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Jet Propulsion Laboratory: Annual Report 2005

What an amazing host of new sights 2005 brought us. With impeccable choreography, one spacecraft sent an impactor slamming into a comet, reversing the traditional view of these space wayfarers by revealing it to be buried in deep drifts of a fine talcum-like powder. Another spacecraft delivered a probe from our European partners to the surface of Saturn's haze-shrouded moon Titan, disclosing a landscape eerily like Earth's, if we had methane rivers cascading down hillsides of ice. An orbiting observatory for the first time showed us the light from planets circling other stars, which astronomers previously knew to exist only from indirect clues. Throughout the year we also amassed continually expanding views of Earth as well as Mars, by far the most-explored planet after our own. In all, 18 spacecraft and five instruments were stationed across the solar system, studying our own world, other planets, comets and the deeper universe. These missions were enabled by the efforts of everyone at JPL. The Deep Space Network of communications complexes across three continents continued to experience a period of remarkable activity. Others were at work creating technologies both for NASA missions and other uses. JPL's contingent of scientific researchers was equally busy coordinating the science activities of our missions or pursuing independent investigations. None of this would be possible without the support of world-class business and administrative teams. All of our missions in one way or another support our nations Vision for Space Exploration, which envisages a gradually widening robotic and human presence across the solar system in the years ahead. The year was not without its challenges. NASA set forth to implement the Vision for Space Exploration, which resulted in some flight projects and technology efforts being terminated. To adjust to this new direction, it was necessary for us to reduce the JPL workforce by about five percent. Taking steps like this is painful, but we tried to make the process as orderly as possible. In the end, the adjustments made have left JPL on a healthy footing for the years ahead.

Jet Propulsion Laboratory (JPL)↗

An Evaluation of Ultra-High Pressure Regulator for Robotic Lunar Landing Spacecraft

The Robotic Lunar Lander Development (RLLD) Project Office at NASA Marshall Space Flight Center (MSFC) has studied several lunar surface science mission concepts. These missions focus on spacecraft carrying multiple science instruments and power systems that will allow extended operations on the lunar surface. Initial trade studies of launch vehicle options for these mission concepts indicate that the spacecraft design will be significantly mass-constrained. To minimize mass and facilitate efficient packaging, the notional propulsion system for these landers has a baseline of an ultra-high pressure (10,000 psig) helium pressurization system that has been used on Defense missiles. The qualified regulator is capable of short duration use; however, the hardware has not been previously tested at NASA spacecraft requirements with longer duration. Hence, technical risks exist in using this missile-based propulsion component for spacecraft applications. A 10,000-psig helium pressure regulator test activity is being carried out as part of risk reduction testing for MSFC RLLD project. The goal of the test activity is to assess the feasibility of commercial off-the-shelf ultra-high pressure regulator by testing with a representative flight mission profile. Slam-start, gas blowdown, water expulsion, lock-up, and leak tests are also performed on the regulator to assess performance under various operating conditions. The preliminary test results indicated that the regulator can regulate helium to a stable outlet pressure of 740 psig within the +/- 5% tolerance band and maintain a lock-up pressure less than +5% for all tests conducted. Numerous leak tests demonstrated leakage less than 10-3 standard cubic centimeters per second (SCCS) for internal seat leakage at lock-up and less than10-5 SCCS for external leakage through the regulator ambient reference cavity. The successful tests have shown the potential for 10,000 psig helium systems in NASA spacecraft and have reduced risk associated with hardware availability and hardware ability to meet RLL mission requirements.

