention, among others. The National Aeronautics and Space Administration (NASA) is conducting Collision Avoidance for Airport Traffic (CAAT) research to develop technologies, data, and guidelines to enable Conflict Detection and Resolution (CD&R) in the Airport Terminal Maneuvering Area (ATMA) under current and emerging NextGen operating concepts. In this report, an initial concept for an aircraft-based method for CD&R in the ATMA is presented. This method is based upon previous NASA work in CD&R for runway incursion prevention, the Runway Incursion Prevention System (RIPS). CAAT research is conducted jointly under NASA's Airspace Systems Program, Airportal Project and the Aviation Safety Program, Integrated Intelligent Flight Deck Project.

Green, David F.↗

NASA NTRSDate not supplied

LANDO: Developing Autonomous Payload Offloading Capabilities for Lunar Surface Operations

Introduction: The Lightweight Surface Manipulation System (LSMS) AutoNomy capabilities Development for surface Operations and construction (LANDO) project is an Early Career Initiative selected for funding by NASA Space Technology Mission Directorate. LANDO is developing a general-purpose autonomy framework applicable to serial and tension-actuated manipulation agents, that will be validated using an existing prototype of the LSMS-L35 (35-kg wrist lift capacity on the lunar surface [Fig. 1], sized for a Commercial Lunar Pay-load Services (CLPS) mission). The autonomous LSMS-L35 will be used to demonstrate autonomous payload handling capabilities for Lunar and other planetary surfaces, directly addressing STMD capability gaps in autonomous excavation and construction operations, advanced robotics and spacecraft autonomy technologies, and technologies supporting emerging space industries including the In-Space Servicing, Assembly and Manufacturing national strategy. LSMS: The LSMS is a tension actuated robotic agent that is scalable (reach and lifting capacity in different gravity environments), versatile (types of surface operations), and reusable. Compared to serial arms, the LSMS provides significantly higher structural efficiency and mechanical advantage, enabling a greater payload lift capacity at a lower system mass. The LSMS is envisioned to be a crucial part of the excavation and construction portfolio, capable of supporting a variety of activities on the lunar surface. Autonomous payload handling is one of the first activities the LSMS can support that develops capabilities that are extensible to other surface operations. Payload handling is required to: remove payloads from a lander; place payloads on mobile agents for transport from a lander to construction site/assembly point; emplace payloads in their operational configuration, and aggregate components to create an asset. As an example of this critical gap, manifested CLPS missions do not currently have a ubiquitous payload offloading capability; payloads (excluding rovers) are designed to remain on the lander. Why Autonomy? Autonomous robotic systems capable of carrying out excavation and construction operations are a fundamental and critical capability required for realizing the NASA Artemis program vision to “emplace and build the infrastructure, systems, and robotic missions that can enable a sustained lunar surface presence.” While teleoperation is still feasible for lunar surface operations, increased latency at Mars will require validated supervised autonomous technologies capable of operating with minimal human involvement (human-on-the-loop) unless an unexpected event occurs requiring human intervention. Autonomy reduces operator burden, allows operations to continue during uncrewed periods, in-creases the safety of operations by automatically detecting and handling faults, and allows operating in high latency environments. Development Activities: LANDO is extending critical autonomous operations to the manipulation domain and creating an integrated system, based on reusable software modules, that is capable of planning and executing payload handling and autonomous surface operations without requiring hu-man intervention beyond a supervisory role. The priority features under development are 1) autonomously offload payloads from a tilted lander deck without buckling the LSMS; 2) sensing whether a payload is safe to lift and handle; and 3) integrate with Astrobotic’s CLPS lander. The poster presentation will highlight current development activities over the past year on LSMS-L35 prototype hard-ware design, and autonomy software.

in-space assembly↗

NASA NTRS1972

Fracture and crack growth resistance studies of 304 stainless steel weldments relating to retesting of cryogenic vessels

Fracture and crack growth resistance characteristics of 304 stainless steel alloy weldments as relating to retesting of cryogenic vessels were examined. Welding procedures were typical of those used in full scale vessel fabrication. Fracture resistance survey tests were conducted in room temperature air, liquid nitrogen and liquid hydrogen. In air, both surface-flawed and center-cracked panels containing cracks in weld metal, fusion line, heat-affected zone, or parent metal were tested. In liquid nitrogen and liquid hydrogen, tests were conducted using center-cracked panels containing weld centerline cracks. Load-unload, sustained load, and cyclic load tests were performed in air or hydrogen gas, liquid nitrogen, and liquid hydrogen using surface-flawed specimens containing weld centerline cracks. Results were used to evaluate the effectiveness of periodic proof overloads in assuring safe and reliable operation of over-the-road cryogenic dewars.

