WorldWideScience

Sample records for robotic planetary missions

  1. Cryogenic and LOX Based Propulsion Systems for Robotic Planetary Missions

    National Research Council Canada - National Science Library

    Valentian, Dominique

    2005-01-01

    Robotic planetary missions use almost exclusively storable propellants. However, it is clear that the use LOX/LH2 and LOX/HC combinations will offer a tremendous payload gain for most robotic missions...

  2. Robotic planetary mission benefits from nuclear electric propulsion

    International Nuclear Information System (INIS)

    Kelley, J.H.; Yen, C.L.

    1992-01-01

    Several interesting planetary missions are either enabled or significantly enhanced by nuclear electric propulsion (NEP) in the 50 to 100 kW power range. These missions include a Pluto Orbiter/Probe with an 11-year flight time and several years of operational life in orbit versus a ballistic very fast (13 km/s) flyby which would take longer to get to Pluto and would have a very short time to observe the planet. (A ballistic orbiter would take about 40 years to get to Pluto.) Other missions include a Neptune Orbiter/Probe, a Jupiter Grand Tour orbiting each of the major moons in order, a Uranus Orbiter/Probe, a Multiple Mainbelt Asteroid Rendezvous orbiting six selected asteroids, and a Comet Nucleus Sample Return. This paper discusses potential missions and compares the nuclear electric propulsion option to the conventional ballistic approach on a parametric basis

  3. Robotic Missions to Small Bodies and Their Potential Contributions to Human Exploration and Planetary Defense

    Science.gov (United States)

    Abell, Paul A.; Rivkin, Andrew S.

    2015-01-01

    Introduction: Robotic missions to small bodies will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration and planetary defense. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission involves sending astronauts to study and sample a near-Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. The science and technical data obtained from robotic precursor missions that investigate the surface and interior physical characteristics of an object will help identify the pertinent physical properties that will maximize operational efficiency and reduce mission risk for both robotic assets and crew operating in close proximity to, or at the surface of, a small body. These data will help fill crucial strategic knowledge gaps (SKGs) concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations. These data can also be applied for gaining an understanding of pertinent small body physical characteristics that would also be beneficial for formulating future impact mitigation procedures. Small Body Strategic Knowledge Gaps: For the past several years NASA has been interested in identifying the key SKGs related to future human destinations. These SKGs highlight the various unknowns and/or data gaps of targets that the science and engineering communities would like to have filled in prior to committing crews to explore the Solar System. An action team from the Small Bodies Assessment Group (SBAG) was formed specifically to identify the small body SKGs under the

  4. Robotic Planetary Drill Tests

    Science.gov (United States)

    Glass, Brian J.; Thompson, S.; Paulsen, G.

    2010-01-01

    Several proposed or planned planetary science missions to Mars and other Solar System bodies over the next decade require subsurface access by drilling. This paper discusses the problems of remote robotic drilling, an automation and control architecture based loosely on observed human behaviors in drilling on Earth, and an overview of robotic drilling field test results using this architecture since 2005. Both rotary-drag and rotary-percussive drills are targeted. A hybrid diagnostic approach incorporates heuristics, model-based reasoning and vibration monitoring with neural nets. Ongoing work leads to flight-ready drilling software.

  5. Lunar and Planetary Robotic Exploration Missions in the 20th Century

    Science.gov (United States)

    Huntress, W. T., Jr.; Moroz, V. I.; Shevalev, I. L.

    2003-07-01

    The prospect of traveling to the planets was science fiction at the beginning of the 20th Century and science fact at its end. The space age was born of the Cold War in the 1950s and throughout most of the remainder of the century it provided not just an adventure in the exploration of space but a suspenseful drama as the US and USSR competed to be first and best. It is a tale of patience to overcome obstacles, courage to try the previously impossible and persistence to overcome failure, a tale of both fantastic accomplishment and debilitating loss. We briefly describe the history of robotic lunar and planetary exploration in the 20th Century, the missions attempted, their goals and their fate. We describe how this enterprise developed and evolved step by step from a politically driven competition to intense scientific investigations and international cooperation.

  6. The Potassium-Argon Laser Experiment (KArLE): In Situ Geochronology for Planetary Robotic Missions

    Science.gov (United States)

    Cohen, Barbara

    2016-01-01

    The Potassium (K) - Argon (Ar) Laser Experiment (KArLE) will make in situ noble-gas geochronology measurements aboard planetary robotic landers and roverss. Laser-Induced Breakdown Spectroscopy (LIBS) is used to measure the K abun-dance in a sample and to release its noble gases; the evolved Ar is measured by mass spectrometry (MS); and rela-tive K content is related to absolute Ar abundance by sample mass, determined by optical measurement of the ablated volume. KArLE measures a whole-rock K-Ar age to 10% or better for rocks 2 Ga or older, sufficient to resolve the absolute age of many planetary samples. The LIBS-MS approach is attractive because the analytical components have been flight proven, do not require further technical development, and provide complementary measurements as well as in situ geochronology.

  7. MITEE-B: A compact ultra lightweight bi-modal nuclear propulsion engine for robotic planetary science missions

    International Nuclear Information System (INIS)

    Powell, James; Maise, George; Paniagua, John; Borowski, Stanley

    2003-01-01

    Nuclear thermal propulsion (NTP) enables unique new robotic planetary science missions that are impossible with chemical or nuclear electric propulsion systems. A compact and ultra lightweight bi-modal nuclear engine, termed MITEE-B (MInature ReacTor EnginE - Bi-Modal) can deliver 1000's of kilograms of propulsive thrust when it operates in the NTP mode, and many kilowatts of continuous electric power when it operates in the electric generation mode. The high propulsive thrust NTP mode enables spacecraft to land and takeoff from the surface of a planet or moon, to hop to multiple widely separated sites on the surface, and virtually unlimited flight in planetary atmospheres. The continuous electric generation mode enables a spacecraft to replenish its propellant by processing in-situ resources, provide power for controls, instruments, and communications while in space and on the surface, and operate electric propulsion units. Six examples of unique and important missions enabled by the MITEE-B engine are described, including: (1) Pluto lander and sample return; (2) Europa lander and ocean explorer; (3) Mars Hopper; (4) Jupiter atmospheric flyer; (5) SunBurn hypervelocity spacecraft; and (6) He3 mining from Uranus. Many additional important missions are enabled by MITEE-B. A strong technology base for MITEE-B already exists. With a vigorous development program, it could be ready for initial robotic science and exploration missions by 2010 AD. Potential mission benefits include much shorter in-space times, reduced IMLEO requirements, and replenishment of supplies from in-situ resources

  8. Issues of geologically-focused situational awareness in robotic planetary missions: Lessons from an analogue mission at Mistastin Lake impact structure, Labrador, Canada

    Science.gov (United States)

    Antonenko, I.; Osinski, G. R.; Battler, M.; Beauchamp, M.; Cupelli, L.; Chanou, A.; Francis, R.; Mader, M. M.; Marion, C.; McCullough, E.; Pickersgill, A. E.; Preston, L. J.; Shankar, B.; Unrau, T.; Veillette, D.

    2013-07-01

    Remote robotic data provides different information than that obtained from immersion in the field. This significantly affects the geological situational awareness experienced by members of a mission control science team. In order to optimize science return from planetary robotic missions, these limitations must be understood and their effects mitigated to fully leverage the field experience of scientists at mission control.Results from a 13-day analogue deployment at the Mistastin Lake impact structure in Labrador, Canada suggest that scale, relief, geological detail, and time are intertwined issues that impact the mission control science team's effectiveness in interpreting the geology of an area. These issues are evaluated and several mitigation options are suggested. Scale was found to be difficult to interpret without the reference of known objects, even when numerical scale data were available. For this reason, embedding intuitive scale-indicating features into image data is recommended. Since relief is not conveyed in 2D images, both 3D data and observations from multiple angles are required. Furthermore, the 3D data must be observed in animation or as anaglyphs, since without such assistance much of the relief information in 3D data is not communicated. Geological detail may also be missed due to the time required to collect, analyze, and request data.We also suggest that these issues can be addressed, in part, by an improved understanding of the operational time costs and benefits of scientific data collection. Robotic activities operate on inherently slow time-scales. This fact needs to be embraced and accommodated. Instead of focusing too quickly on the details of a target of interest, thereby potentially minimizing science return, time should be allocated at first to more broad data collection at that target, including preliminary surveys, multiple observations from various vantage points, and progressively smaller scale of focus. This operational model

  9. Robotic Tool Changer for Planetary Exploration, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Future planetary exploration missions will require compact, lightweight robotic manipulators for handling a variety of tools & instruments without increasing the...

  10. Radiation beamline testbeds for the simulation of planetary and spacecraft environments for human and robotic mission risk assessment

    Science.gov (United States)

    Wilkins, Richard

    The Center for Radiation Engineering and Science for Space Exploration (CRESSE) at Prairie View A&M University, Prairie View, Texas, USA, is establishing an integrated, multi-disciplinary research program on the scientific and engineering challenges faced by NASA and the inter-national space community caused by space radiation. CRESSE focuses on space radiation research directly applicable to astronaut health and safety during future long term, deep space missions, including Martian, lunar, and other planetary body missions beyond low earth orbit. The research approach will consist of experimental and theoretical radiation modeling studies utilizing particle accelerator facilities including: 1. NASA Space Radiation Laboratory (NSRL) at Brookhaven National Laboratory; 2. Proton Synchrotron at Loma Linda University Med-ical Center; and 3. Los Alamos Neutron Science Center (LANSCE) at Los Alamos National Laboratory. Specifically, CRESSE investigators are designing, developing, and building experimental test beds that simulate the lunar and Martian radiation environments for experiments focused on risk assessment for astronauts and instrumentation. The testbeds have been designated the Bioastronautics Experimental Research Testbeds for Environmental Radiation Nostrum Investigations and Education (BERT and ERNIE). The designs of BERT and ERNIE will allow for a high degree of flexibility and adaptability to modify experimental configurations to simulate planetary surface environments, planetary habitats, and spacecraft interiors. In the nominal configuration, BERT and ERIE will consist of a set of experimental zones that will simulate the planetary atmosphere (Solid CO2 in the case of the Martian surface.), the planetary surface, and sub-surface regions. These experimental zones can be used for dosimetry, shielding, biological, and electronic effects radiation studies in support of space exploration missions. BERT and ERNIE are designed to be compatible with the

  11. NASA's Planetary Science Missions and Participations

    Science.gov (United States)

    Daou, Doris; Green, James L.

    2017-04-01

    NASA's Planetary Science Division (PSD) and space agencies around the world are collaborating on an extensive array of missions exploring our solar system. Planetary science missions are conducted by some of the most sophisticated robots ever built. International collaboration is an essential part of what we do. NASA has always encouraged international participation on our missions both strategic (ie: Mars 2020) and competitive (ie: Discovery and New Frontiers) and other Space Agencies have reciprocated and invited NASA investigators to participate in their missions. NASA PSD has partnerships with virtually every major space agency. For example, NASA has had a long and very fruitful collaboration with ESA. ESA has been involved in the Cassini mission and, currently, NASA funded scientists are involved in the Rosetta mission (3 full instruments, part of another), BepiColombo mission (1 instrument in the Italian Space Agency's instrument suite), and the Jupiter Icy Moon Explorer mission (1 instrument and parts of two others). In concert with ESA's Mars missions NASA has an instrument on the Mars Express mission, the orbit-ground communications package on the Trace Gas Orbiter (launched in March 2016) and part of the DLR/Mars Organic Molecule Analyzer instruments going onboard the ExoMars Rover (to be launched in 2018). NASA's Planetary Science Division has continuously provided its U.S. planetary science community with opportunities to include international participation on NASA missions too. For example, NASA's Discovery and New Frontiers Programs provide U.S. scientists the opportunity to assemble international teams and design exciting, focused planetary science investigations that would deepen the knowledge of our Solar System. The PSD put out an international call for instruments on the Mars 2020 mission. This procurement led to the selection of Spain and Norway scientist leading two instruments and French scientists providing a significant portion of another

  12. Non-planetary Science from Planetary Missions

    Science.gov (United States)

    Elvis, M.; Rabe, K.; Daniels, K.

    2015-12-01

    Planetary science is naturally focussed on the issues of the origin and history of solar systems, especially our own. The implications of an early turbulent history of our solar system reach into many areas including the origin of Earth's oceans, of ores in the Earth's crust and possibly the seeding of life. There are however other areas of science that stand to be developed greatly by planetary missions, primarily to small solar system bodies. The physics of granular materials has been well-studied in Earth's gravity, but lacks a general theory. Because of the compacting effects of gravity, some experiments desired for testing these theories remain impossible on Earth. Studying the behavior of a micro-gravity rubble pile -- such as many asteroids are believed to be -- could provide a new route towards exploring general principles of granular physics. These same studies would also prove valuable for planning missions to sample these same bodies, as techniques for anchoring and deep sampling are difficult to plan in the absence of such knowledge. In materials physics, first-principles total-energy calculations for compounds of a given stoichiometry have identified metastable, or even stable, structures distinct from known structures obtained by synthesis under laboratory conditions. The conditions in the proto-planetary nebula, in the slowly cooling cores of planetesimals, and in the high speed collisions of planetesimals and their derivatives, are all conditions that cannot be achieved in the laboratory. Large samples from comets and asteroids offer the chance to find crystals with these as-yet unobserved structures as well as more exotic materials. Some of these could have unusual properties important for materials science. Meteorites give us a glimpse of these exotic materials, several dozen of which are known that are unique to meteorites. But samples retrieved directly from small bodies in space will not have been affected by atmospheric entry, warmth or

  13. Planetary rovers robotic exploration of the solar system

    CERN Document Server

    Ellery, Alex

    2016-01-01

    The increasing adoption of terrain mobility – planetary rovers – for the investigation of planetary surfaces emphasises their central importance in space exploration. This imposes a completely new set of technologies and methodologies to the design of such spacecraft – and planetary rovers are indeed, first and foremost, spacecraft. This introduces vehicle engineering, mechatronics, robotics, artificial intelligence and associated technologies to the spacecraft engineer’s repertoire of skills. Planetary Rovers is the only book that comprehensively covers these aspects of planetary rover engineering and more. The book: • discusses relevant planetary environments to rover missions, stressing the Moon and Mars; • includes a brief survey of previous rover missions; • covers rover mobility, traction and control systems; • stresses the importance of robotic vision in rovers for both navigation and science; • comprehensively covers autonomous navigation, path planning and multi-rover formations on ...

  14. Robotic vehicles for planetary exploration

    Science.gov (United States)

    Wilcox, Brian; Matthies, Larry; Gennery, Donald; Cooper, Brian; Nguyen, Tam; Litwin, Todd; Mishkin, Andrew; Stone, Henry

    1992-01-01

    A program to develop planetary rover technology is underway at the Jet Propulsion Laboratory (JPL) under sponsorship of the National Aeronautics and Space Administration. Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed, and initial testing has been completed. These testbed systems and the associated navigation techniques used are described. Particular emphasis is placed on three technologies: Computer-Aided Remote Driving (CARD), Semiautonomous Navigation (SAN), and behavior control. It is concluded that, through the development and evaluation of such technologies, research at JPL has expanded the set of viable planetary rover mission possibilities beyond the limits of remotely teleoperated systems such as Lunakhod. These are potentially applicable to exploration of all the solid planetary surfaces in the solar system, including Mars, Venus, and the moons of the gas giant planets.

  15. Robots and Humans in Planetary Exploration: Working Together?

    Science.gov (United States)

    Landis, Geoffrey A.; Lyons, Valerie (Technical Monitor)

    2002-01-01

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

  16. Planetary Missions of the 20th Century*

    Science.gov (United States)

    Moroz, V. I.; Huntress, W. T.; Shevalev, I. L.

    2002-09-01

    Among of the highlights of the 20th century were flights of spacecraft to other bodies of the Solar System. This paper describes briefly the missions attempted, their goals, and fate. Information is presented in five tables on the missions launched, their goals, mission designations, dates, discoveries when successful, and what happened if they failed. More detailed explanations are given in the accompanying text. It is shown how this enterprise developed and evolved step by step from a politically driven competition to intense scientific investigations and international cooperation. Initially, only the USA and USSR sent missions to the Moon and planets. Europe and Japan joined later. The USSR carried out significant research in Solar System exploration until the end of the 1980s. The Russian Federation no longer supports robotic planetary exploration for economic reasons, and it remains to be seen whether the invaluable Russian experience in planetary space flight will be lost. Collaboration between Russian and other national space agencies may be a solution.

  17. Robots and humans: synergy in planetary exploration

    Science.gov (United States)

    Landis, Geoffrey A.

    2004-01-01

    How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments. Published by Elsevier Ltd.

  18. Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview

    Science.gov (United States)

    Mazanek, Daniel D.; Merrill, Raymond G.; Belbin, Scott P.; Reeves, David M.; Earle, Kevin D.; Naasz, Bo J.; Abell, Paul A.

    2014-01-01

    The National Aeronautics and Space Administration (NASA) is currently studying an option for the Asteroid Redirect Robotic Mission (ARRM) that would capture a multi-ton boulder (typically 2-4 meters in size) from the surface of a large (is approximately 100+ meter) Near-Earth Asteroid (NEA) and return it to cislunar space for subsequent human and robotic exploration. This alternative mission approach, designated the Robotic Boulder Capture Option (Option B), has been investigated to determine the mission feasibility and identify potential differences from the initial ARRM concept of capturing an entire small NEA (4-10 meters in size), which has been designated the Small Asteroid Capture Option (Option A). Compared to the initial ARRM concept, Option B allows for centimeter-level characterization over an entire large NEA, the certainty of target NEA composition type, the ability to select the boulder that is captured, numerous opportunities for mission enhancements to support science objectives, additional experience operating at a low-gravity planetary body including extended surface contact, and the ability to demonstrate future planetary defense strategies on a hazardous-size NEA. Option B can leverage precursor missions and existing Agency capabilities to help ensure mission success by targeting wellcharacterized asteroids and can accommodate uncertain programmatic schedules by tailoring the return mass.

  19. Planetary protection issues linked to human missions to Mars

    Science.gov (United States)

    Debus, A.

    According to United Nations Treaties and handled presently by the Committee of Space Research COSPAR the exploration of the Solar System has to comply with planetary protection requirements The goal of planetary protection is to protect celestial bodies from terrestrial contamination and also to protect the Earth environment from an eventual biocontamination carried by return samples or by space systems returning to the Earth Mars is presently one of the main target at exobiology point of view and a lot of missions are operating on travel or scheduled for its exploration Some of them include payload dedicated to the search of life or traces of life and one of the goals of these missions is also to prepare sample return missions with the ultimate objective to walk on Mars Robotic missions to Mars have to comply with planetary protection specifications well known presently and planetary protection programs are implemented with a very good reliability taking into account an experience of 40 years now For sample return missions a set of stringent requirements have been approved by the COSPAR and technical challenges have now to be won in order to preserve Earth biosphere from an eventual contamination risk Sending astronauts on Mars will gather all these constraints added with the human dimension of the mission The fact that the astronauts are huge contamination sources for Mars and that they are also potential carrier of a contamination risk back to Earth add also ethical considerations to be considered For the preparation of a such

  20. A decision model for planetary missions

    Science.gov (United States)

    Hazelrigg, G. A., Jr.; Brigadier, W. L.

    1976-01-01

    Many techniques developed for the solution of problems in economics and operations research are directly applicable to problems involving engineering trade-offs. This paper investigates the use of utility theory for decision making in planetary exploration space missions. A decision model is derived that accounts for the objectives of the mission - science - the cost of flying the mission and the risk of mission failure. A simulation methodology for obtaining the probability distribution of science value and costs as a function spacecraft and mission design is presented and an example application of the decision methodology is given for various potential alternatives in a comet Encke mission.

  1. SPICE for ESA Planetary Missions

    Science.gov (United States)

    Costa, M.

    2018-04-01

    The ESA SPICE Service leads the SPICE operations for ESA missions and is responsible for the generation of the SPICE Kernel Dataset for ESA missions. This contribution will describe the status of these datasets and outline the future developments.

  2. Human-Robot Planetary Exploration Teams

    Science.gov (United States)

    Tyree, Kimberly

    2004-01-01

    The EVA Robotic Assistant (ERA) project at NASA Johnson Space Center studies human-robot interaction and robotic assistance for future human planetary exploration. Over the past four years, the ERA project has been performing field tests with one or more four-wheeled robotic platforms and one or more space-suited humans. These tests have provided experience in how robots can assist humans, how robots and humans can communicate in remote environments, and what combination of humans and robots works best for different scenarios. The most efficient way to understand what tasks human explorers will actually perform, and how robots can best assist them, is to have human explorers and scientists go and explore in an outdoor, planetary-relevant environment, with robots to demonstrate what they are capable of, and roboticists to observe the results. It can be difficult to have a human expert itemize all the needed tasks required for exploration while sitting in a lab: humans do not always remember all the details, and experts in one arena may not even recognize that the lower level tasks they take for granted may be essential for a roboticist to know about. Field tests thus create conditions that more accurately reveal missing components and invalid assumptions, as well as allow tests and comparisons of new approaches and demonstrations of working systems. We have performed field tests in our local rock yard, in several locations in the Arizona desert, and in the Utah desert. We have tested multiple exploration scenarios, such as geological traverses, cable or solar panel deployments, and science instrument deployments. The configuration of our robot can be changed, based on what equipment is needed for a given scenario, and the sensor mast can even be placed on one of two robot bases, each with different motion capabilities. The software architecture of our robot is also designed to be as modular as possible, to allow for hardware and configuration changes. Two focus

  3. Critical Robotic Lunar Missions

    Science.gov (United States)

    Plescia, J. B.

    2018-04-01

    Perhaps the most critical missions to understanding lunar history are in situ dating and network missions. These would constrain the volcanic and thermal history and interior structure. These data would better constrain lunar evolution models.

  4. Mapping planetary caves with an autonomous, heterogeneous robot team

    Science.gov (United States)

    Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

    Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

  5. Mission Implementation Constraints on Planetary Muon Radiography

    Science.gov (United States)

    Jones, Cathleen E.; Kedar, Sharon; Naudet, Charles; Webb, Frank

    2011-01-01

    Cost: Use heritage hardware, especially use a tested landing system to reduce cost (Phoenix or MSL EDL stage). The sky crane technology delivers higher mass to the surface and enables reaching targets at higher elevation, but at a higher mission cost. Rover vs. Stationary Lander: Rover-mounted instrument enables tomography, but the increased weight of the rover reduces the allowable payload weight. Mass is the critical design constraint for an instrument for a planetary mission. Many factors that are minor factors or do not enter into design considerations for terrestrial operation are important for a planetary application. (Landing site, diurnal temperature variation, instrument portability, shock/vibration)

  6. Planetary protection issues related to human missions to Mars

    Science.gov (United States)

    Debus, A.; Arnould, J.