Burnside, Christopher↗

Upstream Structures and Their Effects on the Magnetosphere

Kinetic processes within the Earth's foreshock generate a profusion of plasma and magnetic field structures with sizes and durations ranging from the microscale (e.g. SLAMs, solitons, and density holes) to the mesoscale (e.g. foreshock cavities or boundaries, hot flow anomalies, and bubbles). Swept into the bow shock by the solar wind flow, the perturbations associated with these features batter the magnetosphere, driving a wide variety of magnetospheric effects, including large amplitude magnetopause motion, bursty reconnection and the generation of flux transfer events, enhanced pulsation activity within the magnetosphere, diffusion and energization of radiation belt particles, enhanced particle precipitation resulting in dayside aurora and riometer absorption, and the generation of field-aligned currents and magnetic impulse events in high-latitude ground magnetometers. This talk reviews the ever growing menagery of structures observed upstream from the bow shock, examines their possible interrelationships, and considers their magnetospheric consequences.

Sibeck, D. G.↗

Localization Using Visual Odometry and a Single Downward-Pointing Camera

Stereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.

Swank, Aaron J.↗

Autonomous Deep-Space Optical Navigation Project

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

D'Souza, Christopher↗

Space Shuttle 750 psi Helium Regulator Application on Mars Science Laboratory Propulsion

The Mars Science Laboratory (MSL) is NASA's next major mission to Mars, to be launched in September 2009. It is a nuclear powered rover designed for a long duration mission, with an extensive suite of science instruments. The descent and landing uses a unique 'skycrane' concept, where a rocket-powered descent stage decelerates the vehicle, hovers over the ground, lowers the rover to the ground on a bridle, then flies a safe distance away for disposal. This descent stage uses a regulated hydrazine propulsion system. Performance requirements for the pressure regulator were very demanding, with a wide range of flow rates and tight regulated pressure band. These indicated that a piloted regulator would be needed, which are notoriously complex, and time available for development was short. Coincidentally, it was found that the helium regulator used in the Space Shuttle Orbiter main propulsion system came very close to meeting MSL requirements. However, the type was out of production, and fabricating new units would incur long lead times and technical risk. Therefore, the Space Shuttle program graciously furnished three units for use by MSL. Minor modifications were made, and the units were carefully tuned to MSL requirements. Some of the personnel involved had built and tested the original shuttle units. Delta qualification for MSL application was successfully conducted on one of the units. A pyrovalve slam start and shock test was conducted. Dynamic performance analyses for the new application were conducted, using sophisticated tools developed for Shuttle. Because the MSL regulator is a refurbished Shuttle flight regulator, it will be the only part of MSL which has physically already been in space.

Mizukami, Masashi↗

Risk of Performance Decrements and Adverse Health Outcomes Resulting from Sleep Loss, Circadian Desynchronization, and Work Overload