Hall, L. R.↗

NASA NTRS1963

Apollo Master Spacecraft Specification

The ultimate objective of this project is to land men on the surface of the moon and return the men safely to earth. The objective of this document is to define the design approaches and operational techniques for transporting a three-man crew to the moon and returning them to earth.

Source record↗

NASA NTRSDate not supplied

Automation and AI in Space Drilling

Future planetary surface sampling missions, such as delving past the near-surface ice layers on Mars in search of organics and possibly signs of past/extant life, will require lightweight, low-mass planetary drilling and sample handling. Unlike terrestrial drills, these exploration drills must work dry (without drilling muds or gas), blind (no prior local or regional seismic or other surveys), and light (very low downward force or weight on bit, and perhaps 100 W available from solar power or batteries). Given the lightspeed transmission delays to Mars and outward, an exploratory planetary drill cannot be controlled directly from Earth. Drills that penetrate deeper than a few centimeters are likely to get stuck if operated open-loop (the MSL drill only penetrates 5 cm, and the MER Rock Abrasion Tools 5 mm by comparison), so some form of local drill control is required. In the relatively near-term, human crews cannot be presumed to be available for surface instrument teleoperation. Therefore highly automated drill and sample-transfer operations will be required, to explore the subsurface with the ability to safe robotic drilling systems and recover and continue on from the most probable fault conditions. Current automation, scheduling and diagnostic approaches will be discussed that roughly track the actions and roles of humans in terrestrial manual drilling operations.

drill automation↗

NASA NTRS2013

Curiosity's Autonomous Surface Safing Behavior Design

The safing routines on all robotic deep-space vehicles are designed to put the vehicle in a power and thermally safe configuration, enabling communication with the mission operators on Earth. Achieving this goal is made a little more difficult on Curiosity because the power requirements for the core avionics and the telecommunication equipment exceed the capability of the single power source, the Multi-Mission Radioisotope Thermoelectric Generator. This drove the system design to create an operational mode, called "sleep mode", where the vehicle turns off most of the loads in order to charge the two Li-ion batteries. The system must keep the vehicle safe from over-heat and under-heat conditions, battery cell failures, under-voltage conditions, and clock failures, both while the computer is running and while the system is sleeping. The other goal of a safing routine is to communicate. On most spacecraft, this simply involves turning on the receiver and transmitter continuously. For Curiosity, Earth is above the horizon only a part of the day for direct communication to the Earth, and the orbiter overpass opportunities only occur a few times a day. The design must robustly place the Rover in a communicable condition at the correct time. This paper discusses Curiosity's autonomous safing behavior and describes how the vehicle remains power and thermally safe while sleeping, as well as a description of how the Rover communicates with the orbiters and Earth at specific times.

MSL↗

NASA NTRS2013

Initial Concept for Terminal Area Conflict Detection, Alerting, and Resolution Capability On or Near the Airport Surface, Version 2.0

The Next Generation Air Transportation System (NextGen) concept for 2025 envisions the movement of large numbers of people and goods in a safe, efficient, and reliable manner. The NextGen will remove many of the constraints in the current air transportation system, support a wider range of operations, and deliver an overall system capacity up to 3 times that of current operating levels. In order to achieve the NextGen vision, research is necessary in the areas of surface traffic optimization, maximum runway capacity, reduced runway occupancy time, simultaneous single runway operations, and terminal area conflict prevention, among others. The National Aeronautics and Space Administration (NASA) is conducting Collision Avoidance for Airport Traffic (CAAT) research to develop technologies, data, and guidelines to enable Conflict Detection and Resolution (CD&R) in the Airport Terminal Maneuvering Area (ATMA) under current and emerging NextGen operating concepts. The term ATMA was created to reflect the fact that the CD&R concept area of operation is focused near the airport within the terminal maneuvering area. In the following, an initial concept for an aircraft-based method for CD&R in the ATMA is presented. This method is based upon previous NASA work in CD&R for runway incursion prevention, the Runway Incursion Prevention System (RIPS).