    2008-09-01

    In accordance with the United Nations Outer Space Treaties [United Nations, Agreement Governing the Activities of States on the Moon and Other Celestial Bodies, UN doc A/RES/34/68, resolution 38/68 of December 1979], currently maintained and promulgated by the Committee on Space Research [COSPAR Planetary Protection Panel, Planetary Protection Policy accepted by the COSPAR Council and Bureau, 20 October 2002, amended 24 March 2005, http://www.cosparhq.org/scistr/PPPolicy.htm], missions exploring the Solar system must meet planetary protection requirements. Planetary protection aims to protect celestial bodies from terrestrial contamination and to protect the Earth environment from potential biological contamination carried by returned samples or space systems that have been in contact with an extraterrestrial environment. From an exobiology perspective, Mars is one of the major targets, and several missions are currently in operation, in transit, or scheduled for its exploration. Some of them include payloads dedicated to the detection of life or traces of life. The next step, over the coming years, will be to return samples from Mars to Earth, with a view to increasing our knowledge in preparation for the first manned mission that is likely to take place within the next few decades. Robotic missions to Mars shall meet planetary protection specifications, currently well documented, and planetary protection programs are implemented in a very reliable manner given that experience in the field spans some 40 years. With regards to sample return missions, a set of stringent requirements has been approved by COSPAR [COSPAR Planetary Protection Panel, Planetary Protection Policy accepted by the COSPAR Council and Bureau, 20 October 2002, amended 24 March 2005, http://www.cosparhq.org/scistr/PPPolicy.htm], and technical challenges must now be overcome in order to preserve the Earth’s biosphere from any eventual contamination risk. In addition to the human dimension of

  7. Mission-directed path planning for planetary rover exploration

    Science.gov (United States)

    Tompkins, Paul

    2005-07-01

    Robotic rovers uniquely benefit planetary exploration---they enable regional exploration with the precision of in-situ measurements, a combination impossible from an orbiting spacecraft or fixed lander. Mission planning for planetary rover exploration currently utilizes sophisticated software for activity planning and scheduling, but simplified path planning and execution approaches tailored for localized operations to individual targets. This approach is insufficient for the investigation of multiple, regionally distributed targets in a single command cycle. Path planning tailored for this task must consider the impact of large scale terrain on power, speed and regional access; the effect of route timing on resource availability; the limitations of finite resource capacity and other operational constraints on vehicle range and timing; and the mutual influence between traverses and upstream and downstream stationary activities. Encapsulating this reasoning in an efficient autonomous planner would allow a rover to continue operating rationally despite significant deviations from an initial plan. This research presents mission-directed path planning that enables an autonomous, strategic reasoning capability for robotic explorers. Planning operates in a space of position, time and energy. Unlike previous hierarchical approaches, it treats these dimensions simultaneously to enable globally-optimal solutions. The approach calls on a near incremental search algorithm designed for planning and re-planning under global constraints, in spaces of higher than two dimensions. Solutions under this method specify routes that avoid terrain obstacles, optimize the collection and use of rechargable energy, satisfy local and global mission constraints, and account for the time and energy of interleaved mission activities. Furthermore, the approach efficiently re-plans in response to updates in vehicle state and world models, and is well suited to online operation aboard a robot

  8. Mission Reliability Estimation for Repairable Robot Teams

    Science.gov (United States)

    Trebi-Ollennu, Ashitey; Dolan, John; Stancliff, Stephen

    2010-01-01

    A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the

  9. A Centaur Reconnaissance Mission: a NASA JPL Planetary Science Summer Seminar mission design experience

    Science.gov (United States)

    Chou, L.; Howell, S. M.; Bhattaru, S.; Blalock, J. J.; Bouchard, M.; Brueshaber, S.; Cusson, S.; Eggl, S.; Jawin, E.; Marcus, M.; Miller, K.; Rizzo, M.; Smith, H. B.; Steakley, K.; Thomas, N. H.; Thompson, M.; Trent, K.; Ugelow, M.; Budney, C. J.; Mitchell, K. L.

    2017-12-01

    The NASA Planetary Science Summer Seminar (PSSS), sponsored by the Jet Propulsion Laboratory (JPL), offers advanced graduate students and recent doctoral graduates the unique opportunity to develop a robotic planetary exploration mission that answers NASA's Science Mission Directorate's Announcement of Opportunity for the New Frontiers Program. Preceded by a series of 10 weekly webinars, the seminar is an intensive one-week exercise at JPL, where students work directly with JPL's project design team "TeamX" on the process behind developing mission concepts through concurrent engineering, project design sessions, instrument selection, science traceability matrix development, and risks and cost management. The 2017 NASA PSSS team included 18 participants from various U.S. institutions with a diverse background in science and engineering. We proposed a Centaur Reconnaissance Mission, named CAMILLA, designed to investigate the geologic state, surface evolution, composition, and ring systems through a flyby and impact of Chariklo. Centaurs are defined as minor planets with semi-major axis that lies between Jupiter and Neptune's orbit. Chariklo is both the largest Centaur and the only known minor planet with rings. CAMILLA was designed to address high priority cross-cutting themes defined in National Research Council's Vision and Voyages for Planetary Science in the Decade 2013-2022. At the end of the seminar, a final presentation was given by the participants to a review board of JPL scientists and engineers as well as NASA headquarters executives. The feedback received on the strengths and weaknesses of our proposal provided a rich and valuable learning experience in how to design a successful NASA planetary exploration mission and generate a successful New Frontiers proposal. The NASA PSSS is an educational experience that trains the next generation of NASA's planetary explorers by bridging the gap between scientists and engineers, allowing for participants to learn

  10. Electrical power technology for robotic planetary rovers

    Science.gov (United States)

    Bankston, C. P.; Shirbacheh, M.; Bents, D. J.; Bozek, J. M.

    1993-01-01

    Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.

  11. Soviet Robots in the Solar System Mission Technologies and Discoveries

    CERN Document Server

    Huntress, JR , Wesley T

    2011-01-01

    The Soviet robotic space exploration program began in a spirit of bold adventure and technical genius. It ended after the fall of the Soviet Union and the failure of its last mission to Mars in 1996. Soviet Robots in the Solar System chronicles the scientific and engineering accomplishments of this enterprise from its infancy to its demise. Each flight campaign is set into context of national politics and international competition with the United States. Together with its many detailed illustrations and images, Soviet Robots in the Solar System presents the most detailed technical description of Soviet robotic space flights provides a unique insight into programmatic, engineering, and scientific issues covers mission objectives, spacecraft engineering, flight details, scientific payload and results describes in technical depth Soviet lunar and planetary probes

  12. Intelligence for Human-Assistant Planetary Surface Robots

    Science.gov (United States)

    Hirsh, Robert; Graham, Jeffrey; Tyree, Kimberly; Sierhuis, Maarten; Clancey, William J.

    2006-01-01

    The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

  13. Magnetoshell Aerocapture for Manned Missions and Planetary Deep Space Orbiters

    Data.gov (United States)

    National Aeronautics and Space Administration — It is clear from past mission studies that a manned Mars mission, as well as deep space planetary orbiters will require aerobraking and aerocapture which use...

  14. NASA Johnson Space Center's Planetary Sample Analysis and Mission Science (PSAMS) Laboratory: A National Facility for Planetary Research

    Science.gov (United States)

    Draper, D. S.

    2016-01-01

    NASA Johnson Space Center's (JSC's) Astromaterials Research and Exploration Science (ARES) Division, part of the Exploration Integration and Science Directorate, houses a unique combination of laboratories and other assets for conducting cutting edge planetary research. These facilities have been accessed for decades by outside scientists, most at no cost and on an informal basis. ARES has thus provided substantial leverage to many past and ongoing science projects at the national and international level. Here we propose to formalize that support via an ARES/JSC Plane-tary Sample Analysis and Mission Science Laboratory (PSAMS Lab). We maintain three major research capa-bilities: astromaterial sample analysis, planetary process simulation, and robotic-mission analog research. ARES scientists also support planning for eventual human ex-ploration missions, including astronaut geological training. We outline our facility's capabilities and its potential service to the community at large which, taken together with longstanding ARES experience and expertise in curation and in applied mission science, enable multi-disciplinary planetary research possible at no other institution. Comprehensive campaigns incorporating sample data, experimental constraints, and mission science data can be conducted under one roof.

  15. Next Generation Simulation Framework for Robotic and Human Space Missions

    Science.gov (United States)

    Cameron, Jonathan M.; Balaram, J.; Jain, Abhinandan; Kuo, Calvin; Lim, Christopher; Myint, Steven

    2012-01-01

    The Dartslab team at NASA's Jet Propulsion Laboratory (JPL) has a long history of developing physics-based simulations based on the Darts/Dshell simulation framework that have been used to simulate many planetary robotic missions, such as the Cassini spacecraft and the rovers that are currently driving on Mars. Recent collaboration efforts between the Dartslab team at JPL and the Mission Operations Directorate (MOD) at NASA Johnson Space Center (JSC) have led to significant enhancements to the Dartslab DSENDS (Dynamics Simulator for Entry, Descent and Surface landing) software framework. The new version of DSENDS is now being used for new planetary mission simulations at JPL. JSC is using DSENDS as the foundation for a suite of software known as COMPASS (Core Operations, Mission Planning, and Analysis Spacecraft Simulation) that is the basis for their new human space mission simulations and analysis. In this paper, we will describe the collaborative process with the JPL Dartslab and the JSC MOD team that resulted in the redesign and enhancement of the DSENDS software. We will outline the improvements in DSENDS that simplify creation of new high-fidelity robotic/spacecraft simulations. We will illustrate how DSENDS simulations are assembled and show results from several mission simulations.

  16. Automation and Robotics for space operation and planetary exploration

    Science.gov (United States)

    Montemerlo, Melvin D.

    1990-01-01

    This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.

  17. Conceptual definition of a 50-100 kWe NEP system for planetary science missions

    Science.gov (United States)

    Friedlander, Alan

    1993-01-01

    The Phase 1 objective of this project is to assess the applicability of a common Nuclear Electric Propulsion (NEP) flight system of the 50-100 kWe power class to meet the advanced transportation requirements of a suite of planetary science (robotic) missions, accounting for differences in mission-specific payloads and delivery requirements. The candidate missions are as follows: (1) Comet Nucleus Sample Return; (2) Multiple Mainbelt Asteroid Rendezvous; (3) Jupiter Grand Tour (Galilean satellites and magnetosphere); (4) Uranus Orbiter/Probe (atmospheric entry and landers); (5) Neptune Orbiter/Probe (atmospheric entry and landers); and (6) Pluto-Charon Orbiter/Lander. The discussion is presented in vugraph form.

  18. Planetary protection policy overview and application to future missions

    Science.gov (United States)

    Rummel, John D.

    1989-01-01

    The current status of planetary protection (quarantine) policy within NASA is discussed, together with the issues of planetary protection and back-contamination as related to future missions. The policy adopted by COSPAR in 1984 (and recently reaffirmed by the NASA Administrator) for application to all unmanned missions to other solar system bodies and all manned and unmanned sample return missions is examined. Special attention is given to the implementation of the policy and to the specific quarantine-related constraints on spacecraft involved in solar system exploration that depend on the nature of the mission and the identity of the target body.

  19. 3D Visualization for Planetary Missions

    Science.gov (United States)

    DeWolfe, A. W.; Larsen, K.; Brain, D.

    2018-04-01

    We have developed visualization tools for viewing planetary orbiters and science data in 3D for both Earth and Mars, using the Cesium Javascript library, allowing viewers to visualize the position and orientation of spacecraft and science data.

  20. A Sample Delivery System for Planetary Missions

    Data.gov (United States)

    National Aeronautics and Space Administration — The project will develop, test and characterize the performance of a prototype /sample delivery system (SDS) implemented as an end effector on a robotic arm capable...

  1. Planetary Protection Knowledge Gaps for Human Extraterrestrial Missions: Workshop Report

    Science.gov (United States)

    Race, Margaret S. (Editor); Johnson, James E. (Editor); Spry, James A. (Editor); Siegel, Bette; Conley, Catharine A.

    2015-01-01

    This report on Planetary Protection Knowledge Gaps for Human Extraterrestrial Missions summarizes the presentations, deliberations and findings of a workshop at NASA Ames Research Center, March 24-26, 2015, which was attended by more than 100 participants representing a diverse mix of science, engineering, technology, and policy areas. The main objective of the three-day workshop was to identify specific knowledge gaps that need to be addressed to make incremental progress towards the development of NASA Procedural Requirements (NPRs) for Planetary Protection during human missions to Mars.

  2. Reactive, Safe Navigation for Lunar and Planetary Robots

    Science.gov (United States)

    Utz, Hans; Ruland, Thomas

    2008-01-01

    When humans return to the moon, Astronauts will be accompanied by robotic helpers. Enabling robots to safely operate near astronauts on the lunar surface has the potential to significantly improve the efficiency of crew surface operations. Safely operating robots in close proximity to astronauts on the lunar surface requires reactive obstacle avoidance capabilities not available on existing planetary robots. In this paper we present work on safe, reactive navigation using a stereo based high-speed terrain analysis and obstacle avoidance system. Advances in the design of the algorithms allow it to run terrain analysis and obstacle avoidance algorithms at full frame rate (30Hz) on off the shelf hardware. The results of this analysis are fed into a fast, reactive path selection module, enforcing the safety of the chosen actions. The key components of the system are discussed and test results are presented.

  3. Planetary protection implementation on future Mars lander missions

    Science.gov (United States)

    Howell, Robert; Devincenzi, Donald L.

    1993-01-01

    A workshop was convened to discuss the subject of planetary protection implementation for Mars lander missions. It was sponsored and organized by the Exobiology Implementation Team of the U.S./Russian Joint Working Group on Space Biomedical and Life Support Systems. The objective of the workshop was to discuss planetary protection issues for the Russian Mars '94 mission, which is currently under development, as well as for additional future Mars lander missions including the planned Mars '96 and U.S. MESUR Pathfinder and Network missions. A series of invited presentations was made to ensure that workshop participants had access to information relevant to the planned discussions. The topics summarized in this report include exobiology science objectives for Mars exploration, current international policy on planetary protection, planetary protection requirements developed for earlier missions, mission plans and designs for future U.S. and Russian Mars landers, biological contamination of spacecraft components, and techniques for spacecraft bioload reduction. In addition, the recent recommendations of the U.S. Space Studies Board (SSB) on this subject were also summarized. Much of the discussion focused on the recommendations of the SSB. The SSB proposed relaxing the planetary protection requirements for those Mars lander missions that do not contain life detection experiments, but maintaining Viking-like requirements for those missions that do contain life detection experiments. The SSB recommendations were found to be acceptable as a guide for future missions, although many questions and concerns about interpretation were raised and are summarized. Significant among the concerns was the need for more quantitative guidelines to prevent misinterpretation by project offices and better access to and use of the Viking data base of bioassays to specify microbial burden targets. Among the questions raised were how will the SSB recommendations be integrated with existing

  4. Planetary protection implementation on future Mars lander missions

    Science.gov (United States)

    Howell, Robert; Devincenzi, Donald L.

    1993-06-01

    A workshop was convened to discuss the subject of planetary protection implementation for Mars lander missions. It was sponsored and organized by the Exobiology Implementation Team of the U.S./Russian Joint Working Group on Space Biomedical and Life Support Systems. The objective of the workshop was to discuss planetary protection issues for the Russian Mars '94 mission, which is currently under development, as well as for additional future Mars lander missions including the planned Mars '96 and U.S. MESUR Pathfinder and Network missions. A series of invited presentations was made to ensure that workshop participants had access to information relevant to the planned discussions. The topics summarized in this report include exobiology science objectives for Mars exploration, current international policy on planetary protection, planetary protection requirements developed for earlier missions, mission plans and designs for future U.S. and Russian Mars landers, biological contamination of spacecraft components, and techniques for spacecraft bioload reduction. In addition, the recent recommendations of the U.S. Space Studies Board (SSB) on this subject were also summarized. Much of the discussion focused on the recommendations of the SSB. The SSB proposed relaxing the planetary protection requirements for those Mars lander missions that do not contain life detection experiments, but maintaining Viking-like requirements for those missions that do contain life detection experiments. The SSB recommendations were found to be acceptable as a guide for future missions, although many questions and concerns about interpretation were raised and are summarized. Significant among the concerns was the need for more quantitative guidelines to prevent misinterpretation by project offices and better access to and use of the Viking data base of bio-assays to specify microbial burden targets. Among the questions raised were how will the SSB recommendations be integrated with existing

  5. The Planetary Science Archive (PSA): Exploration and discovery of scientific datasets from ESA's planetary missions

    Science.gov (United States)

    Vallat, C.; Besse, S.; Barbarisi, I.; Arviset, C.; De Marchi, G.; Barthelemy, M.; Coia, D.; Costa, M.; Docasal, R.; Fraga, D.; Heather, D. J.; Lim, T.; Macfarlane, A.; Martinez, S.; Rios, C.; Vallejo, F.; Said, J.

    2017-09-01

    The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces at http://psa.esa.int. All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. The PSA has started to implement a number of significant improvements, mostly driven by the evolution of the PDS standards, and the growing need for better interfaces and advanced applications to support science exploitation.

  6. Interplanetary laser ranging : Analysis for implementation in planetary science missions

    NARCIS (Netherlands)

    Dirkx, D.

    2015-01-01

    Measurements of the motion of natural (and artificial) bodies in the solar system provide key input on their interior structre and properties. Currently, the most accurate measurements of solar system dynamics are performed using radiometric tracking systems on planetary missions, providing range

  7. Lunar Robotic Precursor Missions Using Electric Propulsion

    OpenAIRE

    Winski, Richard G.

    2006-01-01

    A trade study is carried out for the design of electric propulsion based lunar robotic precursor missions. The focus is to understand the relationships between payload mass delivered, electric propulsion power, and trip time. The results are compared against a baseline system using chemical propulsion with LOX/H2. The major differences between the chemical propulsion based and electric propulsion based systems are presented in terms of the payload mass and trip time. It is shown that solar e...

  8. (abstract) Telecommunications for Mars Rovers and Robotic Missions

    Science.gov (United States)

    Cesarone, Robert J.; Hastrup, Rolf C.; Horne, William; McOmber, Robert

    1997-01-01

    Telecommunications plays a key role in all rover and robotic missions to Mars both as a conduit for command information to the mission and for scientific data from the mission. Telecommunications to the Earth may be accomplished using direct-to-Earth links via the Deep Space Network (DSN) or by relay links supported by other missions at Mars. This paper reviews current plans for missions to Mars through the 2005 launch opportunity and their capabilities in support of rover and robotic telecommunications.

  9. NASA Planetary Science Summer School: Preparing the Next Generation of Planetary Mission Leaders

    Science.gov (United States)

    Lowes, L. L.; Budney, C. J.; Sohus, A.; Wheeler, T.; Urban, A.; NASA Planetary Science Summer School Team

    2011-12-01

    Sponsored by NASA's Planetary Science Division, and managed by the Jet Propulsion Laboratory, the Planetary Science Summer School prepares the next generation of engineers and scientists to participate in future solar system exploration missions. Participants learn the mission life cycle, roles of scientists and engineers in a mission environment, mission design interconnectedness and trade-offs, and the importance of teamwork. For this professional development opportunity, applicants are sought who have a strong interest and experience in careers in planetary exploration, and who are science and engineering post-docs, recent PhDs, and doctoral students, and faculty teaching such students. Disciplines include planetary science, geoscience, geophysics, environmental science, aerospace engineering, mechanical engineering, and materials science. Participants are selected through a competitive review process, with selections based on the strength of the application and advisor's recommendation letter. Under the mentorship of a lead engineer (Dr. Charles Budney), students select, design, and develop a mission concept in response to the NASA New Frontiers Announcement of Opportunity. They develop their mission in the JPL Advanced Projects Design Team (Team X) environment, which is a cross-functional multidisciplinary team of professional engineers that utilizes concurrent engineering methodologies to complete rapid design, analysis and evaluation of mission concept designs. About 36 students participate each year, divided into two summer sessions. In advance of an intensive week-long session in the Project Design Center at JPL, students select the mission and science goals during a series of six weekly WebEx/telecons, and develop a preliminary suite of instrumentation and a science traceability matrix. Students assume both a science team and a mission development role with JPL Team X mentors. Once at JPL, students participate in a series of Team X project design sessions

  10. Reassessment of planetary protection requirements for Venus missions

    Science.gov (United States)

    Szostak, J.; Riemer, R.; Smith, D.; Rummel, J.

    In 2005 the US Space Studies Board SSB was asked by NASA to reexamine the planetary protection requirements for spacecraft missions to Venus In particular the SSB was tasked to 1 Assess the surface and atmospheric environments of Venus with respect to their ability to support the survival and growth of Earth-origin microbial contamination by future spacecraft missions and 2 Provide recommendations related to planetary protection issues associated with the return to Earth of samples from Venus The task group established by the SSB to address these issues assessed the known aspects of the present-day environment of Venus and the ability of Earth organisms to survive in the physical and chemical conditions found on the planet s surface or in the clouds in the planet s atmosphere As a result of its deliberations the task group found compelling evidence against there being significant dangers of forward or reverse biological contamination as a result of contact between a spacecraft and the surface of Venus or the clouds in the atmosphere of Venus regardless of the current unknowns The task group did however conclude that Venus is a body of interest relative to the process of chemical evolution and the origin of life As a result the task group endorses NASA s current policy of subjecting missions to Venus to the requirements imposed by planetary protection Category II rather than the less restrictive Category I recommended by COSPAR

  11. Backward Planetary Protection Issues and Possible Solutions for Icy Plume Sample Return Missions from Astrobiological Targets

    Science.gov (United States)

    Yano, Hajime; McKay, Christopher P.; Anbar, Ariel; Tsou, Peter

    ). While this is an ideal specification, it far exceeds the current PPP requirements for Category-V “restricted Earth return”, which typically center on a probability of escape of a biologically active particle (e.g., 50 nm diameter). Particles of this size (orders of magnitude larger than a helium atom) are not volatile and generally “sticky” toward surfaces; the mobility of viruses and biomolecules requires aerosolization. Thus, meeting the planetary protection challenge does not require hermetic seal. So far, only a handful of robotic missions accomplished deep space sample returns, i.e., Genesis, Stardust and Hayabusa. This year, Hayabusa-2 will be launched and OSIRIS-REx will follow in a few years. All of these missions are classified as “unrestricted Earth return” by the COSPAR PPP recommendation. Nevertheless, scientific requirements of organic contamination control have been implemented to all WBS regarding sampling mechanism and Earth return capsule of Hayabusa-2. While Genesis, Stardust and OSIRIS-REx capsules “breathe” terrestrial air as they re-enter Earth’s atmosphere, temporal “air-tight” design was already achieved by the Hayabusa-1 sample container using a double O-ring seal, and that for the Hayabusa-2 will retain noble gas and other released gas from returned solid samples using metal seal technology. After return, these gases can be collected through a filtered needle interface without opening the entire container lid. This expertise can be extended to meeting planetary protection requirements from “restricted return” targets. There are still some areas requiring new innovations, especially to assure contingency robustness in every phase of a return mission. These must be achieved by meeting both PPP and scientific requirements during initial design and WBS of the integrated sampling system including the Earth return capsule. It is also important to note that international communities in planetary protection, sample return

  12. The New Planetary Science Archive (PSA): Exploration and Discovery of Scientific Datasets from ESA's Planetary Missions

    Science.gov (United States)

    Heather, David; Besse, Sebastien; Vallat, Claire; Barbarisi, Isa; Arviset, Christophe; De Marchi, Guido; Barthelemy, Maud; Coia, Daniela; Costa, Marc; Docasal, Ruben; Fraga, Diego; Grotheer, Emmanuel; Lim, Tanya; MacFarlane, Alan; Martinez, Santa; Rios, Carlos; Vallejo, Fran; Saiz, Jaime

    2017-04-01

    The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces at http://psa.esa.int. All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. The PSA is currently implementing a number of significant improvements, mostly driven by the evolution of the PDS standard, and the growing need for better interfaces and advanced applications to support science exploitation. As of the end of 2016, the PSA is hosting data from all of ESA's planetary missions. This includes ESA's first planetary mission Giotto that encountered comet 1P/Halley in 1986 with a flyby at 800km. Science data from Venus Express, Mars Express, Huygens and the SMART-1 mission are also all available at the PSA. The PSA also contains all science data from Rosetta, which explored comet 67P/Churyumov-Gerasimenko and asteroids Steins and Lutetia. The year 2016 has seen the arrival of the ExoMars 2016 data in the archive. In the upcoming years, at least three new projects are foreseen to be fully archived at the PSA. The BepiColombo mission is scheduled for launch in 2018. Following that, the ExoMars Rover Surface Platform (RSP) in 2020, and then the JUpiter ICy moon Explorer (JUICE). All of these will archive their data in the PSA. In addition, a few ground-based support programmes are also available, especially for the Venus Express and Rosetta missions. The newly designed PSA will enhance the user experience and will significantly reduce the complexity for users to find their data promoting one-click access to the scientific datasets with more customized views when needed. This includes a better integration with Planetary GIS analysis tools and Planetary interoperability services (search and retrieve data, supporting e.g. PDAP, EPN-TAP). It will also be up

  13. Human-robot collaboration for a shared mission

    OpenAIRE

    Karami , Abir-Beatrice; Jeanpierre , Laurent; Mouaddib , Abdel-Illah

    2010-01-01

    International audience; We are interested in collaboration domains between a robot and a human partner, the partners share a common mission without an explicit communication about their plans. The decision process of the robot agent should consider the presence of its human partner. Also, the robot planning should be flexible to human comfortability and all possible changes in the shared environment. To solve the problem of human-robot collaborationwith no communication, we present a model th...

  14. Application of Solar-Electric Propulsion to Robotic Missions in Near-Earth Space

    Science.gov (United States)

    Woodcock, Gordon R.; Dankanich, John

    2007-01-01

    Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science and robotic exploration, and planetary science. These missions span SEP power range from 10 kWe to about 100 kWe. A SEP design compatible with small inexpensive launch vehicles, and capable of lunar science missions, is presented. Modes of use and benefits are described, and potential SEP evolution is discussed.