Sleep loss, circadian desynchronization, and work overload occur to some extent for ground and flight crews, prior to and during spaceflight missions. Ground evidence indicates that such risk factors may lead to performance decrements and adverse health outcomes, which could potentially compromise mission objectives. Efforts are needed to identify the environmental and mission conditions that interfere with sleep and circadian alignment, as well as individual differences in vulnerability and resiliency to sleep loss and circadian desynchronization. Specifically, this report highlights a collection of new evidence to better characterize the risk and reveals new gaps in this risk as follows: Sleep loss is apparent during spaceflight. Astronauts consistently average less sleep during spaceflight relative to on the ground. The causes of this sleep loss remain unknown, however ground-based evidence suggests that the sleep duration of astronauts is likely to lead to performance impairment and short and long-term health consequences. Further research is needed in this area in order to develop screening tools to assess individual astronaut sleep need in order to quantify the magnitude of sleep loss during spaceflight; current and planned efforts in BHP's research portfolio address this need. In addition, it is still unclear whether the conditions of spaceflight environment lead to sleep loss or whether other factors, such as work overload lead to the reduced sleep duration. Future data mining efforts and continued data collection on the ISS will help to further characterize factors contributing to sleep loss. Sleep inertia has not been evaluated during spaceflight. Ground-based studies confirm that it takes two to four hours to achieve optimal performance after waking from a sleep episode. Sleep inertia has been associated with increased accidents and reduced performance in operational environments. Sleep inertia poses considerable risk during spaceflight when emergency situations necessitate that crewmembers wake from sleep and make quick decisions. A recently completed BHP investigation assesses the effects of sleep inertia upon abrupt awakening, with and without hypnotics currently used in spaceflight; results from this investigation will help to inform strategies relative to sleep inertia effects on performance. Circadian desynchrony has been observed during spaceflight. Circadian desynchrony during spaceflight develops due to schedule constraints requiring non-24 operations or 'slam-shifts' and due to insufficient or mis-timed light exposure. In addition, circadian misalignment has been associated with reduced sleep duration and increased medication use. In ground-based studies, circadian desynchrony has been associated with significant performance impairment and increased risk of accidents when operations coincide with the circadian nadir. There is a great deal of information available on how to manage circadian misalignment, however, there are currently no easily collected biomarkers that can be used during spaceflight to determine circadian phase. Current research efforts are addressing this gap. Work overload has been documented during current spaceflight operations. NASA has established work hour guidelines that limit shift duration, however, schedule creep, where duty requirements necessitate working beyond scheduled work hours, has been reported. This observation warrants the documentation of actual work hours in order to improve planning and in order to ensure that astronauts receive adequate down time. In addition to concerns about work overload, ground based evidence suggests that work underload may be a concern during deep space missions, where torpor may develop and physically demanding workload will be exchanged for monitoring of autonomous systems. Given that increased automation is anticipated for exploration vehicles, fatigue effects in the context of such systems needs to be further understood. Performance metrics are needed to evaluate fitness-for-duty during spaceflight. Although ground-based evidence supports the notion that sleep loss, circadian desynchronization and work overload lead to performance impairment, inconsistency in the measures used to evaluate performance during spaceflight make it difficult to evaluate the magnitude of performance impairment during spaceflight. Work is underway to standardize measures of performance evaluation during spaceflight. Once established, such performance indicators need to be correlated with operational performance. Individual differences in sleep need and circadian preference, phase shifting ability and period have been documented in ground-based studies. Individual differences in response to sleep loss and circadian misalignment have also been documented and are presumed to be associated with genetic polymorphisms. No studies have systematically reported individual differences in sleep or circadian-related outcomes during spaceflight. More work is needed in this area in order to identify genetic or phenotypic biomarkers that predict resilience or vulnerability to sleep loss in order to personalize countermeasure strategies and mitigate performance impairment during spaceflight. Two laboratory and field investigations specific to this topic are currently ongoing; additional efforts, including an effort to mine existing biological data from spaceflight relative to sleep and circadian outcomes, are planned. Sex differences in sleep need and circadian period and phase have been reported in ground-based studies. The impact of these sex differences on performance is unclear. Sex differences in sleep need and circadian rhythms have not been systematically studied during spaceflight, presumably due to the small number of women that have flown in space. More research is needed in this area to evaluate whether any of the observed sex differences in physiology lead to altered performance in spaceflight and on the ground.