Otero, Sharon D.↗

NASA NTRS2014

Safe Maritime Autonomous Path Planning in a High Sea State

This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

Ono, Masahiro↗

NASA NTRS2014

A Long Distance Laser Altimeter for Terrain Relative Navigation and Spacecraft Landing

A high precision laser altimeter was developed under the Autonomous Landing and Hazard Avoidance (ALHAT) project at NASA Langley Research Center. The laser altimeter provides slant-path range measurements from operational ranges exceeding 30 km that will be used to support surface-relative state estimation and navigation during planetary descent and precision landing. The altimeter uses an advanced time-of-arrival receiver, which produces multiple signal-return range measurements from tens of kilometers with 5 cm precision. The transmitter is eye-safe, simplifying operations and testing on earth. The prototype is fully autonomous, and able to withstand the thermal and mechanical stresses experienced during test flights conducted aboard helicopters, fixed-wing aircraft, and Morpheus, a terrestrial rocket-powered vehicle developed by NASA Johnson Space Center. This paper provides an overview of the sensor and presents results obtained during recent field experiments including a helicopter flight test conducted in December 2012 and Morpheus flight tests conducted during March of 2014.

Pierrottet, Diego F.↗

NASA NTRS2010

Evaluation of Mixed-Mode Data-Link Communications for NextGen 4DT and Equivalent Visual Surface Operations

By 2025, U.S. air traffic is predicted to increase 3-fold and may strain the current air traffic management system, which may not be able to accommodate this growth. In response to this challenge, a revolutionary new concept has been proposed for U.S. aviation operations, termed the Next Generation Air Transportation System or NextGen. Many key capabilities are being identified to enable NextGen, including the use of data-link communications. Because NextGen represents a radically different approach to air traffic management and requires a dramatic shift in the tasks, roles, and responsibilities for the flight deck, there are numerous research issues and challenges that must be overcome to ensure a safe, sustainable air transportation system. Flight deck display and crew-vehicle interaction concepts are being developed that proactively investigate and overcome potential technology and safety barriers that might otherwise constrain the full realization of NextGen. The paper describes simulation research examining data-link communications during 4DT and equivalent visual surface operations.

Prinzel, Lawrence J., III↗

NASA NTRS2019

PL&HA and SPLICE Overview

Precision Landing and Hazard Avoidance (PL&HA)↗

NASA NTRS2000

First Astronaut- Rover Interaction Field Test

The first Astronaut - Rover (ASRO) Interaction field test was conducted successfully on February 22-27, 1999, in Silver Lake, Mojave Desert, California in a representative planetary surface terrain. This test was a joint effort between the NASA Ames Research Center , Moffett Field, California and the NASA Johnson Space Center, Houston, Texas. As prototype advanced planetary surface space suit and rover technologies are being developed for human planetary surface exploration , it has been determined that it is important to better understand the potential interaction and benefits of an EVA astronaut interacting with a robotic rover . This interaction between an EVA astronaut and a robotic rover is seen as complementary and can greatly enhance the productivity and safety of surface excursions . This test also identified design requirements and options in an advanced space suit and robotic rover. The test objectives were: 1. To identify the operational domains where the EVA astronauts and rover are complementary and can interact and thus collaborate in a safe , productive and cost- effective way, 2. To identify preliminary requirements and recommendations for advanced space suits and rovers that facilitate their cooperative and complementary interaction, 3. To develop operational procedures for the astronaut-rover teams in the identified domains, 4. To test these procedures during representative mission scenarios during field tests by simulating the exploration of a planetary surface by an EVA crew interacting with a robotic rover, 5. To train a space suited test subject, simulated Earth-based and l or lander-based science teams, and robotic vehicle operators in mission configurations, and 6. To evaluate and understand socio-technical aspects of the astronaut - rover interaction experiment in order to guide future technologies and designs. Test results and areas for future research in the design of planetary space suits will be discussed .

Kosmo, Joseph J.↗

NASA NTRS1997

Ground Taxi Navigation Problems and Training Solutions

Adverse weather conditions can put considerable strain on the National Airspace System. Even small decreases in visibility on the airport surface can create delays, hinder safe movement and lead to errors. Studies of Aviation Safety Reporting System (ASRS) surface movement incidents support the need for technologies and procedures to improve ground operations in low-visibility conditions. This study examined 139 ASRS reports of low-visibility surface movement incidents at 10 major U.S. airports. Errors were characterized in terms of incident type, contributing factors and consequences. The incidents in the present sample were comprised of runway transgressions, taxiway excursions and ground conflicts. The primary contributing factors were Airport Layout and Markings, Communication and Distraction. In half the incidents the controller issued a new clearance or the flight crew took an evasive action and in the remaining half, no recovery attempt was made because the error was detected after the fact. By gaining a better understanding the factors that affect crew navigation in low visibility and the types of errors that are likely to occur, it will be possible to develop more robust technologies to aid pilots in the ground taxi task. Implications for crew training and procedure development for low-visibility ground taxi are also discussed.

Quinn, Cheryl↗