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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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At least 163 records · Page 9
All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

Raman Spectroscopy as a Method for Mineral Identification on Lunar Robotic Exploration Missions

The sharp, nonoverlapping Raman bands for plagioclase, pyroxene, and olivine would be advantageous for on-surface, active mineralogical analysis of lunar materials. A robust, light-weight, low-power, rover-based Raman spectrometer with a laser exciting source, entirely transmission-mode holographic optics, and a charge-coupled device (CCD) detector could fit within a less than 20 cm cube. A sensor head on the end of an optical fiber bundle that carried the laser beam and returned the scattered radiation could be placed against surfaces at any desired angle by a deployment mechanism; otherwise, the instrument would need no moving parts. A modem micro-Raman spectrometer with its beam broadened (to expand the spot to 50-micrometer diameter) and set for low resolution (7/cm in the 100-1400/cm region relative to 514.5-nm excitation), was used to simulate the spectra anticipated from a rover instrument. We present spectra for lunar mineral grains, less than 1 mm soil fines, breccia fragments, and glasses. From frequencies of olivine peaks, we derived sufficiently precise forsterite contents to correlate the analyzed grains to known rock types and we obtained appropriate forsterite contents from weak signals above background in soil fines and breccias. Peak positions of pyroxenes were sufficiently well determined to distinguish among orthorhombic, monoclinic, and triclinic (pyroxenoid) structures; additional information can be obtained from pyroxene spectra, but requires further laboratory calibration. Plagioclase provided sharp peaks in soil fines and most breccias even when the glass content was high.

Wang, Alian↗
NASA NTRS2013

Assessment of the Mars Science Laboratory Entry, Descent, and Landing Simulation

On August 5, 2012, the Mars Science Laboratory rover, Curiosity, successfully landed inside Gale Crater. This landing was only the seventh successful landing and fourth rover to be delivered to Mars. Weighing nearly one metric ton, Curiosity is the largest and most complex rover ever sent to investigate another planet. Safely landing such a large payload required an innovative Entry, Descent, and Landing system, which included the first guided entry at Mars, the largest supersonic parachute ever flown at Mars, and a novel and untested Sky Crane landing system. A complete, end-to-end, six degree-of-freedom, multi-body computer simulation of the Mars Science Laboratory Entry, Descent, and Landing sequence was developed at the NASA Langley Research Center. In-flight data gathered during the successful landing is compared to pre-flight statistical distributions, predicted by the simulation. These comparisons provide insight into both the accuracy of the simulation and the overall performance of the vehicle.

Way, David W.↗
NASA NTRS2005

Software for Secondary-School Learning About Robotics

The ROVer Ranch is an interactive computer program designed to help secondary-school students learn about space-program robotics and related basic scientific concepts by involving the students in simplified design and programming tasks that exercise skills in mathematics and science. The tasks involve building simulated robots and then observing how they behave. The program furnishes (1) programming tools that a student can use to assemble and program a simulated robot and (2) a virtual three-dimensional mission simulator for testing the robot. First, the ROVer Ranch presents fundamental information about robotics, mission goals, and facts about the mission environment. On the basis of this information, and using the aforementioned tools, the student assembles a robot by selecting parts from such subsystems as propulsion, navigation, and scientific tools, the student builds a simulated robot to accomplish its mission. Once the robot is built, it is programmed and then placed in a three-dimensional simulated environment. Success or failure in the simulation depends on the planning and design of the robot. Data and results of the mission are available in a summary log once the mission is concluded.

Shelton, Robert O.↗
NASA NTRS2002

Continual coordination of shared activities

Interacting agents that interleave planning and execution must reach consensus on their commitments to each other. For domains with varying degrees of interaction and different constraints on communication and computation, agents will require different coordination protocols in order to efficiently achieve their goals. ShAC (Shared Activity Coordination) is a framework for designing coordination protocols and an algorithm for continually coordinating agents using these protocols during execution. We show how a variety of protocols can be constructed using this framework and describe how ShAC coordinates two rovers and an orbiter in a simulated Mars scenario.

multiple agents coordination planning scheduling M↗
NASA NTRS2002

Continual coordination of spacecraft through shared activities

Interacting agents that interleave planning and execution must reach consensus on their commitments to each other. In domains where agents have varying degrees of interaction and different constraints on communication and computation, agents will require different coordination protocols in order to efficiently reach consensus. ShAC (Shared Activity Coordination) is a framework for designing coordination protocols with an algorithm for continually coordinating agents using these protocols during execution. We show how to construct a wide range of protocols using this framework and describe how ShAC coordinates two rovers and an orbiter in a simulated Mars scenario.

Multiple agents coordination planning scheduling M↗
NASA NTRS2009

Thermal Vacuum Test of Ice as a Phase Change Material Integrated with a Radiator

Water may be used as radiation shielding for Solar Particle Events (SPE) to protect crewmembers in the Lunar Electric Rover (LER). Because the water is already present for radiation protection, it could also provide a mass efficient solution to the vehicle's thermal control system. This water can be frozen by heat rejection from a radiator and used as a Phase Change Material (PCM) for thermal storage. Use of this water as a PCM can eliminate the need for a pumped fluid loop thermal control system as well as reduce the required size of the radiator. This paper describes the testing and analysis performed for the Rover Engineering Development Unit (REDU), a scaled-down version of a water PCM heat sink for the LER. The REDU was tested in a thermal-vacuum chamber at environmental temperatures similar to those of a horizontal radiator panel on the lunar surface. Testing included complete freeze and melt cycles along with scaled transient heat load profiles simulating a 24-hour day for the rover.