  15. Enviromnental Control and Life Support Systems for Mars Missions - Issues and Concerns for Planetary Protection

    Science.gov (United States)

    Barta, Daniel J.; Anderson, Molly S.; Lange, Kevin

    2015-01-01

    Planetary protection represents an additional set of requirements that generally have not been considered by developers of technologies for Environmental Control and Life Support Systems (ECLSS). Planetary protection guidelines will affect the kind of operations, processes, and functions that can take place during future human planetary exploration missions. Ultimately, there will be an effect on mission costs, including the mission trade space when planetary protection requirements begin to drive vehicle deisgn in a concrete way. Planetary protection requirements need to be considered early in technology development and mission programs in order to estimate these impacts and push back on requirements or find efficient ways to perform necessary functions. It is expected that planetary protection will be a significant factor during technology selection and system architecture design for future missions.

  16. Applying Strategic Visualization(Registered Trademark) to Lunar and Planetary Mission Design

    Science.gov (United States)

    Frassanito, John R.; Cooke, D. R.

    2002-01-01

    NASA teams, such as the NASA Exploration Team (NEXT), utilize advanced computational visualization processes to develop mission designs and architectures for lunar and planetary missions. One such process, Strategic Visualization (trademark), is a tool used extensively to help mission designers visualize various design alternatives and present them to other participants of their team. The participants, which may include NASA, industry, and the academic community, are distributed within a virtual network. Consequently, computer animation and other digital techniques provide an efficient means to communicate top-level technical information among team members. Today,Strategic Visualization(trademark) is used extensively both in the mission design process within the technical community, and to communicate the value of space exploration to the general public. Movies and digital images have been generated and shown on nationally broadcast television and the Internet, as well as in magazines and digital media. In our presentation will show excerpts of a computer-generated animation depicting the reference Earth/Moon L1 Libration Point Gateway architecture. The Gateway serves as a staging corridor for human expeditions to the lunar poles and other surface locations. Also shown are crew transfer systems and current reference lunar excursion vehicles as well as the Human and robotic construction of an inflatable telescope array for deployment to the Sun/Earth Libration Point.

  17. Effective Human-Robot Collaborative Work for Critical Missions

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this project is to improve human-robot interaction (HRI) in order to enhance the capability of NASA critical missions. This research will focus two...

  18. Schottky barrier CdTe(Cl) detectors for planetary missions

    International Nuclear Information System (INIS)

    Eisen, Yosef; Floyd, Samuel

    2002-01-01

    Schottky barrier cadmium telluride (CdTe) radiation detectors of dimensions 2mm x 2mm x 1mm and segmented monolithic 3cm x 3 cm x 1mm are under study at GSFC for future NASA planetary instruments. These instruments will perform x-ray fluorescence spectrometry of the surface and monitor the solar x-ray flux spectrum, the excitation source for the characteristic x-rays emitted from the planetary body. The Near Earth Asteroid Rendezvous (NEAR) mission is the most recent example of such a remote sensing technique. Its x-ray fluorescence detectors were gas proportional counters with a back up Si PIN solar monitor. Analysis of NEAR data has shown the necessity to develop a solar x-ray detector with efficiency extending to 30keV. Proportional counters and Si diodes have low sensitivity above 9keV. Our 2mm x 2mm x 1mm CdTe operating at -30 degree sign C possesses an energy resolution of 250eV FWHM for 55Fe with unit efficiency to up to 30keV. This is an excellent candidate for a solar monitor. Another ramification of the NEAR data is a need to develop a large area detector system, 20-30 cm2, with cosmic ray charged particle rejection, for measuring the characteristic radiation. A 3cm x 3cm x 1mm Schottky CdTe segmented monolithic detector is under investigation for this purpose. A tiling of 2-3 such detectors will result in the desired area. The favorable characteristics of Schottky CdTe detectors, the system design complexities when using CdTe and its adaptation to future missions will be discussed

  19. Enabling Higher Data Rates for Planetary Science Missions

    Science.gov (United States)

    Deutsch, L. J.; Townes, S. A.; Lazio, J.; Bell, D. J.; Chahat, N. E.; Kovalik, J. M.; Kuperman, I.; Sauder, J.; Liebrecht, P. E.

    2017-12-01

    The data rate from deep space spacecraft has increased by more than 10 orders of magnitude since the first lunar missions in the 1960s. The demand for increased data rates has stemmed from the increasing sophistication of the science questions being addressed and the concomitant increase in the complexity of the missions themselves (from fly-by to orbit to land and rove). Projections for the next few decades suggest the demand for data rates for deep space missions will continue to increase by approximately one order of magnitude every decade, driven by these same factors. Achieving higher data rates requires a partnership between the spacecraft and the ground system. We describe a series of technology developments for flight telecommunications systems, both at radio frequency (RF) and optical, to enable spacecraft to transmit and receive larger data volumes. These technology developments include deployable high gain antennas for small spacecraft, re-programmable software-defined radios, and optical communication packages designed for CubeSat form factors. The intent is that these developments would provide enhancements in capability for both spacecraft-Earth and spacecraft-spacecraft telecommunications. We also describe the future planning for NASA's Deep Space Network (DSN), which remains the prime conduit for data from all planetary science missions. Through a combination of new antennas and backends being installed over the next five years and incorporation of optical communications, the DSN aims to ensure that the historical improvements in data rates and volumes will continue for many decades. Part of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.

  20. In Situ Biological Contamination Studies of the Moon: Implications for Future Planetary Protection and Life Detection Missions

    Science.gov (United States)

    Glavin, Daniel P.; Dworkin, Jason P.; Lupisella, Mark; Kminek, Gerhard; Rummel, John D.

    2010-01-01

    NASA and ESA have outlined visions for solar system exploration that will include a series of lunar robotic precursor missions to prepare for, and support a human return to the Moon, and future human exploration of Mars and other destinations. One of the guiding principles for exploration is to pursue compelling scientific questions about the origin and evolution of life. The search for life on objects such as Mars will require that all spacecraft and instrumentation be sufficiently cleaned and sterilized prior to launch to ensure that the scientific integrity of extraterrestrial samples is not jeopardized by terrestrial organic contamination. Under the Committee on Space Research's (COSPAR's) current planetary protection policy for the Moon, no sterilization procedures are required for outbound lunar spacecraft, nor is there yet a planetary protection category for human missions. Future in situ investigations of a variety of locations on the Moon by highly sensitive instruments designed to search for biologically derived organic compounds would help assess the contamination of the Moon by lunar spacecraft. These studies could also provide valuable "ground truth" data for Mars sample return missions and help define planetary protection requirements for future Mars bound spacecraft carrying life detection experiments. In addition, studies of the impact of terrestrial contamination of the lunar surface by the Apollo astronauts could provide valuable data to help refine future Mars surface exploration plans for a human mission to Mars.

  1. Missions to Near-Earth Asteroids: Implications for Exploration, Science, Resource Utilization, and Planetary Defense

    Science.gov (United States)

    Abell, P. A.; Sanders, G. B.; Mazanek, D. D.; Barbee, B. W.; Mink, R. G.; Landis, R. R.; Adamo, D. R.; Johnson, L. N.; Yeomans, D. K.; Reeves, D. M.; Drake, B. G.; Friedensen, V. P.

    2012-12-01

    Considerations: These missions would be the first human expeditions to interplanetary bodies beyond the Earth-Moon system and would prove useful for testing technologies required for human missions to Mars, Phobos and Deimos, and other Solar System destinations. Current analyses of operational concepts suggest that stay times of 15 to 30 days may be possible at a NEA with total mission duration limits of 180 days or less. Hence, these missions would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while simultaneously conducting detailed investigations of these primitive objects with instruments and equipment that exceed the mass and power capabilities delivered by robotic spacecraft. All of these activities will be vital for refinement of resource characterization/identification and development of extraction/utilization technologies to be used on airless bodies under low- or micro-gravity conditions. In addition, gaining enhanced understanding of a NEA's geotechnical properties and its gross internal structure will assist the development of hazard mitigation techniques for planetary defense. Conclusions: The scientific, resource utilization, and hazard mitigation benefits, along with the programmatic and operational benefits of a human venture beyond the Earth-Moon system, make a piloted sample return mission to a NEA using NASA's proposed human exploration systems a compelling endeavor.

  2. A new planetary mapping for future space missions

    Science.gov (United States)

    Karachevtseva, Irina; Kokhanov, Alexander; Rodionova, Janna; Zubarev, Anatoliy; Nadezhdina, Irina; Kreslavsky, Mikhail; Oberst, Jürgen

    2015-04-01

    The wide studies of Solar system, including different planetary bodies, were announced by new Russian space program. Their geodesy and cartography support provides by MIIGAiK Extraterrestrial Laboratory (http://mexlab.miigaik.ru/eng) in frames of the new project "Studies of Fundamental Geodetic Parameters and Topography of Planets and Satellites". The objects of study are satellites of the outer planets (satellites of Jupiter - Europa, Calisto and Ganymede; Saturnine satellite Enceladus), some planets (Mercury and Mars) and the satellites of the terrestrial planets - Phobos (Mars) and the Moon (Earth). The new research project, which started in 2014, will address the following important scientific and practical tasks: - Creating new three-dimensional geodetic control point networks of satellites of the outer planets using innovative photogrammetry techniques; - Determination of fundamental geodetic parameters and study size, shape, and spin parameters and to create the basic framework for research of their surfaces; - Studies of relief of planetary bodies and comparative analysis of general surface characteristics of the Moon, Mars, and Mercury, as well as studies of morphometric parameters of volcanic formations on the Moon and Mars; - Modeling of meteoritic bombardment of celestial bodies and the study of the dynamics of particle emissions caused by a meteorite impacts; - Development of geodatabase for studies of planetary bodies, including creation of object catalogues, (craters and volcanic forms, etc.), and thematic mapping using GIS technology. The significance of the project is defined both by necessity of obtaining fundamental characteristics of the Solar System bodies, and practical tasks in preparation for future Russian and international space missions to the Jupiter system (Laplace-P and JUICE), the Moon (Luna-Glob and Luna-Resource), Mars (Exo-Mars), Mercury (Bepi-Colombo), and possible mission to Phobos (project Boomerang). For cartographic support of

  3. Planetary Mission Entry Vehicles Quick Reference Guide. Version 3.0

    Science.gov (United States)

    Davies, Carol; Arcadi, Marla

    2006-01-01

    This is Version 3.0 of the planetary mission entry vehicle document. Three new missions, Re-entry F, Hayabusa, and ARD have been added to t he previously published edition (Version 2.1). In addition, the Huyge ns mission has been significantly updated and some Apollo data correc ted. Due to the changing nature of planetary vehicles during the desi gn, manufacture and mission phases, and to the variables involved in measurement and computation, please be aware that the data provided h erein cannot be guaranteed. Contact Carol Davies at cdavies@mail.arc. nasa.gov to correct or update the current data, or to suggest other missions.

  4. Integrated Human-Robotic Missions to the Moon and Mars: Mission Operations Design Implications

    Science.gov (United States)

    Mishkin, Andrew; Lee, Young; Korth, David; LeBlanc, Troy

    2007-01-01

    For most of the history of space exploration, human and robotic programs have been independent, and have responded to distinct requirements. The NASA Vision for Space Exploration calls for the return of humans to the Moon, and the eventual human exploration of Mars; the complexity of this range of missions will require an unprecedented use of automation and robotics in support of human crews. The challenges of human Mars missions, including roundtrip communications time delays of 6 to 40 minutes, interplanetary transit times of many months, and the need to manage lifecycle costs, will require the evolution of a new mission operations paradigm far less dependent on real-time monitoring and response by an Earthbound operations team. Robotic systems and automation will augment human capability, increase human safety by providing means to perform many tasks without requiring immediate human presence, and enable the transfer of traditional mission control tasks from the ground to crews. Developing and validating the new paradigm and its associated infrastructure may place requirements on operations design for nearer-term lunar missions. The authors, representing both the human and robotic mission operations communities, assess human lunar and Mars mission challenges, and consider how human-robot operations may be integrated to enable efficient joint operations, with the eventual emergence of a unified exploration operations culture.

  5. Controlling Robots with a Spring in Their Step

    Data.gov (United States)

    National Aeronautics and Space Administration — In future manned planetary exploration missions there is a strong logic that robots will remain central to the mission success. These robots may be called upon to...

  6. Exception detection and handling in mission control for mobile robots

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole

    2013-01-01

    This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...

  7. A framework for employing femtosatellites in planetary science missions, including a proposed mission concept for Titan

    Science.gov (United States)

    Perez, Tracie Renea Conn

    Over the past 15 years, there has been a growing interest in femtosatellites, a class of tiny satellites having mass less than 100 grams. Research groups from Peru, Spain, England, Canada, and the United States have proposed femtosat designs and novel mission concepts for them. In fact, Peru made history in 2013 by releasing the first - and still only - femtosat tracked from LEO. However, femtosatellite applications in interplanetary missions have yet to be explored in detail. An interesting operations concept would be for a space probe to release numerous femtosatellites into orbit around a planetary object of interest, thereby augmenting the overall data collection capability of the mission. A planetary probe releasing hundreds of femtosats could complete an in-situ, simultaneous 3D mapping of a physical property of interest, achieving scientific investigations not possible for one probe operating alone. To study the technical challenges associated with such a mission, a conceptual mission design is proposed where femtosats are deployed from a host satellite orbiting Titan. The conceptual mission objective is presented: to study Titan's dynamic atmosphere. Then, the design challenges are addressed in turn. First, any science payload measurements that the femtosats provide are only useful if their corresponding locations can be determined. Specifically, what's required is a method of position determination for femtosatellites operating beyond Medium Earth Orbit and therefore beyond the help of GPS. A technique is presented which applies Kalman filter techniques to Doppler shift measurements, allowing for orbit determination of the femtosats. Several case studies are presented demonstrating the usefulness of this approach. Second, due to the inherit power and computational limitations in a femtosatellite design, establishing a radio link between each chipsat and the mothersat will be difficult. To provide a mathematical gain, a particular form of forward error

  8. TU Berlin Rover Family for Terrestrial Testing of Complex Planetary Mission Scenarios

    Science.gov (United States)

    Kryza, L.; Brieß, K.

    2018-04-01

    The TU Berlin has developed a family of planetary rovers for educational use and research activities. The paper will introduce these cost-effective systems, which can be used for analogue mission demonstration on Earth.

  9. A Dual Launch Robotic and Human Lunar Mission Architecture

    Science.gov (United States)

    Jones, David L.; Mulqueen, Jack; Percy, Tom; Griffin, Brand; Smitherman, David

    2010-01-01

    This paper describes a comprehensive lunar exploration architecture developed by Marshall Space Flight Center's Advanced Concepts Office that features a science-based surface exploration strategy and a transportation architecture that uses two launches of a heavy lift launch vehicle to deliver human and robotic mission systems to the moon. The principal advantage of the dual launch lunar mission strategy is the reduced cost and risk resulting from the development of just one launch vehicle system. The dual launch lunar mission architecture may also enhance opportunities for commercial and international partnerships by using expendable launch vehicle services for robotic missions or development of surface exploration elements. Furthermore, this architecture is particularly suited to the integration of robotic and human exploration to maximize science return. For surface operations, an innovative dual-mode rover is presented that is capable of performing robotic science exploration as well as transporting human crew conducting surface exploration. The dual-mode rover can be deployed to the lunar surface to perform precursor science activities, collect samples, scout potential crew landing sites, and meet the crew at a designated landing site. With this approach, the crew is able to evaluate the robotically collected samples to select the best samples for return to Earth to maximize the scientific value. The rovers can continue robotic exploration after the crew leaves the lunar surface. The transportation system for the dual launch mission architecture uses a lunar-orbit-rendezvous strategy. Two heavy lift launch vehicles depart from Earth within a six hour period to transport the lunar lander and crew elements separately to lunar orbit. In lunar orbit, the crew transfer vehicle docks with the lander and the crew boards the lander for descent to the surface. After the surface mission, the crew returns to the orbiting transfer vehicle for the return to the Earth. This

  10. Planning for Planetary Science Mission Including Resource Prospecting, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Advances in computer-aided mission planning can enhance mission operations and science return for surface missions to Mars, the Moon, and beyond. While the...

  11. Robotic Reconnaissance Missions to Small Bodies and Their Potential Contributions to Human Exploration

    Science.gov (United States)

    Abell, P. A.; Rivkin, A. S.

    2015-01-01

    Introduction: Robotic reconnaissance missions to small bodies will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission involves sending astronauts to study and sample a near- Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. The science and technical data obtained from robotic precursor missions that investigate the surface and interior physical characteristics of an object will help identify the pertinent physical properties that will maximize operational efficiency and reduce mission risk for both robotic assets and crew operating in close proximity to, or at the surface of, a small body. These data will help fill crucial strategic knowledge gaps (SKGs) concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations. Small Body Strategic Knowledge Gaps: For the past several years NASA has been interested in identifying the key SKGs related to future human destinations. These SKGs highlight the various unknowns and/or data gaps of targets that the science and engineering communities would like to have filled in prior to committing crews to explore the Solar System. An action team from the Small Bodies Assessment Group (SBAG) was formed specifically to identify the small body SKGs under the direction of the Human Exploration and Operations Missions Directorate (HEOMD), given NASA's recent interest in NEAs and the Martian moons as potential human destinations [1]. The action team

  12. Multi-robot Task Allocation for Search and Rescue Missions

    International Nuclear Information System (INIS)

    Hussein, Ahmed; Adel, Mohamed; Bakr, Mohamed; Shehata, Omar M; Khamis, Alaa

    2014-01-01

    Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions

  13. IMPERA: Integrated Mission Planning for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Daniel Saur

    2015-10-01

    Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

  14. Automation, robotics, and inflight training for manned Mars missions

    Science.gov (United States)

    Holt, Alan C.

    1986-01-01

    The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.

  15. Introduction of JAXA Lunar and Planetary Exploration Data Analysis Group: Landing Site Analysis for Future Lunar Polar Exploration Missions

    Science.gov (United States)

    Otake, H.; Ohtake, M.; Ishihara, Y.; Masuda, K.; Sato, H.; Inoue, H.; Yamamoto, M.; Hoshino, T.; Wakabayashi, S.; Hashimoto, T.

    2018-04-01

    JAXA established JAXA Lunar and Planetary Exploration Data Analysis Group (JLPEDA) at 2016. Our group has been analyzing lunar and planetary data for various missions. Here, we introduce one of our activities.

  16. The Ion Propulsion System for the Asteroid Redirect Robotic Mission

    Science.gov (United States)

    Herman, Daniel A.; Santiago, Walter; Kamhawi, Hani; Polk, James E.; Snyder, John Steven; Hofer, Richard; Sekerak, Michael

    2016-01-01

    The Asteroid Redirect Robotic Mission is a Solar Electric Propulsion Technology Demonstration Mission (ARRM) whose main objectives are to develop and demonstrate a high-power solar electric propulsion capability for the Agency and return an asteroidal mass for rendezvous and characterization in a companion human-crewed mission. This high-power solar electric propulsion capability, or an extensible derivative of it, has been identified as a critical part of NASA's future beyond-low-Earth-orbit, human-crewed exploration plans. This presentation presents the conceptual design of the ARRM ion propulsion system, the status of the NASA in-house thruster and power processing development activities, the status of the planned technology maturation for the mission through flight hardware delivery, and the status of the mission formulation and spacecraft acquisition.

  17. Robotic Platform for Automated Search and Rescue Missions of Humans

    Directory of Open Access Journals (Sweden)

    Eli Kolberg

    2013-02-01

    Full Text Available We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously. The task is to use the developed robotic system for search and rescue mission such as saving survivals from a fire.

  18. Nuclear Electric Propulsion Application: RASC Mission Robotic Exploration of Venus

    Science.gov (United States)

    McGuire, Melissa L.; Borowski, Stanley K.; Packard, Thomas W.

    2004-01-01

    The following paper documents the mission and systems analysis portion of a study in which Nuclear Electric Propulsion (NEP) is used as the in-space transportation system to send a series of robotic rovers and atmospheric science airplanes to Venus in the 2020 to 2030 timeframe. As part of the NASA RASC (Revolutionary Aerospace Systems Concepts) program, this mission analysis is meant to identify future technologies and their application to far reaching NASA missions. The NEP systems and mission analysis is based largely on current technology state of the art assumptions. This study looks specifically at the performance of the NEP transfer stage when sending a series of different payload package point design options to Venus orbit.

  19. A robotic exploration mission to Mars and Phobos

    Science.gov (United States)

    Kerr, Justin H.; Defosse, Erin; Ho, Quang; Barriga, Ernisto; Davis, Grant; Mccourt, Steve; Smith, Matt

    1993-01-01

    This report discusses the design of a robotic exploration to Mars and Phobos. It begins with the mission's background and objectives, followed by a detailed explanation of various elements of Project Aeneas, including science, spacecraft, probes, and orbital trajectories. In addition, a description of Argos Space Endeavours, management procedures, and overall project costs are presented. Finally, a list of recommendations for future design activity is included.

  20. Design and Dynamics Analysis of a Bio-Inspired Intermittent Hopping Robot for Planetary Surface Exploration

    Directory of Open Access Journals (Sweden)

    Long Bai

    2012-10-01

    Full Text Available A small, bio-inspired and minimally actuated intermittent hopping robot for planetary surface exploration is proposed in this paper. The robot uses a combined-geared six-bar linkage/spring mechanism, which has a possible rich trajectory and metamorphic characteristics and, due to this, the robot is able to recharge, lock/release and jump by using just a micro-power motor as the actuator. Since the robotic system has a closed-chain structure and employs underactuated redundant motion, the constrained multi-body dynamics are derived with time-varying driving parameters and ground unilateral constraint both taken into consideration. In addition, the established dynamics equations, mixed of higher order differential and algebraic expressions, are solved by the immediate integration algorithm. A prototype is implemented and experiments are carried out. The results show that the robot, using a micro-power motor as the actuator and solar cells as the power supply, can achieve a biomimetic multi-body hopping stance and a nonlinearly increasing driving force. Typically, the robot can jump a horizontal distance of about 1 m and a vertical height of about 0.3 m, with its trunk and foot moving stably during takeoff. In addition, the computational and experimental results are consistent as regards the hopping performance of the robot, which suggests that the proposed dynamics model and its solution have general applicability to motion prediction and the performance analysis of intermittent hopping robots.

  1. Overview of Mission Design for NASA Asteroid Redirect Robotic Mission Concept

    Science.gov (United States)

    Strange, Nathan; Landau, Damon; McElrath, Timothy; Lantoine, Gregory; Lam, Try; McGuire, Melissa; Burke, Laura; Martini, Michael; Dankanich, John

    2013-01-01

    Part of NASA's new asteroid initiative would be a robotic mission to capture a roughly four to ten meter asteroid and redirect its orbit to place it in translunar space. Once in a stable storage orbit at the Moon, astronauts would then visit the asteroid for science investigations, to test in space resource extraction, and to develop experience with human deep space missions. This paper discusses the mission design techniques that would enable the redirection of a 100-1000 metric ton asteroid into lunar orbit with a 40-50 kW Solar Electric Propulsion (SEP) system.

  2. Design and Analysis of Planetary Gear and Track Hybrid Mobile Robot

    Directory of Open Access Journals (Sweden)

    LEI Ning

    2014-10-01

    Full Text Available In order to improve the ability of obstacle negotiation and stability of mobile robot under unstructured environment, a new type of planetary gear and track hybrid mobile robot has been designed. This robot can surmount lower obstacles by its gravity and inertia of epicyclic gear train, otherwise, higher obstacles can be negotiated by the track arms. The two-part body connected by universal coupling can adjust to different terrain. Also, key parts of the robot were analyzed by ANSYS. According to the analysis results, an optimization design has been put forward .The analysis results can be concluded that the total deformation of the track arm can be reduced from 289 mm to 41.9 mm and the stiffness was improved.

  3. Planetary protection considerations for sample-return missions

    Science.gov (United States)

    Rummel, J.

    The analysis on Earth of materials returned from other solar system bodies, and beyond, is likely one of the most effective ways for us to learn about the origins, history, and present state of the universe outside of our home planet. In the past, the Apollo missions were able to return large quantities of material from the Moon, while missions currently flying (Genesis and Stardust) intend to return much smaller quantities of material. Planned and conceptualized future missions (cf., MUSES-C) intend to return a wide variety of samples such as those from a near-Earth asteroid, the surface and atmosphere of Mars , and perhaps once more from the Earth's Moon. In some cases, the bodies targeted for sample return missions may have the capability of harboring indigenous life, while in other cases there is scant possibility of that. Considerations in determining the potential for extraterrestrial contamination from sample return missions have been studied, and include such factors as the availability of liquid water in or on the target body, the availability of m tabolicallye useful energy sources, the likelihood that organic matter was available, and the overall temperature and radiation history of the sampled areas. Also of note is the potential that the natural influx to Earth of that materials in question (e.g., meteorites, etc.) might overwhelm the ability of a targeted sample-return mission to contribute something novel to the Earth's environment. Missions thought to pose a risk of extraterrestrial biological contamination are subject to a containment provision that may be very difficult to implement on a single, moderate-cost mission, but such steps are necessary to protect both our own planet and the health of solar-system exploration missions and the science they can do.