Flynn-Evans, Erin↗

Landsat at 45: How it Changed the Way We See the Earth

On October 24, 1946, more than 10 years before the launch of the first artificial satellite Sputnik, scientists at the White Sands Missile Range in New Mexico placed a camera on top of a captured German V-2 ballistic missile. As the rocket flew to an altitude of about 65 miles - just above the generally recognized border of outer space - the 35-millimeter motion picture camera snapped a frame every one and a half seconds. Minutes later, the missile came crashing back down and slammed into the ground at more than 340 mph, but the film survived and gave us our first glimpse of Earth from space. Earth Resources Technology Satellite aka Landsat It was images like those first grainy black and white pictures and later those taken by America's first astronauts in the 1960's that inspired the development of the Earth Resources Technology Satellite (ERTS). From the unique vantage point of space, we could now observe Earth using a variety of different instruments to monitor changes over time. The ERTS-1 satellite, wisely renamed Landsat-1, was launched aboard a Delta rocket on July 23, 1972, into a Sun-synchronous polar orbit at an altitude of about 560 miles. In this unique orbit, Landsat could observe the same point on the Earth every 18 days, always with the same solar illumination, allowing for precise monitoring of changes on the ground over time. Landsat-1, derived from the highly successful Nimbus weather satellites, carried two instruments that allowed it to take images not only in visible light but also in infrared, well-suited to track changes in vegetation over time. Designed to last only one year, Landsat-1 actually operated for nearly three years, by which time it had been joined in space by Landsat-2, a near identical copy of the original. Since then, ever more sophisticated instruments were flown aboard Landsat-3 through -8, with Landsat-9 planned for launch in 2020, acquiring millions of images of Earth over more than four decades. At first, images from Landsat were processed by NASA and hardcopies sold to users for a fee, a somewhat tedious process. Since 2008, images have been made available to all interested users by the US Geological Survey (USGS) at no cost via the Internet in near real time. So, how can Landsat help? In short, Landsat looks. And looks. And proves Yogi right. Space-based images from Landsat and other similar satellites offer a unique and critical capability to observe land use over time by providing repetitive observations of the Earth otherwise unavailable. The data provided by the images can be used by scientists and politicians to inform wise decisions in areas such as agriculture, climate, ecosystems and biodiversity, energy, forest management, human health, fire, natural disasters, urban growth and water management. This overview article doesn't allow for examples from each of these disciplines, but details can be found at the following website: https://landsat.gsfc.nasa.gov/how_landsat_helps/. One third of the US economy is influenced by climate, weather and natural hazards, providing strong economic incentives to sustain a healthy space-based Earth observation program. One example, however, may be illustrative of how Landsat and other space-based observations can be helpful in monitoring and documenting some effects of global climate change. It had been noted since the 1970's that permafrost in subarctic areas like Siberia was melting at an accelerating rate. It also became apparent that this led to the formation of hundreds of melt lakes and the liberation of large quantities of methane, a gas that in the short-term has more potent greenhouse effects than carbon dioxide. The methane turned the water in these lakes blue, making them easy to track over time by satellite. Additionally, the newly released methane has been carbon dated to tens of thousands of years ago, meaning that it had remained frozen since the last Ice Age and therefore hadn't been accounted for in models of the Earth's overall carbon balance. Release of sufficient methane by an increasingly warming climate could actually cause a positive feedback loop in global warming, melting more permafrost and releasing yet more methane. Further monitoring by Landsat and other platforms will reveal whether this process is reversible or whether we've passed the tipping point. In addition to the highly successful Landsat series of satellites, NASA and other agencies such as the National Oceanic and Atmospheric Administration (NOAA) operate a fleet of other Earth observing platforms, many with more specific research goals such as monitoring sea ice levels or atmospheric carbon content. Several instruments aboard the International Space Station also contribute to this overall effort to better understand short- and long-term changes to the Earth. Many of these missions are guided by the 2009 Decadal Survey published by the National Research Council of the National Academy of Sciences. Europe, Russia and China all see the value of space-based Earth observation by deploying their own fleet of satellites.

Uri, John↗

Fluid Transient Analysis During Priming of Evacuated Line

Pressure surges are critical in the design of spacecraft propellant feed lines. The pressure transients that occur during priming of feed lines are very important in the design and analysis of liquid propulsion systems. During the start-up of the propulsion system of a spacecraft, the process of filling of an evacuated pipeline is called priming. Priming can generate severe pressure peaks due to the slam (water hammer) of the propellant against a closed thruster valve. The downstream conditions strongly affect the pressure surge. In space systems, satellites, or interplanetary probes, the propellant lines are vacuum-pumped or filled with low pressure helium or nitrogen before the launch. Before operations, these lines are primed with a vaporizing liquid, sometimes in the presence of a non-condensable gas (NCG), which produces water hammer phenomena. The objective of the current study is to use a finite volume based network flow solver (Generalized Fluid System Simulation Program, GFSSP) for the numerical simulation of Priming in (a) a straight feedline and (b) a flow network. The geometrical configurations and dimensions for the pipe and other components used for the current study are identical to experimental study of Prickett et al.