Lee, Steve↗
NASA NTRS2010

Thermal Vacuum Test of Ice as a Phase Change Material Integrated with a Radiator

Water may be used as radiation shielding for Solar Particle Events (SPE) to protect crewmembers in the Lunar Electric Rover (LER). Because the water is already present for radiation protection, it could also provide a mass efficient solution to the vehicle's thermal control system. This water can be frozen by heat rejection from a radiator and used as a Phase Change Material (PC1V1) for thermal storage. Use of this water as a PCM can eliminate the need for a pumped fluid loop thermal control system as well as reduce the required size of the radiator. This paper describes the testing and analysis performed for the Rover Engineering Development Unit (REDU), a scaled-down version of a water PCM heat sink for the LER. The REDU was tested in a thermal-vacuum chamber at environmental temperatures similar to those of a horizontal radiator panel on the lunar surface. Testing included complete freeze and melt cycles along with scaled transient heat load profiles simulating a 24-hour day for the rover.

Lee, Steve A.↗
NASA NTRS2004

Retro-modulator links with a mini-rover

An optical sensors web in a star pattern is formed and tested utilizing modulating retro-reflectors, where a multitude of senors was simulated by a retro-modulator on a mini-rover.

modulating retro-reflector↗
NASA NTRS2021

Mars 2020 Perseverance Entry Descent and Landing Simulation Statistical Analysis and Operations

On February 18, 2021, the Perseverance rover and Ingenuity helicopter demonstra- tion landed at Jezero Crater. The Entry, Descent, and Landing (EDL) architecture, largely the same used to land Curiosity at Gale Crater on August 6, 2012, required high-fidelity flight dynamics simulation with two independent tools to verify per- formance. The process for creating the EDL simulation using the Dynamics Sim- ulator for Entry, Descent and Surface landing (DSENDS) tool will be discussed, along with its use for for independent verification of the EDL statistical analy- sis results and reference trajectory simulation. Analysis and usage details both in development and cruise, along with post-landing assessment of the prediction performance of the simulation, will also be discussed.

"O'Farrell, Clara"↗
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 NTRS2009

Science Operations for the 2008 NASA Lunar Analog Field Test at Black Point Lava Flow, Arizona

Surface science operations on the Moon will require merging lessons from Apollo with new operation concepts that exploit the Constellation Lunar Architecture. Prototypes of lunar vehicles and robots are already under development and will change the way we conduct science operations compared to Apollo. To prepare for future surface operations on the Moon, NASA, along with several supporting agencies and institutions, conducted a high-fidelity lunar mission simulation with prototypes of the small pressurized rover (SPR) and unpressurized rover (UPR) (Fig. 1) at Black Point lava flow (Fig. 2), 40 km north of Flagstaff, Arizona from Oct. 19-31, 2008. This field test was primarily intended to evaluate and compare the surface mobility afforded by unpressurized and pressurized rovers, the latter critically depending on the innovative suit-port concept for efficient egress and ingress. The UPR vehicle transports two astronauts who remain in their EVA suits at all times, whereas the SPR concept enables astronauts to remain in a pressurized shirt-sleeve environment during long translations and while making contextual observations and enables rapid (less than or equal to 10 minutes) transfer to and from the surface via suit-ports. A team of field geologists provided realistic science scenarios for the simulations and served as crew members, field observers, and operators of a science backroom. Here, we present a description of the science team s operations and lessons learned.

Garry W. D.↗
NASA NTRSDate not supplied

SafeMAP: Safe Multi-Agent Planning Framework Based on Dynamic Probabilistic Risk Assessment

This paper proposes a risk-aware framework for Safe Multi-Agent Planning (SafeMAP) that unifies disparate models for multi-agent systems in a Markovian process that allows for simultaneous system health monitoring, decision making under uncertainty, and multi-agent system collaboration. As operations beyond low earth orbit mature, there is an increased need for autonomous cyber-physical systems with onboard decision making capabilities. Multi-agent cyber-physical systems in particular offer the potential of increased efficiency, resiliency, and mission capabilities for future applications such as multi-rover terrain operations, distributed satellite operations, and management of smart lunar habitats. SafeMAP utilizes physics-based models of each agent and the relevant components, probability models of the environment and component operational states, and reward models for mission-specific objectives such as scientific task completion or resource consumption. The output of SafeMAP is a set of mission plans that satisfy the mission objective under specified risk/reward constraints. A readable interpretation of each of these generated mission plans is provided as an additional output. SafeMAP has been demonstrated on a simulated case study involving a four-rover system performing surface mapping operations and science tasks. Results of this paper demonstrate SafeMAP’s ability to generate explainable mission plans that satisfy the mission objective while minimizing risk under nominal and off-nominal conditions.