  4. Multi-Robot Planetary Exploration Architectures, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Space policy direction is shifting, particularly with respect to human goals. Given the uncertainty of future missions to the moon, Mars, and other bodies, a tool...

  5. Artificial Intelligence techniques for mission planning for mobile robots

    International Nuclear Information System (INIS)

    Martinez, J.M.; Nomine, J.P.

    1990-01-01

    This work focuses on Spatial Modelization Techniques and on Control Software Architectures, in order to deal efficiently with the Navigation and Perception problems encountered in Mobile Autonomous Robotics. After a brief survey of the current various approaches for these techniques, we expose ongoing simulation works for a specific mission in robotics. Studies in progress used for Spatial Reasoning are based on new approaches combining Artificial Intelligence and Geometrical techniques. These methods deal with the problem of environment modelization using three types of models: geometrical topological and semantic models at different levels. The decision making processes of control are presented as the result of cooperation between a group of decentralized agents that communicate by sending messages. (author)

  6. Channel coding/decoding alternatives for compressed TV data on advanced planetary missions.

    Science.gov (United States)

    Rice, R. F.

    1972-01-01

    The compatibility of channel coding/decoding schemes with a specific TV compressor developed for advanced planetary missions is considered. Under certain conditions, it is shown that compressed data can be transmitted at approximately the same rate as uncompressed data without any loss in quality. Thus, the full gains of data compression can be achieved in real-time transmission.

  7. New space vehicle archetypes for human planetary missions

    Science.gov (United States)

    Sherwood, Brent

    1991-01-01

    Contemporary, archetypal, crew-carrying spacecraft concepts developed for NASA are presented for: a lunar transportation system, two kinds of Mars landers, and five kinds of Mars transfer vehicles. These cover the range of propulsion technologies and mission modes of interest for the Space Exploration Initiative, and include both aerobraking and artificial gravity as appropriate. They comprise both upgrades of extant archetypes and completely new ones. Computer solid models, configurations and mass statements are presented for each.

  8. Cryogenic Reflectance Spectroscopy in Support of Planetary Missions

    Science.gov (United States)

    Dalton, J. B.

    2002-01-01

    Present understanding of planetary composition is based primarily on remotely-sensed data, and in particular upon ultraviolet, visible, and infrared spectroscopy. Spectra acquired by telescopic and spacecraft instruments are compared to laboratory measurements of pure materials in order to identify surface components based on characteristic absorption features. Cryogenic spectral measurements are necessary for the study of worlds beyond the Earth's orbit. While some materials exhibit only small spectral changes as a function of temperature, many others are strongly temperature-dependent. For example, hydrated salts exhibit different spectral behavior under conditions appropriate to Europa than at terrestrial temperatures. The icy satellites of the outer solar system contain significant quantities of volatile ices which do not even exist at standard temperature and pressure (STP). A comprehensive spectral database of ices and minerals covering a wide temperature range will have applications ranging from the study of comets and Kuiper Belt objects to outer planet satellites and the polar regions of Mars. Efforts are presently underway at NASA-Ames to develop capabilities which will contribute to such a database. As spacecraft instruments feature increasing spatial and spectral resolution, appropriate laboratory reference spectra become increasingly critical to accurate interpretation of the spacecraft data.

  9. Planetary Protection Knowledge Gaps for Human Extraterrestrial Missions Workshop Booklet - 2015

    Science.gov (United States)

    Fonda, Mark L.

    2015-01-01

    Although NASA's preparations for the Apollo lunar missions had only a limited time to consider issues associated with the protection of the Moon from biological contamination and the quarantine of the astronauts returning to Earth, they learned many valuable lessons (both positive and negative) in the process. As such, those efforts represent the baseline of planetary protection preparations for sending humans to Mars. Neither the post-Apollo experience or the Shuttle and other follow-on missions of either the US or Russian human spaceflight programs could add many additional insights to that baseline. Current mission designers have had the intervening four decades for their consideration, and in that time there has been much learned about human-associated microbes, about Mars, and about humans in space that has helped prepare us for a broad spectrum of considerations regarding potential biological contamination in human Mars missions and how to control it. This paper will review the approaches used in getting this far, and highlight some implications of this history for the future development of planetary protection provisions for human missions to Mars. The role of NASA and ESA's planetary protection offices, and the aegis of COSPAR have been particularly important in the ongoing process.

  10. Mars Pathfinder Microrover- Implementing a Low Cost Planetary Mission Experiment

    Science.gov (United States)

    Matijevic, J.

    1996-01-01

    The Mars Pathfinder Microrover Flight Experiment (MFEX) is a NASA Office of Space Access and Technology (OSAT) flight experiment which has been delivered and integrated with the Mars Pathfinder (MPF) lander and spacecraft system. The total cost of the MFEX mission, including all subsystem design and development, test, integration with the MPF lander and operations on Mars has been capped at $25 M??is paper discusses the process and the implementation scheme which has resulted in the development of this first Mars rover.

  11. Miniature robotic sample analysis lab for planetary in situ mineralogy and microbiology

    Science.gov (United States)

    Kruzelecky, Roman; Wong, Brian; Haddad, Emile; Jamroz, Wes; Cloutis, Edward; Strong, Kimberly; Ghafoor, Nadeem; Jessen, Sean

    The current Martian surface conditions are relatively inhospitable, with average diurnal temperature ranges from 170 K to 268 K, a low air pressure of about 7 to 10 mbar consisting mainly of CO2 and negligible ozone to moderate the UV portion of the incident solar radiation. The intense UV effectively sterilizes the surface, and in combination with the low air pressure, makes any unbound surface liquid water unstable. However, there is mounting evidence to support the notion that the near subsurface of Mars may differ dramatically from the uppermost surface. The Inukshuk landed Mars mission, as initially developed under a pre-Phase A study for the Canadian Space Agency, focuses on the search for hydrated mineralogy and subsurface water sites that can provide evidence of past or present life. The mission will be achieved using a miniature suite of complementary spectral instruments operating in collaboration with a robotic tethered mole drill system for the systematic in situ subsurface exploration of the planetary mineralogy, water content and microbiology. The Inukshuk mission will, for the first time, study variations in the Mars subsurface characteristics and composition in detail at different locations. These will be correlated with the current planetary boundary layer conditions using an elevating Skycam platform and surface stand-off measurement capabilities. The subsurface analysis will be provided using a miniature bore-hole probe integrated within the mole driller and interfaced to the rover-based instrument suite using an IR fiber-optic link. This will allow subsurface mapping of the stratigraphy and composition in steps of a few mm to depths beyond 1 m. During the drilling, the bore-hole probe will be shielded using a wiper/shutter system. The in situ bore-hole analysis has an advantage for detecting biomarkers for astrobiology on Mars in that the alteration of the sample by surface radiation can be minimized. The bore-hole sample analysis will employ

  12. Artificial intelligence for multi-mission planetary operations

    Science.gov (United States)

    Atkinson, David J.; Lawson, Denise L.; James, Mark L.

    1990-01-01

    A brief introduction is given to an automated system called the Spacecraft Health Automated Reasoning Prototype (SHARP). SHARP is designed to demonstrate automated health and status analysis for multi-mission spacecraft and ground data systems operations. The SHARP system combines conventional computer science methodologies with artificial intelligence techniques to produce an effective method for detecting and analyzing potential spacecraft and ground systems problems. The system performs real-time analysis of spacecraft and other related telemetry, and is also capable of examining data in historical context. Telecommunications link analysis of the Voyager II spacecraft is the initial focus for evaluation of the prototype in a real-time operations setting during the Voyager spacecraft encounter with Neptune in August, 1989. The preliminary results of the SHARP project and plans for future application of the technology are discussed.

  13. Interplanetary laser ranging - an emerging technology for planetary science missions

    Science.gov (United States)

    Dirkx, D.; Vermeersen, L. L. A.

    2012-09-01

    Interplanetary laser ranging (ILR) is an emerging technology for very high accuracy distance determination between Earth-based stations and spacecraft or landers at interplanetary distances. It has evolved from laser ranging to Earth-orbiting satellites, modified with active laser transceiver systems at both ends of the link instead of the passive space-based retroreflectors. It has been estimated that this technology can be used for mm- to cm-level accuracy range determination at interplanetary distances [2, 7]. Work is being performed in the ESPaCE project [6] to evaluate in detail the potential and limitations of this technology by means of bottom-up laser link simulation, allowing for a reliable performance estimate from mission architecture and hardware characteristics.

  14. Ontological Reasoning for Human-Robot Teaming in Search and Rescue Missions

    NARCIS (Netherlands)

    Bagosi, T.; Hindriks, k.V.; Neerincx, M.A.

    2016-01-01

    In search and rescue missions robots are used to help rescue workers in exploring the disaster site. Our research focuses on how multiple robots and rescuers act as a team, and build up situation awareness. We propose a multi-agent system where each agent supports one member, either human or robot.

  15. An analytical guidance law of planetary landing mission by minimizing the control effort expenditure

    International Nuclear Information System (INIS)

    Afshari, Hamed Hossein; Novinzadeh, Alireza Basohbat; Roshanian, Jafar

    2009-01-01

    An optimal trajectory design of a module for the planetary landing problem is achieved by minimizing the control effort expenditure. Using the calculus of variations theorem, the control variable is expressed as a function of costate variables, and the problem is converted into a two-point boundary-value problem. To solve this problem, the performance measure is approximated by employing a trigonometric series and subsequently, the optimal control and state trajectories are determined. To validate the accuracy of the proposed solution, a numerical method of the steepest descent is utilized. The main objective of this paper is to present a novel analytic guidance law of the planetary landing mission by optimizing the control effort expenditure. Finally, an example of a lunar landing mission is demonstrated to examine the results of this solution in practical situations

  16. The new Planetary Science Archive: A tool for exploration and discovery of scientific datasets from ESA's planetary missions

    Science.gov (United States)

    Heather, David

    2016-07-01

    Introduction: The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces (e.g. FTP browser, Map based, Advanced search, and Machine interface): http://archives.esac.esa.int/psa All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. Updating the PSA: The PSA is currently implementing a number of significant changes, both to its web-based interface to the scientific community, and to its database structure. The new PSA will be up-to-date with versions 3 and 4 of the PDS standards, as PDS4 will be used for ESA's upcoming ExoMars and BepiColombo missions. The newly designed PSA homepage will provide direct access to scientific datasets via a text search for targets or missions. This will significantly reduce the complexity for users to find their data and will promote one-click access to the datasets. Additionally, the homepage will provide direct access to advanced views and searches of the datasets. Users will have direct access to documentation, information and tools that are relevant to the scientific use of the dataset, including ancillary datasets, Software Interface Specification (SIS) documents, and any tools/help that the PSA team can provide. A login mechanism will provide additional functionalities to the users to aid / ease their searches (e.g. saving queries, managing default views). Queries to the PSA database will be possible either via the homepage (for simple searches of missions or targets), or through a filter menu for more tailored queries. The filter menu will offer multiple options to search for a particular dataset or product, and will manage queries for both in-situ and remote sensing instruments. Parameters such as start-time, phase angle, and heliocentric distance will be emphasized. A further

  17. Planetary mission requirements, technology and design considerations for a solar electric propulsion stage

    Science.gov (United States)

    Cork, M. J.; Hastrup, R. C.; Menard, W. A.; Olson, R. N.

    1979-01-01

    High energy planetary missions such as comet rendezvous, Saturn orbiter and asteroid rendezvous require development of a Solar Electric Propulsion Stage (SEPS) for augmentation of the Shuttle-IUS. Performance and functional requirements placed on the SEPS are presented. These requirements will be used in evolution of the SEPS design, which must be highly interactive with both the spacecraft and the mission design. Previous design studies have identified critical SEPS technology areas and some specific design solutions which are also presented in the paper.

  18. Mini AERCam Inspection Robot for Human Space Missions

    Science.gov (United States)

    Fredrickson, Steven E.; Duran, Steve; Mitchell, Jennifer D.

    2004-01-01

    The Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-to-point maneuvering. Mini AERCam is designed to fulfill the unique requirements and constraints associated with using a free flyer to perform external inspections and remote viewing of human spacecraft operations. This paper describes the application of Mini AERCam for stand-alone spacecraft inspection, as well as for roles on teams of humans and robots conducting future space exploration missions.

  19. Space Missions for Automation and Robotics Technologies (SMART) Program

    Science.gov (United States)

    Cliffone, D. L.; Lum, H., Jr.

    1985-01-01

    NASA is currently considering the establishment of a Space Mission for Automation and Robotics Technologies (SMART) Program to define, develop, integrate, test, and operate a spaceborne national research facility for the validation of advanced automation and robotics technologies. Initially, the concept is envisioned to be implemented through a series of shuttle based flight experiments which will utilize telepresence technologies and real time operation concepts. However, eventually the facility will be capable of a more autonomous role and will be supported by either the shuttle or the space station. To ensure incorporation of leading edge technology in the facility, performance capability will periodically and systematically be upgraded by the solicitation of recommendations from a user advisory group. The facility will be managed by NASA, but will be available to all potential investigators. Experiments for each flight will be selected by a peer review group. Detailed definition and design is proposed to take place during FY 86, with the first SMART flight projected for FY 89.

  20. TRAPPIST: a robotic telescope dedicated to the study of planetary systems

    Directory of Open Access Journals (Sweden)

    Manfroid J.

    2011-02-01

    Full Text Available We present here a new robotic telescope called TRAPPIST1 (TRAnsiting Planets and PlanetesImals Small Telescope. Equipped with a high-quality CCD camera mounted on a 0.6 meter light weight optical tube, TRAPPIST has been installed in April 2010 at the ESO La Silla Observatory (Chile, and is now beginning its scientific program. The science goal of TRAPPIST is the study of planetary systems through two approaches: the detection and study of exoplanets, and the study of comets. We describe here the objectives of the project, the hardware, and we present some of the first results obtained during the commissioning phase.

  1. Multi-agent robotic systems and applications for satellite missions

    Science.gov (United States)

    Nunes, Miguel A.

    A revolution in the space sector is happening. It is expected that in the next decade there will be more satellites launched than in the previous sixty years of space exploration. Major challenges are associated with this growth of space assets such as the autonomy and management of large groups of satellites, in particular with small satellites. There are two main objectives for this work. First, a flexible and distributed software architecture is presented to expand the possibilities of spacecraft autonomy and in particular autonomous motion in attitude and position. The approach taken is based on the concept of distributed software agents, also referred to as multi-agent robotic system. Agents are defined as software programs that are social, reactive and proactive to autonomously maximize the chances of achieving the set goals. Part of the work is to demonstrate that a multi-agent robotic system is a feasible approach for different problems of autonomy such as satellite attitude determination and control and autonomous rendezvous and docking. The second main objective is to develop a method to optimize multi-satellite configurations in space, also known as satellite constellations. This automated method generates new optimal mega-constellations designs for Earth observations and fast revisit times on large ground areas. The optimal satellite constellation can be used by researchers as the baseline for new missions. The first contribution of this work is the development of a new multi-agent robotic system for distributing the attitude determination and control subsystem for HiakaSat. The multi-agent robotic system is implemented and tested on the satellite hardware-in-the-loop testbed that simulates a representative space environment. The results show that the newly proposed system for this particular case achieves an equivalent control performance when compared to the monolithic implementation. In terms on computational efficiency it is found that the multi

  2. Automatic stair-climbing algorithm of the planetary wheel type mobile robot in nuclear facilities

    International Nuclear Information System (INIS)

    Kim, Byung Soo; Kim, Seung Ho; Lee, Jong Min

    1995-01-01

    A mobile robot, named KAEROT, has been developed for inspection and maintenance operations in nuclear facilities. The main feature of locomotion system is the planetary wheel assembly with small wheels. This mechanism has been designed to be able to go over the stairs and obstacles with stability. This paper presents the inverse kinematic solution that is to be operated by remote control. The automatic stair climbing algorithm is also proposed. The proposed algorithms the moving paths of small wheels and calculates the angular velocity of 3 actuation wheels. The results of simulations and experiments are given for KAEROT performed on the irregular stairs in laboratory. It is shown that the proposed algorithm provides the lower inclination angle of the robot body and increases its stability during navigation. 14 figs., 16 refs. (Author)

  3. Automatic stair-climbing algorithm of the planetary wheel type mobile robot in nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung Soo; Kim, Seung Ho; Lee, Jong Min [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-10-01

    A mobile robot, named KAEROT, has been developed for inspection and maintenance operations in nuclear facilities. The main feature of locomotion system is the planetary wheel assembly with small wheels. This mechanism has been designed to be able to go over the stairs and obstacles with stability. This paper presents the inverse kinematic solution that is to be operated by remote control. The automatic stair climbing algorithm is also proposed. The proposed algorithms the moving paths of small wheels and calculates the angular velocity of 3 actuation wheels. The results of simulations and experiments are given for KAEROT performed on the irregular stairs in laboratory. It is shown that the proposed algorithm provides the lower inclination angle of the robot body and increases its stability during navigation. 14 figs., 16 refs. (Author).

  4. Historical Trends of Participation of Women Scientists in Robotic Spacecraft Mission Science Teams: Effect of Participating Scientist Programs

    Science.gov (United States)

    Rathbun, Julie A.; Castillo-Rogez, Julie; Diniega, Serina; Hurley, Dana; New, Michael; Pappalardo, Robert T.; Prockter, Louise; Sayanagi, Kunio M.; Schug, Joanna; Turtle, Elizabeth P.; Vasavada, Ashwin R.

    2016-10-01

    Many planetary scientists consider involvement in a robotic spacecraft mission the highlight of their career. We have searched for names of science team members and determined the percentage of women on each team. We have limited the lists to members working at US institutions at the time of selection. We also determined the year each team was selected. The gender of each team member was limited to male and female and based on gender expression. In some cases one of the authors knew the team member and what pronouns they use. In other cases, we based our determinations on the team member's name or photo (obtained via a google search, including institution). Our initial analysis considered 22 NASA planetary science missions over a period of 41 years and only considered NASA-selected PI and Co-Is and not participating scientists, postdocs, or graduate students. We found that there has been a dramatic increase in participation of women on spacecraft science teams since 1974, from 0-2% in the 1970s - 1980s to an average of 14% 2000-present. This, however, is still lower than the recent percentage of women in planetary science, which 3 different surveys found to be ~25%. Here we will present our latest results, which include consideration of participating scientists. As in the case of PIs and Co-Is, we consider only participating scientists working at US institutions at the time of their selection.

  5. Small Stirling dynamic isotope power system for robotic space missions

    International Nuclear Information System (INIS)

    Bents, D.J.

    1992-08-01

    The design of a multihundred-watt Dynamic Isotope Power System (DIPS), based on the US Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE), is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. The incentive for any dynamic system is that it can save fuel and reduce costs and radiological hazard. Unlike DIPS based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Stirling conversion extends the competitive range for dynamic systems down to a few hundred watts--a power level not previously considered for dynamic systems. The challenge for Stirling conversion will be to demonstrate reliability and life similar to RTG experience. Since the competitive potential of FPSE as an isotope converter was first identified, work has focused on feasibility of directly integrating GPHS with the Stirling heater head. Thermal modeling of various radiatively coupled heat source/heater head geometries has been performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain within acceptable operating limits. Based on these results, preliminary characterizations of multihundred-watt units have been established

  6. Optimization of high-inclination orbits using planetary flybys for a zodiacal light-imaging mission

    Science.gov (United States)

    Soto, Gabriel; Lloyd, James; Savransky, Dmitry; Grogan, Keith; Sinha, Amlan

    2017-09-01

    The zodiacal light caused by interplanetary dust grains is the second-most luminous source in the solar system. The dust grains coalesce into structures reminiscent of early solar system formation; their composition has been predicted through simulations and some edge-on observations but better data is required to validate them. Scattered light from these dust grains presents challenges to exoplanet imaging missions: resolution of their stellar environment is hindered by exozodiacal emissions and therefore sets the size and scope of these imaging missions. Understanding the composition of this interplanetary dust in our solar system requires an imaging mission from a vantage point above the ecliptic plane. The high surface brightness of the zodiacal light requires only a small aperture with moderate sensitivity; therefore a 3cm camera is enough to meet the science goals of the mission at an orbital height of 0.1AU above the ecliptic. A 6U CubeSat is the target mass for this mission which will be a secondary payload detaching from an existing interplanetary mission. Planetary flybys are utilized to produce most of the plane change Δv deep space corrective maneuvers are implemented to optimize each planetary flyby. We developed an algorithm which determines the minimum Δv required to place the CubeSat on a transfer orbit to a planet's sphere of influence and maximizes the resultant orbital height with respect to the ecliptic plane. The satellite could reach an orbital height of 0.22 AU with an Earth gravity assist in late 2024 by boarding the Europa Clipper mission.

  7. Mars Relays Satellite Orbit Design Considerations for Global Support of Robotic Surface Missions

    Science.gov (United States)

    Hastrup, Rolf; Cesarone, Robert; Cook, Richard; Knocke, Phillip; McOmber, Robert

    1993-01-01

    This paper discusses orbit design considerations for Mars relay satellite (MRS)support of globally distributed robotic surface missions. The orbit results reported in this paper are derived from studies of MRS support for two types of Mars robotic surface missions: 1) the mars Environmental Survey (MESUR) mission, which in its current definition would deploy a global network of up to 16 small landers, and 2)a Small Mars Sample Return (SMSR) mission, which included four globally distributed landers, each with a return stage and one or two rovers, and up to four additional sets of lander/rover elements in an extended mission phase.

  8. PLANETARY CANDIDATES FROM THE FIRST YEAR OF THE K2 MISSION

    Energy Technology Data Exchange (ETDEWEB)

    Vanderburg, Andrew; Latham, David W.; Bieryla, Allyson; Berlind, Perry; Calkins, Michael L.; Esquerdo, Gilbert A.; Welsh, Sophie; Johnson, John Asher [Harvard–Smithsonian Center for Astrophysics, 60 Garden St., Cambridge, MA 02138 (United States); Buchhave, Lars A., E-mail: avanderburg@cfa.harvard.edu [Centre for Star and Planet Formation, Natural History Museum of Denmark and Niels Bohr Institute, University of Copenhagen, Øster Voldgade 5-7, DK-1350 Copenhagen K (Denmark)

    2016-01-15

    The Kepler Space Telescope is currently searching for planets transiting stars along the ecliptic plane as part of its extended K2 mission. We processed the publicly released data from the first year of K2 observations (Campaigns 0, 1, 2, and 3) and searched for periodic eclipse signals consistent with planetary transits. Out of the 59,174 targets that we searched, we detect 234 planetary candidates around 208 stars. These candidates range in size from gas giants to smaller than the Earth, and range in orbital periods from hours to over a month. We conducted initial reconnaissance spectroscopy of 68 of the brighter candidate host stars, and present high-resolution optical spectra for these stars. We make all of our data products, including light curves, spectra, and vetting diagnostics available to users online.

  9. Biological life support systems for a Mars mission planetary base: Problems and prospects

    Science.gov (United States)

    Tikhomirov, A. A.; Ushakova, S. A.; Kovaleva, N. P.; Lamaze, B.; Lobo, M.; Lasseur, Ch.

    The study develops approaches to designing biological life support systems for the Mars mission - for the flight conditions and for a planetary base - using experience of the Institute of Biophysics of the Siberian Branch of the Russian Academy of Sciences (IBP SB RAS) with the Bios-3 system and ESA's experience with the MELISSA program. Variants of a BLSS based on using Chlorella and/or Spirulina and higher plants for the flight period of the Mars mission are analyzed. It is proposed constructing a BLSS with a closed-loop material cycle for gas and water and for part of human waste. A higher-plant-based BLSS with the mass exchange loop closed to various degrees is proposed for a Mars planetary base. Various versions of BLSS configuration and degree of closure of mass exchange are considered, depending on the duration of the Mars mission, the diet of the crew, and some other conditions. Special consideration is given to problems of reliability and sustainability of material cycling in BLSS, which are related to production of additional oxygen inside the system. Technologies of constructing BLSS of various configurations are proposed and substantiated. Reasons are given for using physicochemical methods in BLSS as secondary tools both during the flight and the stay on Mars.

  10. A versatile silver oxide-zinc battery for synchronous orbit and planetary missions

    Science.gov (United States)

    Schwartz, H. J.; Soltis, D. G.