Bandyopadhyay, Alak↗

An Autonomous sUAS Operating in UTM TCL4+ and STEReO Fire Scenario

This study presents a sUAS payload point design that enables autonomous BVLOS flightin UTM TCL4+ urban environments and STEReO fire responses. The payload components include an onboard computer, 360 deg LIDAR, range finder altimeter, downward-facing monocular camera, forward-facing thermal and visible light dual camera, vehicle-to-vehicle radio modem, and Li-ion smart battery. The components are mounted on an enclosed structural frame that was designed in-house. Placing the autonomy components onboard leverages the advantages of sUAS over manned aircraft such as low-cost, quick response time, and increased scalability. Autonomous capabilities include object and fire detection, V2V communication, embedded processing, and SLAM. Data processing is conducted on-board the aircraft to eliminate the dependency on a ground station downlink. The payload is evaluated in both software simulation as well as flight tests.

Autonomous UAS↗

The Pulsed Fission-Fusion (PuFF) Engine: Development Status

The PuFF (Pulsed Fission Fusion) project aims to revolutionize space travel through nuclear propulsion. PuFF will produce both high specific impulse (Isp 5,000-30,000 sec) and high thrust (10-100 kN), enabling quick (~1 month) transit times to Mars, the outer planets and exiting the solar system (~5 years). PuFF creates thrust by imploding a fission-fusion target using a Z-pinch. The process involves using the Lorentz (j×B) force to create gigapascal to terapascal pressures. Liquid lithium is injected in both a cylinder and cone. When the two connect, a circuit with a network of capacitors (referred to here as the pulser) is completed, and a 10-25 MA pulse flows down the lithium. The Z-pinch slams the lithium onto a fission-fusion target. The resulting compression (5-10 by volume) reaches super-criticality and explodes. The expanding plasma is then directed out of the back of the engine by a magnetic nozzle.

Nuclear↗

Towards An Autonomous sUAS Operating in UTM TCL4+ and STEReO Fire Scenario

This study presents two sUAS payload point designs for enabling autonomous BVLOS flight in UTM TCL4+ urban environments and STEReO fire responses. The payload components for the first payload include an onboard computer and a 360 LIDAR. The second payload, which is a continuation of the first, adds a range finder altimeter, downward-facing monocular camera, forward-facing thermal and visible light dual camera, vehicle-to-vehicle radio modem, and Li-ion smart battery. The components are mounted on enclosed structural frames that were designed in-house. Placing the autonomy components onboard leverages the advantages of sUAS over manned aircraft such as low-cost, quick response time, and increased scalability. Autonomous capabilities include embedded processing, SLAM, object and fire detection, and V2V communication. Data processing is conducted onboard the aircraft to eliminate the dependency on a groundstation downlink. The first iteration of the payload is tested in both simulation and flight tests while the continuing iteration is in development.

Autonomous UAS↗

Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras

Thermal infrared cameras are increasingly being used in various applications such as robot vision, industrial inspection and medical imaging, thanks to their improved resolution and portability. However, the performance of traditional computer vision techniques developed for electro-optical imagery does not directly translate to the thermal domain due to two major reasons: these algorithms require photometric assumptions to hold, and methods for photometric calibration of RGB cameras cannot be applied to thermal-infrared cameras due to difference in data acquisition and sensor phenomenology. In this paper, we take a step in this direction, and introduce a novel algorithm for online photometric calibration of thermalinfrared cameras. Our proposed method does not require any specific driver/hardware support and hence can be applied to any commercial off-the-shelf thermal IR camera. We present this in the context of visual odometry and SLAM algorithms, and demonstrate the efficacy of our proposed system through extensive experiments for both standard benchmark datasets, and real-world field tests with a thermal-infrared camera in natural outdoor environments.