Mohammad Hejase↗
NASA NTRSDate not supplied

SafeMAP: Safe Multi-Agent Planning framework based on Dynamic Probabilistic Risk Assessment

This paper proposes a risk-aware framework for Safe Multi-Agent Planning (SafeMAP) that unifies disparate models for multi-agent systems in a Markovian process that allows for simultaneous system health monitoring, decision making under uncertainty, and multi-agent system collaboration. As operations beyond low earth orbit mature, there is an increased need for autonomous cyber-physical systems with onboard decision making capabilities. Multi-agent cyber-physical systems in particular offer the potential of increased efficiency, resiliency, and mission capabilities for future applications such as multi-rover terrain operations, distributed satellite operations, and management of smart lunar habitats. SafeMAP utilizes physics-based models of each agent and the relevant components, probability models of the environment and component operational states, and reward models for mission-specific objectives such as scientific task completion or resource consumption. The output of SafeMAP is a set of mission plans that satisfy the mission objective under specified risk/reward constraints. A readable interpretation of each of these generated mission plans is provided as an additional output. SafeMAP has been demonstrated on a simulated case study involving a four-rover system performing surface mapping operations and science tasks. Results of this paper demonstrate SafeMAP’s ability to generate explainable mission plans that satisfy the mission objective while minimizing risk under nominal and off-nominal conditions.

Mohammad Hejase↗
NASA NTRS2013

FE Simulation of SMA Seal for Mars Sample Return

Several NASA rovers and landers have been on Mars and performed successful in-situ exploration. Returning Martian samples to Earth for extensive analysis is of great interest to the planetary science community. Current Mars sample return architecture would require leaving the acquired samples on Mars for years before being retrieved by subsequent mission. Each sample would be sealed securely to keep its integrity. A reliable seal technique that does not affect the integrity of the samples and uses a simple low-mass tool is required. The shape memory alloy (SMA) seal technique is a promising candidate. A study of the thermal performances of several primary designs of a SMA seal for sample tubes by finite element (FE) simulation are presented in this paper. The results show sealing the sample tube by SMA plugs and controlling the sample temperature below the allowed temperature level are feasible.

seal↗
NASA NTRS2022

IRIS: High-fidelity Perception Sensor Modeling for Closed-Loop Planetary Simulations

Perception plays a key role in autonomous and semi-autonomous planetary exploration vehicles. For instance, landers can use computer vision techniques for identifying safe landing locations, aerial vehicles use cameras as navigation sensors, and planetary rovers use them for localization and hazard detection. Engineering simulations of such systems requires the accurate modeling of perception and vision sensors for simulating autonomy scenarios. In addition, the modeling of sensors for landers, aerial and ground vehicles requires the ability to handle large and high-resolution terrains, the accurate modeling of illumination, hi-fidelity rendering via ray/path tracing and the inclusion of sensor characteristics. Vision sensor models strive to simulate sensor reality by using physics principles to model the interaction of light and objects. Furthermore, high frame rate performance is highly desirable for in-the-loop simulations involving vehicle dynamics and control software. In this paper we describe a new sensor modeling capability called Inter-planetary Rendering for Imaging and Sensors (IRIS) that meets these requirements for the real-time and high-fidelity simulation of vision sensors for planetary aerospace and robotics applications.

Elmquist, Asher↗
NASA NTRSDate not supplied

Trajectory Simulation Using Multi Model Monte Carlo with Python (MXMCPy)

EDL (Entry, Descent and Landing) is the process from a vehicle approaching a surface to landing on it, such as a Mars rover approaching the planet before landing. POST2 (Program to Optimize Simulated Trajectories 2) is Langley’s primary EDL simulation tool and is used NASA-wide for simulations. POST2 can generate highly accurate results by running a precise, but time consuming, Monte Carlo (MC) simulation hundreds or thousands of times. Though POST2 can produce highly accurate results, it can take unrealistic time spans to generate these results, which has created a need to speed up the simulations. The new NASA software MXMCPy offers various ways to speed up the simulations while getting just as precise results. Instead of running high-precision POST2 simulations many times for traditional MC, MXMCPy can run fewer high-precision POST2 simulations and many less precise POST2 simulations and merge the results. MXMCPy contains 30+ different methods which will each suggest different allocations between model precision levels, which result in results of varying precision based on the POST2 simulation. I created Python and Bash code to automate the 5 steps of MXMCPy’s application to POST2. I also tested the precision of traditional Monte Carlo simulations to MXMCPy aided simulations and found that MXMCPy can achieve substantially more precise solutions at the same computer runtime. I learned Test Driven Development (TDD), a software programming workflow which involves writing computer-automated tests before writing the code which is being tested. These tests are ran every time the code is changed and they can find glitches in the code much quicker than a human can. This programming workflow saved me a lot of time because the automated tests could tell me exactly where the code had stopped working. I plan on using this software development method for future academic and professional software projects. I have greatly enjoyed my work at NASA, so I have been applying to NASA internships and Pathways positions. In addition, I plan on applying what I have learned about Test Driven Development to my computer science courses next semester

James Warner↗