    1973-01-01

    A new kind of silver-zinc cell has been developed and tested under NASA support which can withstand severe heat sterilization requirements and does not display the traditional life limiting aspect of zinc electrodes - i.e., shape change. These cells could be used on a planetary lander mission which requires wet-stand periods of over a year, a modest number of cycles (400 to 500) and may require dry heat sterilization. The weight advantage of these cells over the traditional nickel-cadmium batteries makes them also an attractive alternative for synchronous orbit service where 400 to 500 cycles would be required over a five-year period.

  11. Nuclear electric propulsion for planetary science missions: NASA technology program planning

    International Nuclear Information System (INIS)

    Doherty, M.P.

    1993-01-01

    This paper presents the status of technology program planning to achieve readiness of Nuclear Electric Propulsion technologies needed to meet the advanced propulsion system requirements for planetary science missions in the next century. The technology program planning is based upon technologies of significant maturity: ion electric propulsion and the SP-100 space nulcear power technologies. Detailed plans are presented herein for the required ion electric propulsion technology development and demonstration. Closer coordination between space nuclear power and space electric propulsion technology programs is a necessity as technology plans are being further refined in light of NEP concept definition and possible early NEP flight activities

  12. Nuclear electric propulsion for planetary science missions: NASA technology program planning

    International Nuclear Information System (INIS)

    Doherty, M.P.

    1993-05-01

    This paper presents the status of technology program planning to develop those Nuclear Electric Propulsion technologies needed to meet the advanced propulsion system requirements for planetary science missions in the next century. The technology program planning is based upon technologies with significant development heritage: ion electric propulsion and the SP-100 space nuclear power technologies. Detailed plans are presented for the required ion electric propulsion technology development and demonstration. Closer coordination between space nuclear power and space electric propulsion technology programs is a necessity as technology plans are being further refined in light of NEP concept definition and possible early NEP flight activities

  13. The contribution of the ARIEL space mission to the study of planetary formation

    Science.gov (United States)

    Turrini, D.; Miguel, Y.; Zingales, T.; Piccialli, A.; Helled, R.; Vazan, A.; Oliva, F.; Sindoni, G.; Panić, O.; Leconte, J.; Min, M.; Pirani, S.; Selsis, F.; Coudé du Foresto, V.; Mura, A.; Wolkenberg, P.

    2018-01-01

    The study of extrasolar planets and of the Solar System provides complementary pieces of the mosaic represented by the process of planetary formation. Exoplanets are essential to fully grasp the huge diversity of outcomes that planetary formation and the subsequent evolution of the planetary systems can produce. The orbital and basic physical data we currently possess for the bulk of the exoplanetary population, however, do not provide enough information to break the intrinsic degeneracy of their histories, as different evolutionary tracks can result in the same final configurations. The lessons learned from the Solar System indicate us that the solution to this problem lies in the information contained in the composition of planets. The goal of the Atmospheric Remote-Sensing Infrared Exoplanet Large-survey (ARIEL), one of the three candidates as ESA M4 space mission, is to observe a large and diversified population of transiting planets around a range of host star types to collect information on their atmospheric composition. ARIEL will focus on warm and hot planets to take advantage of their well-mixed atmospheres, which should show minimal condensation and sequestration of high-Z materials and thus reveal their bulk composition across all main cosmochemical elements. In this work we will review the most outstanding open questions concerning the way planets form and the mechanisms that contribute to create habitable environments that the compositional information gathered by ARIEL will allow to tackle.

  14. The planetary spatial data infrastructure for the OSIRIS-REx mission

    Science.gov (United States)

    DellaGiustina, D. N.; Selznick, S.; Nolan, M. C.; Enos, H. L.; Lauretta, D. S.

    2017-12-01

    The primary objective of the Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) mission is to return a pristine sample of carbonaceous material from primitive asteroid (101955) Bennu. Understanding the geospatial context of Bennu is critical to choosing a sample-site and also linking the nature of the sample to the global properties of Bennu and the broader asteroid population. We established a planetary spatial data infrastructure (PSDI) support the primary objective of OSIRIS-REx. OSIRIS-REx is unique among planetary missions in that all remote sensing is performed to support the sample return objective. Prior to sampling, OSIRIS-REx will survey Bennu for nearly two years to select and document the most valuable primary and backup sample sites. During this period, the mission will combine coordinated observations from five science instruments into four thematic maps: deliverability, safety, sampleability, and scientific value. The deliverability map assesses the probability that the flight dynamics team can deliver the spacecraft to the desired location. The safety map indicates the probability that physical hazards are present at the sample-site. The sampleability map quantifies the probability that a sample can be successfully collected from the surface. Finally, the scientific value map shows the probability that the collected sample contains organics and volatiles and also places the sample site in a definitive geological context relative to Bennu's history. The OSIRIS-REx Science Processing and Operations Center (SPOC) serves as the operational PSDI for the mission. The SPOC is tasked with intake of all data from the spacecraft and other ground sources and assimilating these data into a single comprehensive system for processing and presentation. The SPOC centralizes all geographic data of Bennu in a relational database and ensures that standardization and provenance are maintained throughout proximity

  15. MITEE: A Compact Ultralight Nuclear Thermal Propulsion Engine for Planetary Science Missions

    Science.gov (United States)

    Powell, J.; Maise, G.; Paniagua, J.

    2001-01-01

    A new approach for a near-term compact, ultralight nuclear thermal propulsion engine, termed MITEE (Miniature Reactor Engine) is described. MITEE enables a wide range of new and unique planetary science missions that are not possible with chemical rockets. With U-235 nuclear fuel and hydrogen propellant the baseline MITEE engine achieves a specific impulse of approximately 1000 seconds, a thrust of 28,000 newtons, and a total mass of only 140 kilograms, including reactor, controls, and turbo-pump. Using higher performance nuclear fuels like U-233, engine mass can be reduced to as little as 80 kg. Using MITEE, V additions of 20 km/s for missions to outer planets are possible compared to only 10 km/s for H2/O2 engines. The much greater V with MITEE enables much faster trips to the outer planets, e.g., two years to Jupiter, three years to Saturn, and five years to Pluto, without needing multiple planetary gravity assists. Moreover, MITEE can utilize in-situ resources to further extend mission V. One example of a very attractive, unique mission enabled by MITEE is the exploration of a possible subsurface ocean on Europa and the return of samples to Earth. Using MITEE, a spacecraft would land on Europa after a two-year trip from Earth orbit and deploy a small nuclear heated probe that would melt down through its ice sheet. The probe would then convert to a submersible and travel through the ocean collecting samples. After a few months, the probe would melt its way back up to the MITEE lander, which would have replenished its hydrogen propellant by melting and electrolyzing Europa surface ice. The spacecraft would then return to Earth. Total mission time is only five years, starting from departure from Earth orbit. Other unique missions include Neptune and Pluto orbiter, and even a Pluto sample return. MITEE uses the cermet Tungsten-UO2 fuel developed in the 1960's for the 710 reactor program. The W-UO2 fuel has demonstrated capability to operate in 3000 K hydrogen for

  16. Human Assisted Robotic Vehicle Studies - A conceptual end-to-end mission architecture

    Science.gov (United States)

    Lehner, B. A. E.; Mazzotta, D. G.; Teeney, L.; Spina, F.; Filosa, A.; Pou, A. Canals; Schlechten, J.; Campbell, S.; Soriano, P. López

    2017-11-01

    With current space exploration roadmaps indicating the Moon as a proving ground on the way to human exploration of Mars, it is clear that human-robotic partnerships will play a key role for successful future human space missions. This paper details a conceptual end-to-end architecture for an exploration mission in cis-lunar space with a focus on human-robot interactions, called Human Assisted Robotic Vehicle Studies (HARVeSt). HARVeSt will build on knowledge of plant growth in space gained from experiments on-board the ISS and test the first growth of plants on the Moon. A planned deep space habitat will be utilised as the base of operations for human-robotic elements of the mission. The mission will serve as a technology demonstrator not only for autonomous tele-operations in cis-lunar space but also for key enabling technologies for future human surface missions. The successful approach of the ISS will be built on in this mission with international cooperation. Mission assets such as a modular rover will allow for an extendable mission and to scout and prepare the area for the start of an international Moon Village.

  17. Integrating the Teaching of Space Science, Planetary Exploration And Robotics In Elementary And Middle School with Mars Rover Models

    Science.gov (United States)

    Bering, E. A.; Ramsey, J.; Smith, H.; Boyko, B. S.; Peck, S.; Arcenaux, W. H.

    2005-05-01

    The present aerospace engineering and science workforce is ageing. It is not clear that the US education system will produce enough qualified replacements to meet the need in the near future. Unfortunately, by the time many students get to high school, it is often too late to get them pointed toward an engineering or science career. Since some college programs require 6 units of high school mathematics for admission, students need to begin consciously preparing for a science or engineering curriculum as early as 6th or 7th grade. The challenge for educators is to convince elementary school students that science and engineering are both exciting, relevant and accessible career paths. This paper describes a program designed to help provide some excitement and relevance. It is based on the task of developing a mobile robot or "Rover" to explore the surface of Mars. There are two components to the program, a curriculum unit and a contest. The curriculum unit is structured as a 6-week planetary science unit for elementary school (grades 3-5). It can also be used as a curriculum unit, enrichment program or extracurricular activity in grades 6-8 by increasing the expected level of scientific sophistication in the mission design. The second component is a citywide competition to select the most outstanding models that is held annually at a local college or University. Primary (Grades 3-5) and middle school (Grades 6-8) students interested in science and engineering will design and build of a model of a Mars Rover to carry out a specific science mission on the surface of Mars. The students will build the models as part of a 6-week Fall semester classroom-learning or homework project on Mars. The students will be given design criteria for a rover, and be required to do basic research on Mars that will determine the operational objectives and structural features of their rover. This module may be used as part of a class studying general science, earth science, solar system

  18. Application of Solar-Electric Propulsion to Robotic and Human Missions in Near-Earth Space

    Science.gov (United States)

    Woodcock, Gordon R.; Dankanich, John

    2011-01-01

    Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science, lunar exploration, lunar exploitation, planetary science, and planetary exploration. These missions span SEP power range from 10s of kWe to several MWe. Modes of use and benefits are described, and potential SEP evolution is discussed.

  19. Planetary Protection Requirements for Mars Sample Return Missions: Recommendations from a 2009 NRC Report

    Science.gov (United States)

    Race, Margaret; Farmer, Jack

    A 2009 report by the National Research Council (NRC) reviewed a previous study on Mars Sample Return (1997) and provided updated recommendations for future sample return mis-sions based on our current understanding about Mars and its biological potential, as well as advances in technology and analytical capabilities. The committee* made 12 specific recommen-dations that fall into three general categories—one related to current scientific understanding, ten based on changes in the technical and/or policy environment, and one aimed at public com-munication. Substantive changes from the 1997 report relate mainly to protocols and methods, technology and infrastructure, and general oversight. This presentation provides an overview of the 2009 report and its recommendations and analyzes how they may impact mission designs and plans. The full report, Assessment of Planetary Protection Requirements for Mars Sample Return Missions is available online at: http://www.nap.edu/catalog.php?recordi d = 12576 * Study participants: Jack D. Farmer, Arizona State University (chair) James F. Bell III, Cornell University Kathleen C. Benison, Central Michigan University William V. Boynton, University of Arizona Sherry L. Cady, Portland State University F. Grant Ferris, University of Toronto Duncan MacPherson, Jet Propulsion Laboratory Margaret S. Race, SETI Institute Mark H. Thiemens, University of California, San Diego Meenakshi Wadhwa, Arizona State University

  20. A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions

    Science.gov (United States)

    Hanford, Scott D.

    Most unmanned vehicles used for civilian and military applications are remotely operated or are designed for specific applications. As these vehicles are used to perform more difficult missions or a larger number of missions in remote environments, there will be a great need for these vehicles to behave intelligently and autonomously. Cognitive architectures, computer programs that define mechanisms that are important for modeling and generating domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The research described in this presentation explored the use of the Soar cognitive architecture for cognitive robotics. The Cognitive Robotic System (CRS) has been developed to integrate software systems for motor control and sensor processing with Soar for unmanned vehicle control. The CRS has been tested using two mobile robot missions: outdoor navigation and search in an indoor environment. The use of the CRS for the outdoor navigation mission demonstrated that a Soar agent could autonomously navigate to a specified location while avoiding obstacles, including cul-de-sacs, with only a minimal amount of knowledge about the environment. While most systems use information from maps or long-range perceptual capabilities to avoid cul-de-sacs, a Soar agent in the CRS was able to recognize when a simple approach to avoiding obstacles was unsuccessful and switch to a different strategy for avoiding complex obstacles. During the indoor search mission, the CRS autonomously and intelligently searches a building for an object of interest and common intersection types. While searching the building, the Soar agent builds a topological map of the environment using information about the intersections the CRS detects. The agent uses this topological model (along with Soar's reasoning, planning, and learning mechanisms) to make intelligent decisions about how to effectively search the building. Once the

  1. Development of a Linear Ion Trap Mass Spectrometer (LITMS) Investigation for Future Planetary Surface Missions

    Science.gov (United States)

    Brinckerhoff, W.; Danell, R.; Van Ameron, F.; Pinnick, V.; Li, X.; Arevalo, R.; Glavin, D.; Getty, S.; Mahaffy, P.; Chu, P.; hide

    2014-01-01

    Future surface missions to Mars and other planetary bodies will benefit from continued advances in miniature sensor and sample handling technologies that enable high-performance chemical analyses of natural samples. Fine-scale (approx.1 mm and below) analyses of rock surfaces and interiors, such as exposed on a drill core, will permit (1) the detection of habitability markers including complex organics in association with their original depositional environment, and (2) the characterization of successive layers and gradients that can reveal the time-evolution of those environments. In particular, if broad-based and highly-sensitive mass spectrometry techniques could be brought to such scales, the resulting planetary science capability would be truly powerful. The Linear Ion Trap Mass Spectrometer (LITMS) investigation is designed to conduct fine-scale organic and inorganic analyses of short (approx.5-10 cm) rock cores such as could be acquired by a planetary lander or rover arm-based drill. LITMS combines both pyrolysis/gas chromatograph mass spectrometry (GCMS) of sub-sampled core fines, and laser desorption mass spectrometry (LDMS) of the intact core surface, using a common mass analyzer, enhanced from the design used in the Mars Organic Molecule Analyzer (MOMA) instrument on the 2018 ExoMars rover. LITMS additionally features developments based on the Sample Analysis at Mars (SAM) investigation on MSL and recent NASA-funded prototype efforts in laser mass spectrometry, pyrolysis, and precision subsampling. LITMS brings these combined capabilities to achieve its four measurement objectives: (1) Organics: Broad Survey Detect organic molecules over a wide range of molecular weight, volatility, electronegativity, concentration, and host mineralogy. (2) Organic: Molecular Structure Characterize internal molecular structure to identify individual compounds, and reveal functionalization and processing. (3) Inorganic Host Environment Assess the local chemical

  2. Trilogy, a planetary geodesy mission concept for measuring the expansion of the solar system

    Science.gov (United States)

    Smith, David E.; Zuber, Maria T.; Mazarico, Erwan; Genova, Antonio; Neumann, Gregory A.; Sun, Xiaoli; Torrence, Mark H.; Mao, Dan-dan

    2018-04-01

    The scale of the solar system is slowly changing, likely increasing as a result of solar mass loss, with additional change possible if there is a secular variation of the gravitational constant, G. The measurement of the change of scale could provide insight into the past and the future of the solar system, and in addition a better understanding of planetary motion and fundamental physics. Estimates for the expansion of the scale of the solar system are of order 1.5 cm year-1 AU-1, which over several years is an observable quantity with present-day laser ranging systems. This estimate suggests that laser measurements between planets could provide an accurate estimate of the solar system expansion rate. We examine distance measurements between three bodies in the inner solar system - Earth's Moon, Mars and Venus - and outline a mission concept for making the measurements. The concept involves placing spacecraft that carry laser ranging transponders in orbit around each body and measuring the distances between the three spacecraft over a period of several years. The analysis of these range measurements would allow the co-estimation of the spacecraft orbit, planetary ephemerides, other geophysical parameters related to the constitution and dynamics of the central bodies, and key geodetic parameters related to the solar system expansion, the Sun, and theoretical physics.

  3. Trilogy, a Planetary Geodesy Mission Concept for Measuring the Expansion of the Solar System.

    Science.gov (United States)

    Smith, David E; Zuber, Maria T; Mazarico, Erwan; Genova, Antonio; Neumann, Gregory A; Sun, Xiaoli; Torrence, Mark H; Mao, Dan-Dan

    2018-04-01

    The scale of the solar system is slowly changing, likely increasing as a result of solar mass loss, with additional change possible if there is a secular variation of the gravitational constant, G . The measurement of the change of scale could provide insight into the past and the future of the solar system, and in addition a better understanding of planetary motion and fundamental physics. Estimates for the expansion of the scale of the solar system are of order 1.5 cm year -1 AU -1 , which over several years is an observable quantity with present-day laser ranging systems. This estimate suggests that laser measurements between planets could provide an accurate estimate of the solar system expansion rate. We examine distance measurements between three bodies in the inner solar system -- Earth's Moon, Mars and Venus -- and outline a mission concept for making the measurements. The concept involves placing spacecraft that carry laser ranging transponders in orbit around each body and measuring the distances between the three spacecraft over a period of several years. The analysis of these range measurements would allow the co-estimation of the spacecraft orbit, planetary ephemerides, other geophysical parameters related to the constitution and dynamics of the central bodies, and key geodetic parameters related to the solar system expansion, the Sun, and theoretical physics.

  4. Laser Time-of-Flight Mass Spectrometry for Future In Situ Planetary Missions

    Science.gov (United States)

    Getty, S. A.; Brinckerhoff, W. B.; Cornish, T.; Ecelberger, S. A.; Li, X.; Floyd, M. A. Merrill; Chanover, N.; Uckert, K.; Voelz, D.; Xiao, X.; hide

    2012-01-01

    Laser desorption/ionization time-of-flight mass spectrometry (LD-TOF-MS) is a versatile, low-complexity instrument class that holds significant promise for future landed in situ planetary missions that emphasize compositional analysis of surface materials. Here we describe a 5kg-class instrument that is capable of detecting and analyzing a variety of analytes directly from rock or ice samples. Through laboratory studies of a suite of representative samples, we show that detection and analysis of key mineral composition, small organics, and particularly, higher molecular weight organics are well suited to this instrument design. A mass range exceeding 100,000 Da has recently been demonstrated. We describe recent efforts in instrument prototype development and future directions that will enhance our analytical capabilities targeting organic mixtures on primitive and icy bodies. We present results on a series of standards, simulated mixtures, and meteoritic samples.

  5. CIRS-lite, a Fourier Transform Spectrometer for Low-Cost Planetary Missions

    Science.gov (United States)

    Brasunas, J.; Bly, V.; Edgerton, M.; Gong, Q.; Hagopian, J.; Mamakos, W.; Morelli, A.; Pasquale, B.; Strojny, C.

    2011-01-01

    Passive spectroscopic remote sensing of planetary atmospheres and surfaces in the thermal infrared is a powerful tool for obtaining information about surface and atmospheric temperatures, composition, and dynamics (via the thermal wind equation). Due to its broad spectral coverage, the Fourier transform spectrometer (FTS) is particularly suited to the exploration and discovery of molecular species. NASA's Goddard Space Flight Center (GSFC) developed the CIRS (Composite Infrared Spectrometer) FTS for the NASA/ESA Cassini mission to the Saturnian system. CIRS observes Saturn, Titan, icy moons such as Enceladus, and the rings in thermal self-emission over the spectral range of 7 to 1000 ell11. CIRS has given us important new insights into stratospheric composition and jets on Jupiter and Saturn, the cryo-geyser and thermal stripes on Enceladus, and the winter polar vortex on Titan. CIRS has a mass of 43 kg, contrasted with the earlier GSFC FTS, pre-Voyager IRIS (14 kg). Future low-cost planetary missions will have very tight constraints on science payload mass, thus we must endeavor to return to IRIS-level mass while maintaining CIRS-level science capabilities ("do more with less"). CIRS-lite achieves this by pursuing: a) more sensitive infrared detectors (high Tc superconductor) to enable smaller optics. b) changed long wavelength limit from 1000 to 300 microns to reduce diffraction by smaller optics. c) CVD (chemical vapor deposition) diamond beam-splitter for broad spectral coverage. d) single FTS architecture instead of a dual FTS architecture. e) novel materials, such as single crystal silicon for the input telescope primary.

  6. PDS MSL Analyst's Notebook: Supporting Active Rover Missions and Adding Value to Planetary Data Archives

    Science.gov (United States)

    Stein, Thomas

    Planetary data archives of surface missions contain data from numerous hosted instruments. Because of the nondeterministic nature of surface missions, it is not possible to assess the data without understanding the context in which they were collected. The PDS Analyst’s Notebook (http://an.rsl.wustl.edu) provides access to Mars Science Laboratory (MSL) data archives by integrating sequence information, engineering and science data, observation planning and targeting, and documentation into web-accessible pages to facilitate “mission replay.” In addition, Mars Exploration Rover (MER), Mars Phoenix Lander, Lunar Apollo surface mission, and LCROSS mission data are available in the Analyst’s Notebook concept, and a Notebook is planned for the Insight mission. The MSL Analyst’s Notebook contains data, documentation, and support files for the Curiosity rovers. The inputs are incorporated on a daily basis into a science team version of the Notebook. The public version of the Analyst’s Notebook is comprised of peer-reviewed, released data and is updated coincident with PDS data releases as defined in mission archive plans. The data are provided by the instrument teams and are supported by documentation describing data format, content, and calibration. Both operations and science data products are included. The operations versions are generated to support mission planning and operations on a daily basis. They are geared toward researchers working on machine vision and engineering operations. Science versions of observations from some instruments are provided for those interested in radiometric and photometric analyses. Both data set documentation and sol (i.e., Mars day) documents are included in the Notebook. The sol documents are the mission manager and documentarian reports that provide a view into science operations—insight into why and how particular observations were made. Data set documents contain detailed information regarding the mission, spacecraft

  7. Human and Robotic Exploration Missions to Phobos Prior to Crewed Mars Surface Missions

    Science.gov (United States)

    Gernhardt, Michael L.; Chappell, Steven P.; Bekdash, Omar S.; Abercromby, Andrew F.

    2016-01-01

    from portable foot restraints or body restrain tethers in the vicinity of the habitat. Prototype structures were tested as part of NEEMO 20. PEVs would contain closed loop guidance and provide life support and consumables for two crew for 2 weeks plus reserves. The PEV has a cabin that uses the exploration atmosphere of 8.2 psi with 34% oxygen, enabling use of suit ports for rapid EVA with minimal oxygen prebreathe as well as dust control by keeping the suits outside the pressurized volume. When equipped with outriggers and control moment gyros, the PEV enables EVA tasks of up to 8 pounds of force application without the need to anchor. Tasks with higher force requirements can be performed with PEV propulsion providing the necessary thrust to react forces. Exploration of Phobos builds heavily from the developments of the cis-lunar proving ground, and significantly reduces Mars surface risk by facilitating the development and testing of habitats, MAVs, and pressurized rover cabins that are all Mars surface forward. A robotic precursor mission to Phobos and Deimos is also under consideration and would need to launch in 2022 to support a 2031 human Phobos mission.

  8. Exploration of Icy Moons in the Outer Solar System: Updated Planetary Protection Requirements for Missions to Enceladus and Europa

    Science.gov (United States)

    Rummel, J. D.; Race, M. S.

    2016-12-01

    Enceladus and Europa are bodies with icy/watery environments and potential habitable conditions for life, making both of great interest in astrobiological studies of chemical evolution and /or origin of life. They are also of significant planetary protection concern for spacecraft missions because of the potential for harmful contamination during exploration. At a 2015 COSPAR colloquium in Bern Switzerland, international scientists identified an urgent need to establish planetary protection requirements for missions proposing to return samples to Earth from Saturn's moon Enceladus. Deliberations at the meeting resulted in recommended policy updates for both forward and back contamination requirements for missions to Europa and Enceladus, including missions sampling plumes originating from those bodies. These recently recommended COSPAR policy revisions and biological contamination requirements will be applied to future missions to Europa and Encealadus, particularly noticeable in those with plans for in situ life detection and sample return capabilities. Included in the COSPAR policy are requirementsto `break the chain of contact' with Europa or Enceladus, to keep pristine returned materials contained, and to complete required biohazard analyses, testing and/or sterilization upon return to Earth. Subsequent to the Bern meeting, additional discussions of Planetary Protection of Outer Solar System bodies (PPOSS) are underway in a 3-year study coordinated by the European Science Foundation and involving multiple international partners, including Japan, China and Russia, along with a US observer. This presentation will provide science and policy updates for those whose research or activities will involve icy moon missions and exploration.