Daftry, Shreyansh↗

VSLAM and Coplanar POSIT for Advanced Air Mobility Approach and Landing

Advanced Air Mobility (AAM) aircraft have many challenges for landing accurately and safely in urban, suburban, and rural environments. Localization in large and open rural environments could utilize GPS, but AAM aircraft in urban environments will encounter GPS degradation. Another challenge involves flight operation time, i.e., flying during the day or at night. There are different types of guidelines and landmarks at runways, heliports, and vertiports for daytime and nighttime applications. Tailoring feature detection methods for AAM approach and landing during the day and night pose different issues and challenges. It is easier to detect edges, lines, and other runway markers during the day than at night. Conversely, it is easier to detect landing light configurations and patterns at nighttime than daytime. Consequently, utilizing the same feature detector for daytime and nighttime operations may not be feasible. This paper focuses on vision-based precision approach and landing (PAL) and builds on previous work by comparing ORB SLAM, custom VSLAM, and coplanar pose from orthography and scaling with iterations (POSIT) for daytime and nighttime operations. Implementing high fidelity simulations with computer graphics and extracting video frames from flight test data provide promising results for AAM PAL applications.

Evan Kawamura↗

VSLAM and Vision-based Approach and Landing for Advanced Air Mobility

Advanced Air Mobility (AAM) aircraft have many challenges in landing accurately and safely in urban, suburban, and rural environments. Localization in large and open rural environments could utilize GPS, but AAM aircraft in urban environments will encounter GPS degradation. Another challenge involves flight operation time, i.e., flying during the day or at night. There are different guidelines, landmarks, and landing light configurations at runways, heliports, and vertiports for daytime and nighttime applications. Tailoring feature detection methods for AAM approach and landing during the day and night pose different issues and challenges. It is easier to detect edges, lines, and other runway markers during the day than at night. Conversely, it is easier to see landing light configurations and patterns at nighttime than daytime. Consequently, utilizing the same feature detector for daytime and nighttime operations may not be feasible. This paper focuses on a vision-based precision approach and landing (PAL) by comparing ORB SLAM 2, a Vision Simultaneous Localization and Mapping (VSLAM) algorithm, and a novel EKF that combines onboard IMU measurements with coplanar pose from orthography and scaling with iterations (COPOSIT). Conducting unmanned aerial system (UAS) flight tests at NASA Armstrong Flight Research Center (AFRC) with landmarks and fiducials distributed around the landing zone provides a simulated AAM approach and landing data to test vision-based PAL methods to provide Alternative Position, Navigation, and Timing (APNT) solutions for AAM PAL applications. The novel vision-based PAL EKF with IMU and COPOSIT provides accurate state estimation when distributed landmarks and fiducials are in the field of view.

distributed sensing↗

X-Hab 2026: LiDAR-Powered Autonomous Charging Service Capability for Surface Rovers and Systems

This document details the timeline of the LiDAR-Powered Autonomous Charging Service Capability for Surface Rovers and Systems project, initiated by the Fall 2025 semester class and completed by the Spring 2026 semester class. This project focuses on developing a fully autonomous system composed of a mobile surface rover and an induction charging station with a robotic arm, both controlled by their own NVIDIA Jetson Orin Nano. Structural improvements to the rover suspension system and body eliminated excessive camber, reduced stress and strain on the plexiglass body, and improved maneuverability and durability of the rover. The charging station robotic arm was fully redesigned to increase reach while minimizing weight and increasing misalignment tolerance during docking on uneven terrain. Electrical system improvements addressed previous torque and power limitations of both the rover and charging station arm. High-torque servo motors were selected based on updated calculations which incorporated terrain slope and Factor of Safety, enabling zero-point turning for the rover and increased payload capacity of the charging station arm. Significant progress was made in autonomy and perception. The rover now employs 3D LiDAR and SLAM mapping for localization, mapping, and path planning. The Battery Monitoring System (BMS) was created to coordinate battery management between the rover and charging station. The BMS provides continuous monitoring of battery state of charge, temperature, current, and will enable the autonomous initiation, execution, and termination of the charging cycle via Bluetooth communication. Testing of the WIBOTIC induction charging system demonstrated reliable power transfer under both aligned and misaligned conditions. This project demonstrated the ability of an autonomously navigating surface rover to independently plan a path to the charging station, dock, and the charging station to autonomously deploy a robotic charging arm and initiate charging of the rover. This work details the progress made to demonstrate the feasibility of autonomous surface rover navigation and recharging systems.