  9. Smart Rotorcraft Field Assistants for Terrestrial and Planetary Science

    Science.gov (United States)

    Young, Larry A.; Aiken, Edwin W.; Briggs, Geoffrey A.

    2004-01-01

    Field science in extreme terrestrial environments is often difficult and sometimes dangerous. Field seasons are also often short in duration. Robotic field assistants, particularly small highly mobile rotary-wing platforms, have the potential to significantly augment a field season's scientific return on investment for geology and astrobiology researchers by providing an entirely new suite of sophisticated field tools. Robotic rotorcraft and other vertical lift planetary aerial vehicle also hold promise for supporting planetary science missions.

  10. Multiagent Modeling and Simulation in Human-Robot Mission Operations Work System Design

    Science.gov (United States)

    Sierhuis, Maarten; Clancey, William J.; Sims, Michael H.; Shafto, Michael (Technical Monitor)

    2001-01-01

    This paper describes a collaborative multiagent modeling and simulation approach for designing work systems. The Brahms environment is used to model mission operations for a semi-autonomous robot mission to the Moon at the work practice level. It shows the impact of human-decision making on the activities and energy consumption of a robot. A collaborative work systems design methodology is described that allows informal models, created with users and stakeholders, to be used as input to the development of formal computational models.

  11. Upcoming planetary missions and the applicability of high-temperature-superconductor bolometers

    International Nuclear Information System (INIS)

    Brasunas, J.; Kunde, V.; Moseley, H.; Lakew, B.

    1991-01-01

    Planetary missions to Mars and beyond can last 11 years and longer, making impractical the use of stored cryogens. Passive radiative coolers and single-stage mechanical coolers remain possibilities. Cassini and Comet Rendezvous/Asteroid Fly-by (CRAF), both using the newly developed Mariner Mark 2 spacecraft, will be the next outer planet missions after Galileo; they are intended to provide information on the origin and evolution of the solar system. CRAF is slated for a 1994 launch. Cassini was chosen by ESA and will be launched by a Titan 4/Centaur in 1996. It will fly by Jupiter in 2000, inject an ESA-supplied probe into Titan in 2002, and take data in Saturn's orbit from 2002 to 2006. NASA/Goddard is currently developing a prototype Fourier transform spectrometer, the Composite Infrared Spectrometer (CIRS), for the Cassini mission. The baseline infrared detectors for CIRS are HgCdTe to 16 microns and Schwarz-type thermopiles from 16 to 1000 microns. The far infrared focal plane could be switched from thermopiles to high temperature superconductor (HTS) bolometers between now and 1996. An HTS bolometer could be built using the kinetic inductance effect, or the sharp resistance change at the transition. The transition-edge bolometer is more straightforward to implement, and initial efforts at NASA/Goddard are directed to that device. A working device was made and tested in early 1989. It also has somewhat elevated noise levels below 100 Hz. Upcoming efforts will center on reducing the time constant of the HTS bolometer by attempting to deposit an HTS film on a diamond substrate, and by thinning SrTiO3 substrates. Attempts will be made to improve the film quality to reduce the 1/4 noise level, and to improve the thermal isolation to increase the bolometer sensitivity

  12. Mission Activity Planning for Humans and Robots on the Moon

    Science.gov (United States)

    Weisbin, C.; Shelton, K.; Lincoln, W.; Elfes, A.; Smith, J.H.; Mrozinski, J.; Hua, H.; Adumitroaie, V.; Silberg, R.

    2008-01-01

    A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.

  13. Soft-Robotic Rover with Electrodynamic Power Scavenging

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose a rover architecture for Europa and other planetary environments where soft robotics enables scientific investigation or human-precursor missions that...

  14. Conformal Ablative Thermal Protection System for Small and Large Scale Missions: Approaching TRL 6 for Planetary and Human Exploration Missions and TRL 9 for Small Probe Missions

    Science.gov (United States)

    Beck, R. A. S.; Gasch, M. J.; Milos, F. S.; Stackpoole, M. M.; Smith, B. P.; Switzer, M. R.; Venkatapathy, E.; Wilder, M. C.; Boghhozian, T.; Chavez-Garcia, J. F.

    2015-01-01

    In 2011, NASAs Aeronautics Research Mission Directorate (ARMD) funded an effort to develop an ablative thermal protection system (TPS) material that would have improved properties when compared to Phenolic Impregnated Carbon Ablator (PICA) and AVCOAT. Their goal was a conformal material, processed with a flexible reinforcement that would result in similar or better thermal characteristics and higher strain-to-failure characteristics that would allow for easier integration on flight aeroshells than then-current rigid ablative TPS materials. In 2012, NASAs Space Technology Mission Directorate (STMD) began funding the maturation of the best formulation of the game changing conformal ablator, C-PICA. Progress has been reported at IPPW over the past three years, describing C-PICA with a density and recession rates similar to PICA, but with a higher strain-to-failure which allows for direct bonding and no gap fillers, and even more important, with thermal characteristics resulting in half the temperature rise of PICA. Overall, C-PICA should be able to replace PICA with a thinner, lighter weight, less complicated design. These characteristics should be particularly attractive for use as backshell TPS on high energy planetary entry vehicles. At the end of this year, the material should be ready for missions to consider including in their design, in fact, NASAs Science Mission Directorate (SMD) is considering incentivizing the use of C-PICA in the next Discovery Proposal call. This year both scale up of the material to large (1-m) sized pieces and the design and build of small probe heatshields for flight tests will be completed. NASA, with an industry partner, will build a 1-m long manufacturing demonstration unit (MDU) with a shape based on a mid LD lifting body. In addition, in an effort to fly as you test and test as you fly, NASA, with a second industry partner, will build a small probe to test in the Interactive Heating Facility (IHF) arc jet and, using nearly the

  15. Extending Mobile Security Robots to Force Protection Missions

    National Research Council Canada - National Science Library

    Carroll, Daniel

    2002-01-01

    ...) sites for physical security and automated inventory missions MDARS was initiated in 1989 to improve the effectiveness of a shrinking guard force, but was quickly expanded to address the intensive...

  16. Hybrid Propulsion Technology for Robotic Science Missions, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — C3 Propulsion's Hybrid Propulsion Technology will be applied to a NASA selected Sample Return Mission. Phase I will demonstrate Proof-of-Principle and Phase II will...

  17. Planetary protection in the framework of the Aurora exploration program

    Science.gov (United States)

    Kminek, G.

    The Aurora Exploration Program will give ESA new responsibilities in the field of planetary protection. Until now, ESA had only limited exposure to planetary protection from its own missions. With the proposed ExoMars and MSR missions, however, ESA will enter the realm of the highest planetary protection categories. As a consequence, the Aurora Exploration Program has initiated a number of activities in the field of planetary protection. The first and most important step was to establish a Planetary Protection Working Group (PPWG) that is advising the Exploration Program Advisory Committee (EPAC) on all matters concerning planetary protection. The main task of the PPWG is to provide recommendations regarding: Planetary protection for robotic missions to Mars; Planetary protection for a potential human mission to Mars; Review/evaluate standards & procedures for planetary protection; Identify research needs in the field of planetary protection. As a result of the PPWG deliberations, a number of activities have been initiated: Evaluation of the Microbial Diversity in SC Facilities; Working paper on legal issues of planetary protection and astrobiology; Feasibility study on a Mars Sample Return Containment Facility; Research activities on sterilization procedures; Training course on planetary protection (May, 2004); Workshop on sterilization techniques (fall 2004). In parallel to the PPWG, the Aurora Exploration Program has established an Ethical Working Group (EWG). This working group will address ethical issues related to astrobiology, planetary protection, and manned interplanetary missions. The recommendations of the working groups and the results of the R&D activities form the basis for defining planetary protection specification for Aurora mission studies, and for proposing modification and new inputs to the COSPAR planetary protection policy. Close cooperation and free exchange of relevant information with the NASA planetary protection program is strongly

  18. Probabilistic Verification of Multi-Robot Missions in Uncertain Environments

    Science.gov (United States)

    2015-11-01

    has been used to measure the environment, including any dynamic obstacles. However, no matter how the model originates, this approach is based on...modeled as bivariate Gaussian distributions and estimated by calibration measurements . The Robot process model is described in prior work [13...sn〉 (pR,pE)(obR) = In〈pR〉〈p〉 ; In〈pE〉〈e〉 ; ( Gtr〈 d(p,e), sr〉〈p1〉 ; Out〈obR,p1〉 | Lte 〈 d(p,e), sr〉〈p2〉 ; Out〈obR, sn+p2 〉 ) ; Sensors

  19. GaN-Based Detector Enabling Technology for Next Generation Ultraviolet Planetary Missions

    Science.gov (United States)

    Aslam, S.; Gronoff, G.; Hewagama, T.; Janz, S.; Kotecki, C.

    2012-01-01

    The ternary alloy AlN-GaN-InN system provides several distinct advantages for the development of UV detectors for future planetary missions. First, (InN), (GaN) and (AlN) have direct bandgaps 0.8, 3.4 and 6.2 eV, respectively, with corresponding wavelength cutoffs of 1550 nm, 365 nm and 200 nm. Since they are miscible with each other, these nitrides form complete series of indium gallium nitride (In(sub l-x)Ga(sub x)N) and aluminum gallium nitride (Al(sub l-x)Ga(sub x)N) alloys thus allowing the development of detectors with a wavelength cut-off anywhere in this range. For the 2S0-365 nm spectral wavelength range AlGaN detectors can be designed to give a 1000x solar radiation rejection at cut-off wavelength of 325 nm, than can be achieved with Si based detectors. For tailored wavelength cut-offs in the 365-4S0 nm range, InGaN based detectors can be fabricated, which still give 20-40x better solar radiation rejection than Si based detectors. This reduced need for blocking filters greatly increases the Detective Quantum efficiency (DQE) and simplifies the instrument's optical systems. Second, the wide direct bandgap reduces the thermally generated dark current to levels allowing many observations to be performed at room temperature. Third, compared to narrow bandgap materials, wide bandgap semiconductors are significantly more radiation tolerant. Finally, with the use of an (AI, In)GaN array, the overall system cost is reduced by eliminating stringent Si CCD cooling systems. Compared to silicon, GaN based detectors have superior QE based on a direct bandgap and longer absorption lengths in the UV.

  20. The Planetary Fourier Spectrometer (PFS) onboard the European Mars Express mission

    Science.gov (United States)

    Formisano, V.; Angrilli, F.; Arnold, G.; Atreya, S.; Bianchini, G.; Biondi, D.; Blanco, A.; Blecka, M. I.; Coradini, A.; Colangeli, L.; Ekonomov, A.; Esposito, F.; Fonti, S.; Giuranna, M.; Grassi, D.; Gnedykh, V.; Grigoriev, A.; Hansen, G.; Hirsh, H.; Khatuntsev, I.; Kiselev, A.; Ignatiev, N.; Jurewicz, A.; Lellouch, E.; Lopez Moreno, J.; Marten, A.; Mattana, A.; Maturilli, A.; Mencarelli, E.; Michalska, M.; Moroz, V.; Moshkin, B.; Nespoli, F.; Nikolsky, Y.; Orfei, R.; Orleanski, P.; Orofino, V.; Palomba, E.; Patsaev, D.; Piccioni, G.; Rataj, M.; Rodrigo, R.; Rodriguez, J.; Rossi, M.; Saggin, B.; Titov, D.; Zasova, L.

    2005-08-01

    The Planetary Fourier Spectrometer (PFS) for the Mars Express mission is an infrared spectrometer optimised for atmospheric studies. This instrument has a short wave (SW) channel that covers the spectral range from 1700 to 8200.0cm-1 (1.2- 5.5μm) and a long-wave (LW) channel that covers 250- 1700cm-1 (5.5- 45μm). Both channels have a uniform spectral resolution of 1.3cm-1. The instrument field of view FOV is about 1.6∘ (FWHM) for the Short Wavelength channel (SW) and 2.8∘ (FWHM) for the Long Wavelength channel (LW) which corresponds to a spatial resolution of 7 and 12 km when Mars is observed from an height of 250 km. PFS can provide unique data necessary to improve our knowledge not only of the atmosphere properties but also about mineralogical composition of the surface and the surface-atmosphere interaction. The SW channel uses a PbSe detector cooled to 200-220 K while the LW channel is based on a pyroelectric ( LiTaO3) detector working at room temperature. The intensity of the interferogram is measured every 150 nm of physical mirrors displacement, corresponding to 600 nm optical path difference, by using a laser diode monochromatic light interferogram (a sine wave), whose zero crossings control the double pendulum motion. PFS works primarily around the pericentre of the orbit, only occasionally observing Mars from large distances. Each measurements take 4 s, with a repetition time of 8.5 s. By working roughly 0.6 h around pericentre, a total of 330 measurements per orbit will be acquired 270 looking at Mars and 60 for calibrations. PFS is able to take measurements at all local times, facilitating the retrieval of surface temperatures and atmospheric vertical temperature profiles on both the day and the night side.

  1. Human Factors Principles in Design of Computer-Mediated Visualization for Robot Missions

    Energy Technology Data Exchange (ETDEWEB)

    David I Gertman; David J Bruemmer

    2008-12-01

    With increased use of robots as a resource in missions supporting countermine, improvised explosive devices (IEDs), and chemical, biological, radiological nuclear and conventional explosives (CBRNE), fully understanding the best means by which to complement the human operator’s underlying perceptual and cognitive processes could not be more important. Consistent with control and display integration practices in many other high technology computer-supported applications, current robotic design practices rely highly upon static guidelines and design heuristics that reflect the expertise and experience of the individual designer. In order to use what we know about human factors (HF) to drive human robot interaction (HRI) design, this paper reviews underlying human perception and cognition principles and shows how they were applied to a threat detection domain.

  2. Electric solar-wind sail for asteroid touring missions and planetary protection

    Science.gov (United States)

    Janhunen, P.

    2014-07-01

    long time, moving from asteroid to asteroid in a bit similar way as, e.g., Mars rovers move from rock to rock on the planet's surface. After starting from the Earth, the mission would slowly spiral outward, making rendezvous with interesting asteroids along the way, as well as flybys or even a larger number of asteroids as opportunities arise. The spacecraft would do remote sensing of the bodies and perhaps also deploy small CubeSat-sized expendable landers on them (the mother spacecraft cannot land on an asteroid or else it would lose the E-sail tethers). The mission would first explore near-Earth objects, then pass through the main belt and end up with the Trojans, exploring asteroids in rendezvous and flyby modes all the time. Asteroids in roughly circular orbits and at low inclination would be the easiest and most likely targets for rendezvous mode encounters, while there would be less restrictions for flyby mode observations. Besides for pure asteroid science, the E-sail could also be used for planetary protection, either through direct propulsive deflection of a dangerous asteroid [4] or by accelerating a relatively lightweight impactor spacecraft to a retrograde orbit and in that way maximizing the available deflecting impact energy for given impactor mass. E-sails could take a number of such impactors to retrograde storage orbits from which they could be commanded to impact a dangerous asteroid with relatively short warning time. Such impactor fleet would not be dangerous to the Earth because the vehicles can be designed to burn completely in the atmosphere, in the unlikely event that due to some mishap one of them would collide with the Earth. The E-sail has potentially large applicability to asteroids as it promises ''free'' transportation in the solar system. As a next step, a solar-wind test mission is needed to demonstrate the technology in the authentic environment.

  3. Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

  4. Conformal Ablative Thermal Protection System for Planetary and Human Exploration Missions

    Science.gov (United States)

    Beck, R.; Arnold, J.; Gasch, M.; Stackpole, M.; Wercinski, R.; Venkatapathy, E.; Fan, W.; Thornton, J; Szalai, C.

    2012-01-01

    The Office of Chief Technologist (OCT), NASA has identified the need for research and technology development in part from NASAs Strategic Goal 3.3 of the NASA Strategic Plan to develop and demonstrate the critical technologies that will make NASAs exploration, science, and discovery missions more affordable and more capable. Furthermore, the Game Changing Development Program (GCDP) is a primary avenue to achieve the Agencys 2011 strategic goal to Create the innovative new space technologies for our exploration, science, and economic future. In addition, recently released NASA Space Technology Roadmaps and Priorities, by the National Research Council (NRC) of the National Academy of Sciences stresses the need for NASA to invest in the very near term in specific EDL technologies. The report points out the following challenges (Page 2-38 of the pre-publication copy released on February 1, 2012): Mass to Surface: Develop the ability to deliver more payload to the destination. NASA's future missions will require ever-greater mass delivery capability in order to place scientifically significant instrument packages on distant bodies of interest, to facilitate sample returns from bodies of interest, and to enable human exploration of planets such as Mars. As the maximum mass that can be delivered to an entry interface is fixed for a given launch system and trajectory design, the mass delivered to the surface will require reductions in spacecraft structural mass more efficient, lighter thermal protection systems more efficient lighter propulsion systems and lighter, more efficient deceleration systems. Surface Access: Increase the ability to land at a variety of planetary locales and at a variety of times. Access to specific sites can be achieved via landing at a specific location(s) or transit from a single designated landing location, but it is currently infeasible to transit long distances and through extremely rugged terrain, requiring landing close to the site of

  5. Interplanetary Trajectory Design for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study

    Science.gov (United States)

    Merrill, Raymond Gabriel; Qu, Min; Vavrina, Matthew A.; Englander, Jacob A.; Jones, Christopher A.

    2014-01-01

    This paper presents mission performance analysis methods and results for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger NEA. It details the optimization and design of heliocentric low-thrust trajectories to asteroid targets for the ARRM solar electric propulsion spacecraft. Extensive searches were conducted to determine asteroid targets with large pick-up mass potential and potential observation opportunities. Interplanetary trajectory approximations were developed in method based tools for Itokawa, Bennu, 1999 JU3, and 2008 EV5 and were validated by end-to-end integrated trajectories.

  6. Model Based Mission Assurance: Emerging Opportunities for Robotic Systems

    Science.gov (United States)

    Evans, John W.; DiVenti, Tony

    2016-01-01

    The emergence of Model Based Systems Engineering (MBSE) in a Model Based Engineering framework has created new opportunities to improve effectiveness and efficiencies across the assurance functions. The MBSE environment supports not only system architecture development, but provides for support of Systems Safety, Reliability and Risk Analysis concurrently in the same framework. Linking to detailed design will further improve assurance capabilities to support failures avoidance and mitigation in flight systems. This also is leading new assurance functions including model assurance and management of uncertainty in the modeling environment. Further, the assurance cases, a structured hierarchal argument or model, are emerging as a basis for supporting a comprehensive viewpoint in which to support Model Based Mission Assurance (MBMA).

  7. Novel roaming and stationary tethered aerial robots for continuous mobile missions in nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Gu, Beom W.; Choi, Su Y.; Rim, Chun T. [Dept. of Nuclear and Quantum Engineering, KAIST, Daejeon (Korea, Republic of); Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Cai, Guowei; Seneviratne, Lakmal [Dept. of Aerospace Engineering, Khalifa University, Abu Dhabi (United Arab Emirates)

    2016-08-15

    In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs) for radioactive material sampling and stationary tethered aerial robots (STARs) for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.

  8. Novel Roaming and Stationary Tethered Aerial Robots for Continuous Mobile Missions in Nuclear Power Plants

    Directory of Open Access Journals (Sweden)

    Beom W. Gu

    2016-08-01

    Full Text Available In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs for radioactive material sampling and stationary tethered aerial robots (STARs for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.

  9. SmallSat Missions Traveling to Planetary Targets from Near-Earth-Space: Applications for Space Physics

    Science.gov (United States)

    Espley, J. R.; Folta, D.

    2017-12-01

    Recent advances in propulsion technology and interplanetary navigation theoretically allow very small spacecraft to travel directly to planetary destinations from near-Earth-space. Because there are currently many launches with excess mass capability (NASA, military, and even commercial), we anticipate a dramatic increase in the number of opportunities for missions to planetary targets. Spacecraft as small as 12U CubeSats can use solar electric propulsion to travel from Earth-orbit to Mars-orbit in approximately 2-3 years. Space physics missions are particularly well suited for such mission architectures since state-of-the-art instrumentation to answer fundamental science questions can be accommodated in relatively small payload packages. For example, multi-point measurements of the martian magnetosphere, ionosphere, and crustal magnetic fields would yield important new science results regarding atmospheric escape and the geophysical history of the martian surface. These measurements could be accomplished by a pair of 12U CubeSats with world-class instruments that require only modest mass, power, and telemetry resources (e.g. Goddard's mini-fluxgate vector magnetometer).

  10. Creating Communications, Computing, and Networking Technology Development Road Maps for Future NASA Human and Robotic Missions

    Science.gov (United States)

    Bhasin, Kul; Hayden, Jeffrey L.

    2005-01-01

    For human and robotic exploration missions in the Vision for Exploration, roadmaps are needed for capability development and investments based on advanced technology developments. A roadmap development process was undertaken for the needed communications, and networking capabilities and technologies for the future human and robotics missions. The underlying processes are derived from work carried out during development of the future space communications architecture, an d NASA's Space Architect Office (SAO) defined formats and structures for accumulating data. Interrelationships were established among emerging requirements, the capability analysis and technology status, and performance data. After developing an architectural communications and networking framework structured around the assumed needs for human and robotic exploration, in the vicinity of Earth, Moon, along the path to Mars, and in the vicinity of Mars, information was gathered from expert participants. This information was used to identify the capabilities expected from the new infrastructure and the technological gaps in the way of obtaining them. We define realistic, long-term space communication architectures based on emerging needs and translate the needs into interfaces, functions, and computer processing that will be required. In developing our roadmapping process, we defined requirements for achieving end-to-end activities that will be carried out by future NASA human and robotic missions. This paper describes: 10 the architectural framework developed for analysis; 2) our approach to gathering and analyzing data from NASA, industry, and academia; 3) an outline of the technology research to be done, including milestones for technology research and demonstrations with timelines; and 4) the technology roadmaps themselves.

  11. What would we miss if we characterized the Moon and Mars with just planetary meteorites, remote mapping, and robotic landers?. [Abstract only

    Science.gov (United States)

    Lindstrom, M. M.

    1994-01-01

    Exploration of the Moon and planets began with telescopic studies of their surfaces, continued with orbiting spacecraft and robotic landers, and will culminate with manned exploration and sample return. For the Moon and Mars we also have accidental samples provided by impacts on their surfaces, the lunar and martian meteorites. How much would we know about the lunar surface if we only had lunar meteorites, orbital spacecraft, and robotic exploration, and not the Apollo and Luna returned samples? What does this imply for Mars? With martian meteorites and data from Mariner, Viking, and the future Pathfinder missions, how much could we learn about Mars? The basis of most of our detailed knowledge about the Moon is the Apollo samples. They provide ground truth for the remote mapping, timescales for lunar processes, and samples from the lunar interior. The Moon is the foundation of planetary science and the basis for our interpretation of the other planets. Mars is similar to the Moon in that impact and volcanism are the dominant processes, but Mars' surface has also been affected by wind and water, and hence has much more complex surface geology. Future geochemical or mineralogical mapping of Mars' surface should be able to tell us whether the dominant rock types of the ancient southern highlands are basaltic, anorthositic, granitic, or something else, but will not be able to tell us the detailed mineralogy, geochemistry, or age. Without many more martian meteorites or returned samples we will not know the diversity of martian rocks, and therefore will be limited in our ability to model martian geological evolution.

  12. Planetary Data System (PDS)

    Data.gov (United States)

    National Aeronautics and Space Administration — The Planetary Data System (PDS) is an archive of data products from NASA planetary missions, which is sponsored by NASA's Science Mission Directorate. We actively...

  13. SPICE for ESA Planetary Missions: geometry and visualization support to studies, operations and data analysis within your reach

    Science.gov (United States)

    Costa, Marc

    2018-05-01

    JUICE is a mission chosen in the framework of the Cosmic Vision 2015-2024 program of the SRE. JUICE will survey the Jovian system with a special focus on the three Galilean Moons. Currently the mission is under study activities during its Definition Phase. For this period the future mission scenarios are being studied by the Science Working Team (SWT). The Mission Analysis and Payload Support (MAPPS) and the Solar System Science Operations Laboratory (SOLab) tools are being used to provide active support to the SWT in synergy with other operational tools used in the Department in order to evaluate the feasibility of those scenarios. This contribution will outline the capabilities, synergies as well as use cases of the mentioned tools focusing on the support provided to JUICEís study phase on the study of its critical operational scenarios and the early developments of its Science Ground Segment demonstrating the added value that such a tool provides to planetary science missions.

  14. Lab-on-a-Robot Platform for in-situ Planetary Compositional Analysis, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — HJ Science & Technology, Inc. and the University of Texas at San Antonio propose a joint venture to demonstrate the feasibility of a mobile "lab-on-a-robot"...

  15. Boulder Capture System Design Options for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study

    Science.gov (United States)

    Belbin, Scott P.; Merrill, Raymond G.

    2014-01-01

    This paper presents a boulder acquisition and asteroid surface interaction electromechanical concept developed for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger Near Earth Asteroid (NEA). It details the down select process and ranking of potential boulder capture methods, the evolution of a simple yet elegant articulating spaceframe, and ongoing risk reduction and concept refinement efforts. The capture system configuration leverages the spaceframe, heritage manipulators, and a new microspine technology to enable the ARRM boulder capture. While at the NEA it enables attenuation of terminal descent velocity, ascent to escape velocity, boulder collection and restraint. After departure from the NEA it enables, robotic inspection, sample caching, and crew Extra Vehicular Activities (EVA).

  16. Robotic Mission to Mars: Hands-on, minds-on, web-based learning

    Science.gov (United States)

    Mathers, Naomi; Goktogen, Ali; Rankin, John; Anderson, Marion

    2012-11-01

    Problem-based learning has been demonstrated as an effective methodology for developing analytical skills and critical thinking. The use of scenario-based learning incorporates problem-based learning whilst encouraging students to collaborate with their colleagues and dynamically adapt to their environment. This increased interaction stimulates a deeper understanding and the generation of new knowledge. The Victorian Space Science Education Centre (VSSEC) uses scenario-based learning in its Mission to Mars, Mission to the Orbiting Space Laboratory and Primary Expedition to the M.A.R.S. Base programs. These programs utilize methodologies such as hands-on applications, immersive-learning, integrated technologies, critical thinking and mentoring to engage students in Science, Technology, Engineering and Mathematics (STEM) and highlight potential career paths in science and engineering. The immersive nature of the programs demands specialist environments such as a simulated Mars environment, Mission Control and Space Laboratory, thus restricting these programs to a physical location and limiting student access to the programs. To move beyond these limitations, VSSEC worked with its university partners to develop a web-based mission that delivered the benefits of scenario-based learning within a school environment. The Robotic Mission to Mars allows students to remotely control a real rover, developed by the Australian Centre for Field Robotics (ACFR), on the VSSEC Mars surface. After completing a pre-mission training program and site selection activity, students take on the roles of scientists and engineers in Mission Control to complete a mission and collect data for further analysis. Mission Control is established using software developed by the ACRI Games Technology Lab at La Trobe University using the principles of serious gaming. The software allows students to control the rover, monitor its systems and collect scientific data for analysis. This program encourages

  17. Radioisotope electric propulsion for robotic science missions to near-interstellar space

    International Nuclear Information System (INIS)

    Noble, R.J.

    1994-10-01

    The use of radioisotope electric propulsion for sending small robotic probes on fast science missions several hundred astronomical units (AU) from the Sun is investigated. Such missions would address a large variety of solar, interstellar, galactic and cosmological science themes from unique vantage points at 100 to 600 AU, including parallax distance measurements for the entire Milky Way Galaxy, sampling of the interstellar medium and imaging of cosmological objects at the gravitational lens foci of the Sun (≥ 550 AU). Radioisotope electric propulsion (REP) systems are low-thrust, ion propulsion units based on multi-hundred watt, radioisotope electric generators and ion thrusters. In a previous work, the flight times for rendezvous missions to the outer planets (< 30 AU) using REP were found to be less than fifteen years. However fast prestellar missions to several hundred AU are not possible unless the probe's energy can be substantially increased in the inner Solar System so as to boost the final hyperbolic excess velocity. In this paper an economical hybrid propulsion scheme combining chemical propulsion and gravity assist in the inner Solar System and radioisotope electric propulsion in the outer Solar System is studied which enables fast prestellar missions. Total hyperbolic excess velocities of 15 AU/year and flight times to 550 AU of about 40 years are possible using REP technology that may be available in the next decade

  18. Human and Robotic Mission to Small Bodies: Mapping, Planning and Exploration

    Science.gov (United States)

    Neffian, Ara V.; Bellerose, Julie; Beyer, Ross A.; Archinal, Brent; Edwards, Laurence; Lee, Pascal; Colaprete, Anthony; Fong, Terry

    2013-01-01

    This study investigates the requirements, performs a gap analysis and makes a set of recommendations for mapping products and exploration tools required to support operations and scientific discovery for near- term and future NASA missions to small bodies. The mapping products and their requirements are based on the analysis of current mission scenarios (rendezvous, docking, and sample return) and recommendations made by the NEA Users Team (NUT) in the framework of human exploration. The mapping products that sat- isfy operational, scienti c, and public outreach goals include topography, images, albedo, gravity, mass, density, subsurface radar, mineralogical and thermal maps. The gap analysis points to a need for incremental generation of mapping products from low (flyby) to high-resolution data needed for anchoring and docking, real-time spatial data processing for hazard avoidance and astronaut or robot localization in low gravity, high dynamic environments, and motivates a standard for coordinate reference systems capable of describing irregular body shapes. Another aspect investigated in this study is the set of requirements and the gap analysis for exploration tools that support visualization and simulation of operational conditions including soil interactions, environment dynamics, and communications coverage. Building robust, usable data sets and visualisation/simulation tools is the best way for mission designers and simulators to make correct decisions for future missions. In the near term, it is the most useful way to begin building capabilities for small body exploration without needing to commit to specific mission architectures.

  19. Developing a Fault Management Guidebook for Nasa's Deep Space Robotic Missions

    Science.gov (United States)

    Fesq, Lorraine M.; Jacome, Raquel Weitl

    2015-01-01

    NASA designs and builds systems that achieve incredibly ambitious goals, as evidenced by the Curiosity rover traversing on Mars, the highly complex International Space Station orbiting our Earth, and the compelling plans for capturing, retrieving and redirecting an asteroid into a lunar orbit to create a nearby a target to be investigated by astronauts. In order to accomplish these feats, the missions must be imbued with sufficient knowledge and capability not only to realize the goals, but also to identify and respond to off-nominal conditions. Fault Management (FM) is the discipline of establishing how a system will respond to preserve its ability to function even in the presence of faults. In 2012, NASA released a draft FM Handbook in an attempt to coalesce the field by establishing a unified terminology and a common process for designing FM mechanisms. However, FM approaches are very diverse across NASA, especially between the different mission types such as Earth orbiters, launch vehicles, deep space robotic vehicles and human spaceflight missions, and the authors were challenged to capture and represent all of these views. The authors recognized that a necessary precursor step is for each sub-community to codify its FM policies, practices and approaches in individual, focused guidebooks. Then, the sub-communities can look across NASA to better understand the different ways off-nominal conditions are addressed, and to seek commonality or at least an understanding of the multitude of FM approaches. This paper describes the development of the "Deep Space Robotic Fault Management Guidebook," which is intended to be the first of NASA's FM guidebooks. Its purpose is to be a field-guide for FM practitioners working on deep space robotic missions, as well as a planning tool for project managers. Publication of this Deep Space Robotic FM Guidebook is expected in early 2015. The guidebook will be posted on NASA's Engineering Network on the FM Community of Practice

  20. Data catalog series for space science and applications flight missions. Volume 1B: Descriptions of data sets from planetary and heliocentric spacecraft and investigations

    Science.gov (United States)

    Horowitz, Richard (Compiler); Jackson, John E. (Compiler); Cameron, Winifred S. (Compiler)

    1987-01-01

    The main purpose of the data catalog series is to provide descriptive references to data generated by space science flight missions. The data sets described include all of the actual holdings of the Space Science Data Center (NSSDC), all data sets for which direct contact information is available, and some data collections held and serviced by foreign investigators, NASA and other U.S. government agencies. This volume contains narrative descriptions of planetary and heliocentric spacecraft and associated experiments. The following spacecraft series are included: Mariner, Pioneer, Pioneer Venus, Venera, Viking, Voyager, and Helios. Separate indexes to the planetary and interplanetary missions are also provided.

  1. The Scale of Exploration: Planetary Missions Set in the Context of Tourist Destinations on Earth

    Science.gov (United States)

    Garry, W. B.; Bleacher, L. V.; Bleacher, J. E.; Petro, N. E.; Mest, S. C.; Williams, S. H.

    2012-03-01

    What if the Apollo astronauts explored Washington, DC, or the Mars Exploration Rovers explored Disney World? We present educational versions of the traverse maps for Apollo and MER missions set in the context of popular tourist destinations on Earth.

  2. Electrostatic Phenomena on Planetary Surfaces

    Science.gov (United States)

    Calle, Carlos I.

    2017-02-01

    The diverse planetary environments in the solar system react in somewhat different ways to the encompassing influence of the Sun. These different interactions define the electrostatic phenomena that take place on and near planetary surfaces. The desire to understand the electrostatic environments of planetary surfaces goes beyond scientific inquiry. These environments have enormous implications for both human and robotic exploration of the solar system. This book describes in some detail what is known about the electrostatic environment of the solar system from early and current experiments on Earth as well as what is being learned from the instrumentation on the space exploration missions (NASA, European Space Agency, and the Japanese Space Agency) of the last few decades. It begins with a brief review of the basic principles of electrostatics.

  3. Peer-to-Peer Human-Robot Interaction for Space Exploration

    Science.gov (United States)

    Fong, Terrence; Nourbakhsh, Illah

    2004-01-01

    NASA has embarked on a long-term program to develop human-robot systems for sustained, affordable space exploration. To support this mission, we are working to improve human-robot interaction and performance on planetary surfaces. Rather than building robots that function as glorified tools, our focus is to enable humans and robots to work as partners and peers. In this paper. we describe our approach, which includes contextual dialogue, cognitive modeling, and metrics-based field testing.

  4. Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

    Science.gov (United States)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

  5. Visible and infrared mapping spectrometer (VIMS) - a facility instrument for planetary missions

    International Nuclear Information System (INIS)

    Wellman, J.B.; Duval, J.; Juergens, D.; Voss, J.

    1988-01-01

    A second-generation visible and IR mapping spectrometer (VIMS), selected for both the Mars Observer and Comet Rendezvous Asteroid Flyby (CRAF) missions, is described. VIMS is a scanning spectrometer with a focal plane consisting of linear arrays of visible and IR detectors, cooled by a radiative cooler. It is noted that a wide-angle scan using a full-aperture scan mirror was implemented for the Mars Observer; a narrow-angle scan using a scanning secondary mirror within a Cassegrain foreoptic was achieved for the CRAF mission. 11 references

  6. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  7. Understanding cost growth during operations of planetary missions: An explanation of changes

    Science.gov (United States)

    McNeill, J. F.; Chapman, E. L.; Sklar, M. E.

    In the development of project cost estimates for interplanetary missions, considerable focus is generally given to the development of cost estimates for the development of ground, flight, and launch systems, i.e., Phases B, C, and D. Depending on the project team, efforts expended to develop cost estimates for operations (Phase E) may be relatively less rigorous than that devoted to estimates for ground and flight systems development. Furthermore, the project team may be challenged to develop a solid estimate of operations cost in the early stages of mission development, e.g., Concept Study Report or Systems Requirement Review (CSR/SRR), Preliminary Design Review (PDR), as mission specific peculiarities that impact cost may not be well understood. In addition, a methodology generally used to develop Phase E cost is engineering build-up, also known as “ grass roots” . Phase E can include cost and schedule risks that are not anticipated at the time of the major milestone reviews prior to launch. If not incorporated into the engineering build-up cost method for Phase E, this may translate into an estimation of the complexity of operations and overall cost estimates that are not mature and at worse, insufficient. As a result, projects may find themselves with thin reserves during cruise and on-orbit operations or project overruns prior to the end of mission. This paper examines a set of interplanetary missions in an effort to better understand the reasons for cost and staffing growth in Phase E. The method used in the study is discussed as well as the major findings summarized as the Phase E Explanation of Change (EoC). Research for the study entailed the review of project materials, including Estimates at Completion (EAC) for Phase E and staffing profiles, major project milestone reviews, e.g., CSR, PDR, Critical Design Review (CDR), the interviewing of select project and mission management, and review of Phase E replan materials. From this work, a detai- ed

  8. Miniature GC-Minicell Ion Mobility Spectrometer (IMS) for In Situ Measurements in Astrobiology Planetary Missions

    Science.gov (United States)

    Kojiro, Daniel R.; Stimac, Robert M.; Kaye, William J.; Holland, Paul M.; Takeuchi, Norishige

    2006-01-01

    Astrobiology flight experiments require highly sensitive instrumentation for in situ analysis of volatile chemical species and minerals present in the atmospheres and surfaces of planets, moons, and asteroids. The complex mixtures encountered place a heavy burden on the analytical instrumentation to detect and identify all species present. The use of land rovers and balloon aero-rovers place additional emphasis on miniaturization of the analytical instrumentation. In addition, smaller instruments, using tiny amounts of consumables, allow the use of more instrumentation and/or ionger mission life for stationary landers/laboratories. The miniCometary Ice and Dust Experiment (miniCIDEX), which combined Gas Chromatography (GC) with helium Ion Mobility Spectrometry (IMS), was capable of providing the wide range of analytical information required for Astrobiology missions. The IMS used here was based on the PCP model 111 IMS. A similar system, the Titan Ice and Dust Experiment (TIDE), was proposed as part of the Titan Orbiter Aerorover Mission (TOAM). Newer GC systems employing Micro Electro- Mechanical System (MEMS) based technology have greatly reduced both the size and resource requirements for space GCs. These smaller GCs, as well as the continuing miniaturization of Astrobiology analytical instruments in general, has highlighted the need for smaller, dry helium IMS systems. We describe here the development of a miniature, MEMS GC-IMS system (MEMS GC developed by Thorleaf Research Inc.), employing the MiniCell Ion Mobility Spectrometer (IMS), from Ion Applications Inc., developed through NASA's Astrobiology Science and Technology Instrument Development (ASTID) Program and NASA s Small Business Innovative Research (SBIR) Program.

  9. Minimal support technology and in situ resource utilization for risk management of planetary spaceflight missions

    Science.gov (United States)

    Murphy, K. L.; Rygalov, V. Ye.; Johnson, S. B.

    2009-04-01

    All artificial systems and components in space degrade at higher rates than on Earth, depending in part on environmental conditions, design approach, assembly technologies, and the materials used. This degradation involves not only the hardware and software systems but the humans that interact with those systems. All technological functions and systems can be expressed through functional dependence: [Function]˜[ERU]∗[RUIS]∗[ISR]/[DR];where [ERU]efficiency (rate) of environmental resource utilization[RUIS]resource utilization infrastructure[ISR]in situ resources[DR]degradation rateThe limited resources of spaceflight and open space for autonomous missions require a high reliability (maximum possible, approaching 100%) for system functioning and operation, and must minimize the rate of any system degradation. To date, only a continuous human presence with a system in the spaceflight environment can absolutely mitigate those degradations. This mitigation is based on environmental amelioration for both the technology systems, as repair of data and spare parts, and the humans, as exercise and psychological support. Such maintenance now requires huge infrastructures, including research and development complexes and management agencies, which currently cannot move beyond the Earth. When considering what is required to move manned spaceflight from near Earth stations to remote locations such as Mars, what are the minimal technologies and infrastructures necessary for autonomous restoration of a degrading system in space? In all of the known system factors of a mission to Mars that reduce the mass load, increase the reliability, and reduce the mission’s overall risk, the current common denominator is the use of undeveloped or untested technologies. None of the technologies required to significantly reduce the risk for critical systems are currently available at acceptable readiness levels. Long term interplanetary missions require that space programs produce a craft

  10. Planetary rover robotics experiment in education: carbonate rock collecting experiment of the Husar-5 rover

    Science.gov (United States)

    Szalay, Kristóf; Lang, Ágota; Horváth, Tamás; Prajczer, Péter; Bérczi, Szaniszló

    2013-04-01

    Introduction: The new experiment for the Husar-5 educational space probe rover consists of steps of the technology of procedure of finding carbonate speci-mens among the rocks on the field. 3 main steps were robotized: 1) identification of carbonate by acid test, 2) measuring the gases liberated by acid, and 3) magnetic test. Construction of the experiment: The basis of the robotic realization of the experiment is a romote-controlled rover which can move on the field. Onto this rover the mechanism of the experiments were built from Technics LEGO elements and we used LEGO-motors for making move these experiments. The operation was coordinated by an NXT-brick which was suitable to programming. Fort he acetic-test the drops should be passed to the selected area. Passing a drop to a locality: From the small holder of the acid using densified gas we pump some drop onto the selected rock. We promote this process by pumpig the atmospheric gas into another small gas-container, so we have another higher pressure gas there. This is pumped into the acid-holder. The effect of the reaction is observed by a wireless onboard camera In the next step we can identify the the liberated gas by the gas sensor. Using it we can confirm the liberation of the CO2 gas without outer observer. The third step is the controll of the paramagnetic properties.. In measuring this feature a LEGO-compass is our instrumentation. We use a electric current gener-ated magnet. During the measurements both the coil and the gas-sensor should be positioned to be near to the surface. This means, that a lowering and an uplifting machinery should be constructed. Summary: The sequence of the measurement is the following. 1) the camera - after giving panorama images - turns toward the soil surface, 2) the dropping onto the rock surface 3) at the same time the gas-sensor starts to move down above the rock 4) the compass sensor also moves down on the arm which holds both the gas-sensor and the compass-sensor 5

  11. Computational needs survey of NASA automation and robotics missions. Volume 2: Appendixes

    Science.gov (United States)

    Davis, Gloria J.

    1991-01-01

    NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is the fact that mission computing requirements are frequency unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. Here, NASA, industry and academic communities are provided with a preliminary set of advanced mission computational processing requirements of automation and robotics (A and R) systems. The results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implemented capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Here, appendixes are provided.

  12. Computational needs survey of NASA automation and robotics missions. Volume 1: Survey and results

    Science.gov (United States)

    Davis, Gloria J.

    1991-01-01

    NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is that mission computing requirements are frequently unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. A preliminary set of advanced mission computational processing requirements of automation and robotics (A&R) systems are provided for use by NASA, industry, and academic communities. These results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implementation capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Volume one includes the survey and results. Volume two contains the appendixes.

  13. Miniature GC: Minicell ion mobility spectrometer (IMS) for astrobiology planetary missions

    Science.gov (United States)

    Kojiro, Daniel R.; Holland, Paul M.; Stimac, Robert M.; Kaye, William J.; Takeuchi, Norishige

    2006-01-01

    Astrobiology flight experiments require highly sensitive instrumentation for in situ analysis of volatile chemical species and minerals present in the atmospheres and surfaces of planets, moons, and asteroids. The complex mixtures encountered place a heavy burden on the analytical instrumentation to detect and identify all species present. The use of land rovers and balloon aero-rovers place additional emphasis on miniaturization of the analytical instrumentation. In addition, smaller instruments, using tiny amounts of consumables, allow the use of more instrumentation and/or longer mission life for stationary landers/laboratories. We describe here the development of a miniature GC - Minicell Ion Mobility Spectrometer (IMS) under development through NASA's Astrobiology Science and Technology Instrument Development (ASTID) Program and NASA's Small Business Innovative Research (SBIR) Program.

  14. Field Tested Service Oriented Robotic Architecture: Case Study

    Science.gov (United States)

    Flueckiger, Lorenzo; Utz, Hanz

    2012-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

  15. Correlations Between Life-Detection Techniques and Implications for Sampling Site Selection in Planetary Analog Missions

    Science.gov (United States)

    Gentry, Diana M.; Amador, Elena S.; Cable, Morgan L.; Chaudry, Nosheen; Cullen, Thomas; Jacobsen, Malene B.; Murukesan, Gayathri; Schwieterman, Edward W.; Stevens, Adam H.; Stockton, Amanda; Tan, George; Yin, Chang; Cullen, David C.; Geppert, Wolf

    2017-10-01

    We conducted an analog sampling expedition under simulated mission constraints to areas dominated by basaltic tephra of the Eldfell and Fimmvörðuháls lava fields (Iceland). Sites were selected to be "homogeneous" at a coarse remote sensing resolution (10-100 m) in apparent color, morphology, moisture, and grain size, with best-effort realism in numbers of locations and replicates. Three different biomarker assays (counting of nucleic-acid-stained cells via fluorescent microscopy, a luciferin/luciferase assay for adenosine triphosphate, and quantitative polymerase chain reaction (qPCR) to detect DNA associated with bacteria, archaea, and fungi) were characterized at four nested spatial scales (1 m, 10 m, 100 m, and >1 km) by using five common metrics for sample site representativeness (sample mean variance, group F tests, pairwise t tests, and the distribution-free rank sum H and u tests). Correlations between all assays were characterized with Spearman's rank test. The bioluminescence assay showed the most variance across the sites, followed by qPCR for bacterial and archaeal DNA; these results could not be considered representative at the finest resolution tested (1 m). Cell concentration and fungal DNA also had significant local variation, but they were homogeneous over scales of >1 km. These results show that the selection of life detection assays and the number, distribution, and location of sampling sites in a low biomass environment with limited a priori characterization can yield both contrasting and complementary results, and that their interdependence must be given due consideration to maximize science return in future biomarker sampling expeditions.

  16. Robots for Astrobiology!

    Science.gov (United States)

    Boston, Penelope J.

    2016-01-01

    The search for life and its study is known as astrobiology. Conducting that search on other planets in our Solar System is a major goal of NASA and other space agencies, and a driving passion of the community of scientists and engineers around the world. We practice for that search in many ways, from exploring and studying extreme environments on Earth, to developing robots to go to other planets and help us look for any possible life that may be there or may have been there in the past. The unique challenges of space exploration make collaborations between robots and humans essential. The products of those collaborations will be novel and driven by the features of wholly new environments. For space and planetary environments that are intolerable for humans or where humans present an unacceptable risk to possible biologically sensitive sites, autonomous robots or telepresence offer excellent choices. The search for life signs on Mars fits within this category, especially in advance of human landed missions there, but also as assistants and tools once humans reach the Red Planet. For planetary destinations where we do not envision humans ever going in person, like bitterly cold icy moons, or ocean worlds with thick ice roofs that essentially make them planetary-sized ice caves, we will rely on robots alone to visit those environments for us and enable us to explore and understand any life that we may find there. Current generation robots are not quite ready for some of the tasks that we need them to do, so there are many opportunities for roboticists of the future to advance novel types of mobility, autonomy, and bio-inspired robotic designs to help us accomplish our astrobiological goals. We see an exciting partnership between robotics and astrobiology continually strengthening as we jointly pursue the quest to find extraterrestrial life.

  17. Autonomous charging to enable long-endurance missions for small aerial robots

    Science.gov (United States)

    Mulgaonkar, Yash; Kumar, Vijay

    2014-06-01

    The past decade has seen an increased interest towards research involving Autonomous Micro Aerial Vehicles (MAVs). The predominant reason for this is their agility and ability to perform tasks too difficult or dangerous for their human counterparts and to navigate into places where ground robots cannot reach. Among MAVs, rotary wing aircraft such as quadrotors have the ability to operate in confined spaces, hover at a given point in space and perch1 or land on a flat surface. This makes the quadrotor a very attractive aerial platform giving rise to a myriad of research opportunities. The potential of these aerial platforms is severely limited by the constraints on the flight time due to limited battery capacity. This in turn arises from limits on the payload of these rotorcraft. By automating the battery recharging process, creating autonomous MAVs that can recharge their on-board batteries without any human intervention and by employing a team of such agents, the overall mission time can be greatly increased. This paper describes the development, testing, and implementation of a system of autonomous charging stations for a team of Micro Aerial Vehicles. This system was used to perform fully autonomous long-term multi-agent aerial surveillance experiments with persistent station keeping. The scalability of the algorithm used in the experiments described in this paper was also tested by simulating a persistence surveillance scenario for 10 MAVs and charging stations. Finally, this system was successfully implemented to perform a 9½ hour multi-agent persistent flight test. Preliminary implementation of this charging system in experiments involving construction of cubic structures with quadrotors showed a three-fold increase in effective mission time.

  18. Planetary Magnetism

    Science.gov (United States)

    Connerney, J. E. P.

    2007-01-01

    The chapter on Planetary Magnetism by Connerney describes the magnetic fields of the planets, from Mercury to Neptune, including the large satellites (Moon, Ganymede) that have or once had active dynamos. The chapter describes the spacecraft missions and observations that, along with select remote observations, form the basis of our knowledge of planetary magnetic fields. Connerney describes the methods of analysis used to characterize planetary magnetic fields, and the models used to represent the main field (due to dynamo action in the planet's interior) and/or remnant magnetic fields locked in the planet's crust, where appropriate. These observations provide valuable insights into dynamo generation of magnetic fields, the structure and composition of planetary interiors, and the evolution of planets.