Megan Steele↗

Autonomous Radiation Mapping and Quantification using an Unmanned Ground Vehicle. Part I - Environment Mapping

When characterizing facilities, advanced autonomous systems are safe, efficient, and cost-effective tools, which can safely deploy state-of-the-art instrumentation without exposing workers to radiation risks. One main focus of the research is the visual mapping of the environment.This paper presents a framework for the mapping aspect that utilizes lidar and SLAM technologies coupled with a monocular camera to create a point cloud of the environment. Upon completion, the present research work aims to provide an autonomous mobile robot the capability to localize itself and aid the user with visualizing the radiation data. Challenges: C++ node needs to properly synchronize image and point cloud data. 3D lidar has resolution of ± 3 cm. Proper camera calibration needed. Transforms need to be precise for proper alignment of image and point-cloud. Results: Voxelated point clouds. Accurate colors from calibrated cameras including details smaller than lidar resolution. Developed Robotics Operating System (ROS) package for ease of transfer to other robot platforms.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Radioactive Source Localization via Bayesian Particle Filter

In the event of a misplaced radioactive source or other emergency situation, measuring a radiation field, mapping its distribution, and determining a source location are essential tasks to ameliorating the situation. However, radiation fields may be extremely hazardous to human surveyors and minimizing received radiation doses is just as essential. Robots appear to be a potential solution to these problems. Beyond simply measuring radiation, the robot's computer processing capabilities offer a way to apply complex data analysis methods to radiation measurements in real-time. Methods which predict likely source locations can then feed this information into other processes, potentially improving path planning and enabling more efficient measurements. Given a robot mounted with a gamma-ray detector, can we: develop a methodology to account for detector performance across a wide range of source angles, distances, and photon energies? operate an autonomously navigating robot to effectively survey and characterize an area of interest? implement a data analysis method, conventionally used in measurements of motion, for source localization purposes? An open-source TurtleBot 3 robot, running Robot Operating System (ROS) on Ubuntu 16.04 LTS, was fitted with a Kromek GR1{sup R} Cadmium Zinc Telluride (CZT) solid-state gamma-ray detector. As a part of ROS, the packages OpenSlam, gmapping, and amcl were used to perform Simultaneous Localization and Mapping (SLAM), determining the robot's position and mapping the surrounding area. Data was acquired via Lidar mounted on top the TurtleBot 3. Detector Calibration Fit: The equation was fit to 365 counts of various energies, distances, and angles. A MATLAB{sup R} program was written to simulate measurements taken a robot on a random walk, with count data and positions discretized into finite element pixels. Using this program, a sample of 100 runs was performed on a map with a simulated source at the center, with a total of 200 of 2 pixels each. Similarly, multiple runs of the filter were performed on recorded robot measurement data. In both simulation and real tests, when corrected for errors (particles placed outside of bounds or on the robot, and simulation-specific errors), corresponding t-tests of predicted x and y-coordinates were within a 95% confidence interval of the actual position. For the real trial, these positions are slightly skewed right in the x-axis as the robot remained mainly to the left side of the source within the sample area. These simulations demonstrate potential validity for the usage of a particle filter as method of radioactive source localization. In the future, true real-time implementation and data fusion may further augment the performance of the robot to localize lost sources. Additionally, identification of multiple sources, determination of source types, and usage of a collimator are areas to potentially be explored.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