  19. Development of miniaturized instrumentation for Planetary Exploration and its application to the Mars MetNet Precursor Mission

    Science.gov (United States)

    Guerrero, Hector

    2010-05-01

    In this communication is presented the current development of some miniaturized instruments developed for Lander and Rovers for Planetary exploration. In particular, we present a magnetometer with resolution below 10 nT and mass in the range of 45 g; a sun irradiance spectral sensor with 10 bands (UV-VIS-near IR) and a mass in the range of 75 g. These are being developed for the Finnish, Russian and Spanish MetNet Mars Precursor Mission, to be launched in 2011 within the Phobos Grunt (Sample Return). The magnetometer (at present at EQM level) has two triaxial magnetometers (based on commercial AMR technologies) that operate in gradiometer configuration. Moreover has inside the box there a triaxial accelerometer to get the gravitational orientation of the magnetometer after its deployment. This unit is being designed to operate under the Mars severe conditions (at night) without any thermal conditioning. The sun irradiance spectral irradiance sensor is composed by individual silicon photodiodes with interference filters on each, and collimators to prevent wavelength shifts due to oblique incidence. In order allow discrimination between direct and diffuse ambient light, the photodiodes are deployed on the top and lateral sides of this unit. The instrument is being optimized for deep UV detection, dust optical depth and Phobos transits. The accuracy for detecting some atmospheric gases traces is under study. Besides, INTA is developing optical wireless link technologies modules for operating on Mars at distances over 1 m, to minimize harness, reduce weight and improve Assembly Integration and Test (AIT) tasks. Actual emitter/receiver modules are below 10 g allowing data transmission rates over 1 Mbps.

  20. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  1. Technology under Planetary Protection Research (PPR)

    Data.gov (United States)

    National Aeronautics and Space Administration — Planetary protection involves preventing biological contamination on both outbound and sample return missions to other planetary bodies. Numerous areas of research...

  2. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  3. Foundations for the post 2030 space economy: Cislunar and lunar infrastructure, Moon Village, Mars and planetary missions as markets.

    Science.gov (United States)

    Beldavs, Vid; Dunlop, David; Crisafulli, Jim; Bernard, Foing

    2016-04-01

    Introduction: The International Lunar Decade (ILD)[1] is a framework for international collaboration from 2020 to 2030 to achieve the ultimate goal in space -- to open the space frontier. Key to opening a frontier is the capacity to "live off the land" through in situ resource utilization (ISRU). Activities in space will remain limited to exploration until ISRU becomes possible on an industrial scale. ISRU, the mining and use of resources on the Moon, asteroids, comets and other cosmic bodies will enable the opening of the space frontier for permanent occupancy and settlement. The capacity for ISRU creates the basis for a space economy where products and services are traded for resources, and increasingly sophisticated products can be produced from mined resources to help sustain life indefinitely. Enabling ISRU will require infrastructure - energy, transportation, and communications systems, as well as navigation, storage and other support services. However, regolith or other lunar/asteroid material will remain regolith until converted to a form useful to customers that will enable the development of markets. NASA's Mars journey, various planetary missions, and emerging operations on the lunar surface and at EML1 and EML2 will provide initial markets for ISRU. This paper will explore a scenario explaining how a self-sustaining space economy can be achieved by 2030, what kind of infrastructure will need to be developed, the role of NASA's Mars Journey in the creation of markets for ISRU, and the role of private-public partnership for financing the various building blocks of a self-sustaining space economy. Also dis-cussed will be the potential for a Moon Village to serve as a formative structure for the nucleation of elements of an emerging space economy, including its potential role as a forum for actors to play a role in the development of governance mechanisms that eventually would enable commercial and industrial development of the Moon. References: [1] Beldavs

  4. Extravehicular Activity and Planetary Protection

    Science.gov (United States)

    Buffington, J. A.; Mary, N. A.

    2015-01-01

    The first human mission to Mars will be the farthest distance that humans have traveled from Earth and the first human boots on Martian soil in the Exploration EVA Suit. The primary functions of the Exploration EVA Suit are to provide a habitable, anthropometric, pressurized environment for up to eight hours that allows crewmembers to perform autonomous and robotically assisted extravehicular exploration, science/research, construction, servicing, and repair operations on the exterior of the vehicle, in hazardous external conditions of the Mars local environment. The Exploration EVA Suit has the capability to structurally interface with exploration vehicles via next generation ingress/egress systems. Operational concepts and requirements are dependent on the mission profile, surface assets, and the Mars environment. This paper will discuss the effects and dependencies of the EVA system design with the local Mars environment and Planetary Protection. Of the three study areas listed for the workshop, EVA identifies most strongly with technology and operations for contamination control.

  5. Super Ball Bot - Structures for Planetary Landing and Exploration, NIAC Phase 2 Final Report

    Science.gov (United States)

    SunSpiral, Vytas; Agogino, Adrian; Atkinson, David

    2015-01-01

    Small, light-weight and low-cost missions will become increasingly important to NASA's exploration goals. Ideally teams of small, collapsible, light weight robots, will be conveniently packed during launch and would reliably separate and unpack at their destination. Such robots will allow rapid, reliable in-situ exploration of hazardous destination such as Titan, where imprecise terrain knowledge and unstable precipitation cycles make single-robot exploration problematic. Unfortunately landing lightweight conventional robots is difficult with current technology. Current robot designs are delicate, requiring a complex combination of devices such as parachutes, retrorockets and impact balloons to minimize impact forces and to place a robot in a proper orientation. Instead we are developing a radically different robot based on a "tensegrity" structure and built purely with tensile and compression elements. Such robots can be both a landing and a mobility platform allowing for dramatically simpler mission profile and reduced costs. These multi-purpose robots can be light-weight, compactly stored and deployed, absorb strong impacts, are redundant against single-point failures, can recover from different landing orientations and can provide surface mobility. These properties allow for unique mission profiles that can be carried out with low cost and high reliability and which minimizes the inefficient dependance on "use once and discard" mass associated with traditional landing systems. We believe tensegrity robot technology can play a critical role in future planetary exploration.

  6. Development of a Deep-Penetrating, Compact Geothermal Heat Flow System for Robotic Lunar Geophysical Missions

    Science.gov (United States)

    Nagihara, Seiichi; Zacny, Kris; Hedlund, Magnus; Taylor, Patrick T.

    2012-01-01

    Geothermal heat flow measurements are a high priority for the future lunar geophysical network missions recommended by the latest Decadal Survey of the National Academy. Geothermal heat flow is obtained as a product of two separate measurements of geothermal gradient and thermal conductivity of the regolith/soil interval penetrated by the instrument. The Apollo 15 and 17 astronauts deployed their heat flow probes down to 1.4-m and 2.3-m depths, respectively, using a rotary-percussive drill. However, recent studies show that the heat flow instrument for a lunar mission should be capable of excavating a 3-m deep hole to avoid the effect of potential long-term changes of the surface thermal environment. For a future robotic geophysical mission, a system that utilizes a rotary/percussive drill would far exceed the limited payload and power capacities of the lander/rover. Therefore, we are currently developing a more compact heat flow system that is capable of 3-m penetration. Because the grains of lunar regolith are cohesive and densely packed, the previously proposed lightweight, internal hammering systems (the so-called moles ) are not likely to achieve the desired deep penetration. The excavation system for our new heat flow instrumentation utilizes a stem which winds out of a pneumatically driven reel and pushes its conical tip into the regolith. Simultaneously, gas jets, emitted from the cone tip, loosen and blow away the soil. Lab tests have demonstrated that this proboscis system has much greater excavation capability than a mole-based heat flow system, while it weighs about the same. Thermal sensors are attached along the stem and at the tip of the penetrating cone. Thermal conductivity is measured at the cone tip with a short (1- to 1.5-cm long) needle sensor containing a resistance temperature detector (RTD) and a heater wire. When it is inserted into the soil, the heater is activated. Thermal conductivity of the soil is obtained from the rate of temperature

  7. High mass resolution, high angular acceptance time-of-flight mass spectroscopy for planetary missions under the Planetary Instrument Definition and Development Program (PIDDP)

    Science.gov (United States)

    Young, David T.

    1991-01-01

    This final report covers three years and several phases of work in which instrumentation for the Planetary Instrument Definition and Development Program (PIDDP) were successfully developed. There were two main thrusts to this research: (1) to develop and test methods for electrostatically scanning detector field-of-views, and (2) to improve the mass resolution of plasma mass spectrometers to M/delta M approximately 25, their field-of-view (FOV) to 360 degrees, and their E-range to cover approximately 1 eV to 50 keV. Prototypes of two different approaches to electrostatic scanning were built and tested. The Isochronous time-of-flight (TOF) and the linear electric field 3D TOF devices were examined.

  8. Restricted by Whom? A Historical Review of Strategies and Organization for Restricted Earth Return of Samples from NASA Planetary Missions

    Science.gov (United States)

    Pugel, Betsy

    2017-01-01

    This presentation is a review of the timeline for Apollo's approach to Planetary Protection, then known as Planetary Quarantine. Return of samples from Apollo 11, 12 and 14 represented NASA's first attempts into conducting what is now known as Restricted Earth Return, where return of samples is undertaken by the Agency with the utmost care for the impact that the samples may have on Earth's environment due to the potential presence of microbial or other life forms that originate from the parent body (in this case, Earth's Moon).

  9. Evaluation of robot deployment in live missions with the military, police, and fire brigade

    Science.gov (United States)

    Lundberg, Carl; Reinhold, Roger; Christensen, Henrik I.

    2007-04-01

    Robots have been successfully deployed within bomb squads all over the world for decades. Recent technical improvements are increasing the prospects to achieve the same benefits also for other high risk professions. As the number of applications increase issues of collaboration and coordination come into question. Can several groups deploy the same type of robot? Can they deploy the same methods? Can resources be shared? What characterizes the different applications? What are the similarities and differences between different groups? This paper reports on a study of four areas in which robots are already, or are about to be deployed: Military Operations in Urban Terrain (MOUT), Military and Police Explosive Ordnance Disposal (EOD), Military Chemical Biological Radiological Nuclear contamination control (CBRN), and Fire Fighting (FF). The aim of the study has been to achieve a general overview across the four areas to survey and compare their similarities and differences. It has also been investigated to what extent it is possible for the them to deploy the same type of robot. It was found that the groups share many requirements, but, that they also have a few individual hard constrains. A comparison across the groups showed the demands of man-portability, ability to access narrow premises, and ability to handle objects of different weight to be decisive; two or three different sizes of robots will be needed to satisfy the need of the four areas.

  10. Space and Planetary Resources

    Science.gov (United States)

    Abbud-Madrid, Angel

    2018-02-01

    The space and multitude of celestial bodies surrounding Earth hold a vast wealth of resources for a variety of space and terrestrial applications. The unlimited solar energy, vacuum, and low gravity in space, as well as the minerals, metals, water, atmospheric gases, and volatile elements on the Moon, asteroids, comets, and the inner and outer planets of the Solar System and their moons, constitute potential valuable resources for robotic and human space missions and for future use in our own planet. In the short term, these resources could be transformed into useful materials at the site where they are found to extend mission duration and to reduce the costly dependence from materials sent from Earth. Making propellants and human consumables from local resources can significantly reduce mission mass and cost, enabling longer stays and fueling transportation systems for use within and beyond the planetary surface. Use of finely grained soils and rocks can serve for habitat construction, radiation protection, solar cell fabrication, and food growth. The same material could also be used to develop repair and replacement capabilities using advanced manufacturing technologies. Following similar mining practices utilized for centuries on Earth, identifying, extracting, and utilizing extraterrestrial resources will enable further space exploration, while increasing commercial activities beyond our planet. In the long term, planetary resources and solar energy could also be brought to Earth if obtaining these resources locally prove to be no longer economically or environmentally acceptable. Throughout human history, resources have been the driving force for the exploration and settling of our planet. Similarly, extraterrestrial resources will make space the next destination in the quest for further exploration and expansion of our species. However, just like on Earth, not all challenges are scientific and technological. As private companies start working toward

  11. Desert Research and Technology Studies (DRATS) 2010 Science Operations: Operational Approaches and Lessons Learned for Managing Science during Human Planetary Surface Missions

    Science.gov (United States)

    Eppler, Dean; Adams, Byron; Archer, Doug; Baiden, Greg; Brown, Adrian; Carey, William; Cohen, Barbara; Condit, Chris; Evans, Cindy; Fortezzo, Corey; hide

    2012-01-01

    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. These activities are designed to exercise planetary surface hardware and operations in conditions where long-distance, multi-day roving is achievable, and they allow NASA to evaluate different mission concepts and approaches in an environment less costly and more forgiving than space.The results from the RATS tests allows election of potential operational approaches to planetary surface exploration prior to making commitments to specific flight and mission hardware development. In previous RATS operations, the Science Support Room has operated largely in an advisory role, an approach that was driven by the need to provide a loose science mission framework that would underpin the engineering tests. However, the extensive nature of the traverse operations for 2010 expanded the role of the science operations and tested specific operational approaches. Science mission operations approaches from the Apollo and Mars-Phoenix missions were merged to become the baseline for this test. Six days of traverse operations were conducted during each week of the 2-week test, with three traverse days each week conducted with voice and data communications continuously available, and three traverse days conducted with only two 1-hour communications periods per day. Within this framework, the team evaluated integrated science operations management using real-time, tactical science operations to oversee daily crew activities, and strategic level evaluations of science data and daily traverse results during a post-traverse planning shift. During continuous communications, both tactical and strategic teams were employed. On days when communications were reduced to only two communications periods per day, only a strategic team was employed. The Science Operations Team found that, if

  12. The development and test of a hydrogen peroxide monopropellant microrocket engine using MEMS technology (spectrometer for planetary missions)

    NARCIS (Netherlands)

    Hebden, R.; Bielby, R.; Baker, A.; Mistry, S.; Köhler, J.; Stenmark, L.; Sanders, H.M.; Moerel, J.L.P.A.; Halswijk, W.H.C.; Rops, C.; Breussin, F.N.; Lang, M.

    2005-01-01

    Given the present, relatively limited deployment of low cost and mass space missions, there are clear opportunities for the application of small-scale propulsion systems in further enabling these small satellite missions. With this situation in mind, a team comprising ASTC, SSTL, TNO and QinetiQ –

  13. Sealed Planetary Return Canister (SPRC), Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Sample return missions have primary importance in future planetary missions. A basic requirement is that samples be returned in pristine, uncontaminated condition,...

  14. Global Optimization of Interplanetary Missions with, Hybrid Propulsion, Multi-Stage Spacecraft, Aerocapture, and Planetary Atmospheric Probes

    Data.gov (United States)

    National Aeronautics and Space Administration — The purpose of this IRAD is to expand the capability of Goddard’s interplanetary trajectory preliminary design tool, the Evolutionary Mission Trajectory Generator...

  15. Robotics

    Indian Academy of Sciences (India)

    netic induction to detect an object. The development of ... end effector, inclination of object, magnetic and electric fields, etc. The sensors described ... In the case of a robot, the various actuators and motors have to be modelled. The major ...

  16. Human and Robotic Space Mission Use Cases for High-Performance Spaceflight Computing

    Science.gov (United States)

    Some, Raphael; Doyle, Richard; Bergman, Larry; Whitaker, William; Powell, Wesley; Johnson, Michael; Goforth, Montgomery; Lowry, Michael

    2013-01-01

    Spaceflight computing is a key resource in NASA space missions and a core determining factor of spacecraft capability, with ripple effects throughout the spacecraft, end-to-end system, and mission. Onboard computing can be aptly viewed as a "technology multiplier" in that advances provide direct dramatic improvements in flight functions and capabilities across the NASA mission classes, and enable new flight capabilities and mission scenarios, increasing science and exploration return. Space-qualified computing technology, however, has not advanced significantly in well over ten years and the current state of the practice fails to meet the near- to mid-term needs of NASA missions. Recognizing this gap, the NASA Game Changing Development Program (GCDP), under the auspices of the NASA Space Technology Mission Directorate, commissioned a study on space-based computing needs, looking out 15-20 years. The study resulted in a recommendation to pursue high-performance spaceflight computing (HPSC) for next-generation missions, and a decision to partner with the Air Force Research Lab (AFRL) in this development.

  17. Goal driven kinematic simulation of flexible arm robot for space station missions

    Science.gov (United States)

    Janssen, P.; Choudry, A.

    1987-01-01

    Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

  18. In-Space Propulsion Engine Architecture based on Sublimation of Planetary Resources: From Exploration Robots to NEO Mitigation

    Data.gov (United States)

    National Aeronautics and Space Administration — The sources of power used for deep space probe missions are usually derived from either solar panels for electrical energy, radioisotope thermal generators for...

  19. Adaptive Resource Estimation and Visualization for Planning Robotic Missions, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need...

  20. Adaptive Resource Estimation and Visualization for Planning Robotic Missions, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need...

  1. China's roadmap for planetary exploration

    Science.gov (United States)

    Wei, Yong; Yao, Zhonghua; Wan, Weixing

    2018-05-01

    China has approved or planned a string of several space exploration missions to be launched over the next decade. A new generation of planetary scientists in China is playing an important role in determining the scientific goals of future missions.

  2. Advanced Russian Mission Laplace-P to Study the Planetary System of Jupiter: Scientific Goals, Objectives, Special Features and Mission Profile

    Science.gov (United States)

    Martynov, M. B.; Merkulov, P. V.; Lomakin, I. V.; Vyatlev, P. A.; Simonov, A. V.; Leun, E. V.; Barabanov, A. A.; Nasyrov, A. F.

    2017-12-01

    The advanced Russian project Laplace-P is aimed at developing and launching two scientific spacecraft (SC)— Laplace-P1 ( LP1 SC) and Laplace-P2 ( LP2 SC)—designed for remote and in-situ studies of the system of Jupiter and its moon Ganymede. The LP1 and LP2 spacecraft carry an orbiter and a lander onboard, respectively. One of the orbiter's objectives is to map the surface of Ganymede from the artificial satellite's orbit and to acquire the data for the landing site selection. The main objective of the lander is to carry out in-situ investigations of Ganymede's surface. The paper describes the scientific goals and objectives of the mission, its special features, and the LP1 and LP2 mission profiles during all of the phases—from the launch to the landing on the surface of Ganymede.

  3. Robotic Technology Efforts at the NASA/Johnson Space Center

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

    The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

  4. MgB2 thin-film bolometer for applications in far-infrared instruments on future planetary missions

    International Nuclear Information System (INIS)

    Lakew, B.; Aslam, S.; Brasunas, J.; Cao, N.; Costen, N.; La, A.; Nguyen, L.; Stevenson, T.; Waczynski, A.

    2012-01-01

    A SiN membrane based MgB 2 thin-film bolometer, with a non-optimized absorber, has been fabricated that shows an electrical noise equivalent power of 2.56 × 10 -13 W/√Hz operating at 30 Hz and a responsivity of 702 kV/W. It is predicted that with the inclusion of a gold black absorber that an optical specific detectivity of 8.3 × 10 10 cm/√Hz/W at an operational frequency of 10 Hz, can be realized for integration into future planetary exploration instrumentation where high sensitivity is required in the 17-250 μm spectral wavelength range.

  5. Mars Sample Return as a Feed-Forward into Planetary Protection for Crewed Missions to the Martian Surface

    Science.gov (United States)

    Spry, J. A.; Siegel, B.

    2018-04-01

    PP implementation is a required part of crewed exploration of Mars. Determining how PP is achieved is contingent on improved knowledge of Mars, best obtained in part by analysis of martian material of known provenance, as part of a Mars Sample Return mission.

  6. Study and validation of a gamma-ray spectrometer for the remote analysis of the chemical composition of planetary surfaces: application to a mission to the planet Mercury

    International Nuclear Information System (INIS)

    Pirard, B.

    2006-12-01

    This work deals with the design of a gamma-ray spectrometer for the remote analysis of the chemical composition of planetary surfaces and was performed in the frame of a mission scenario to explore the planet Mercury. The research studies consisted first in characterizing the detection performances of a gamma-ray spectrometer using a high-purity germanium crystal cooled actively at cryogenic temperatures. The high energy resolution of the detector allows an accurate measurement of the chemical composition for the main elements from oxygen to uranium. Thereafter the studies dealt with the critical issues addressed for the use of such a detector onboard a mission to the inner solar system. The radiation damage caused by solar protons in germanium crystals was investigated by experimental and numerical means. It has been shown that the detector resolution begins getting damaged for proton fluences over 5*10 8 p/cm 2 . An annealing session where the crystal is heated up to 80 C degrees for a 4-day period allows the detector to get back a sufficient resolution. Annealing over 100 C degrees gives back the detector its initial resolution. Finally, a numerical thermal model of the instrument as well as some tests on a thermal mockup were performed to validate the thermal design of the instrument

  7. Conformal Ablative Thermal Protection System for Planetary and Human Exploration Missions:An Overview of the Technology Maturation Effort

    Science.gov (United States)

    Beck, Robin A S.; Arnold, James O.; Gasch, Matthew J.; Stackpoole, Margaret M.; Prabhu, Dinesh K.; Szalai, Christine E.; Wercinski, Paul F.; Venkatapathy, Ethiraj

    2013-01-01

    The Office of Chief Technologist, NASA identified the need for research and technology development in part from NASAs Strategic Goal 3.3 of the NASA Strategic Plan to develop and demonstrate the critical technologies that will make NASAs exploration, science, and discovery missions more affordable and more capable. Furthermore, the Game Changing Development Program is a primary avenue to achieve the Agencys 2011 strategic goal to Create the innovative new space technologies for our exploration, science, and economic future. The National Research Council (NRC) Space Technology Roadmaps and Priorities report highlights six challenges and they are: Mass to Surface, Surface Access, Precision Landing, Surface Hazard Detection and Avoidance, Safety and Mission Assurance, and Affordability. In order for NASA to meet these challenges, the report recommends immediate focus on Rigid and Flexible Thermal Protection Systems. Rigid TPS systems such as Avcoat or SLA are honeycomb based and PICA is in the form of tiles. The honeycomb systems are manufactured using techniques that require filling of each (38 cell) by hand, and in a limited amount of time all of the cells must be filled and the heatshield must be cured. The tile systems such as PICA pose a different challenge as the low strain-to-failure and manufacturing size limitations require large number of small tiles with gap-fillers between the tiles. Recent investments in flexible ablative systems have given rise to the potential for conformal ablative TPS. A conformal TPS over a rigid aeroshell has the potential to solve a number of challenges faced by traditional rigid TPS materials. The high strain-to-failure nature of the conformal ablative materials will allow integration of the TPS with the underlying aeroshell structure much easier and enable monolithic-like configuration and larger segments (or parts) to be used. By reducing the overall part count, the cost of installation (based on cost comparisons between blanket

  8. MgB2 Thin-Film Bolometer for Applications in Far-Infrared Instruments on Future Planetary Missions

    Science.gov (United States)

    Lakew, B.; Aslam, S.; Brasunas, J.; Cao, N.; Costen, N.; La, A.; Stevenson, T.; Waczynski, A.

    2012-01-01

    A SiN membrane based MgB2 thin-film bolometer, with a non-optimized absorber, has been fabricated that shows an electrical noise equivalent power of 256 fW/square root Hz operating at 30 Hz in the 8.5 - 12.35 micron spectral bandpass. This value corresponds to an electrical specific detectivity of 7.6 x 10(exp 10) cm square root Hz/W. The bolometer shows a measured blackbody (optical) specific detectivity of 8.8 x 10(exp 9) cm square root Hz/W, with a responsivity of 701.5 kV/W and a first-order time constant of 5.2 ms. It is predicted that with the inclusion of a gold black absorber that a blackbody specific detectivity of 6.4 x 10(exp 10) cm/square root Hz/W at an operational frequency of 10 Hz, can be realized for integration into future planetary exploration instrumentation where high sensitivity is required in the 17 - 250 micron spectral wavelength range.

  9. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  10. VizieR Online Data Catalog: Planetary candidates from 1st yr K2 mission (Vanderburg+, 2016)

    Science.gov (United States)

    Vanderburg, A.; Latham, D. W.; Buchhave, L. A.; Bieryla, A.; Berlind, P.; Calkins, M. L.; Esquerdo, G. A.; Welsh, S.; Johnson, J. A.

    2016-02-01

    During Campaign 0, K2 observed a field centered at RAJ2000=06:33:11.14,DEJ2000=+21:35:16.40, for a period of 80 days between March and May of 2014. During Campaign 1, K2 observed a field centered at RAJ2000=11:35:45.51,DEJ2000=+01:25:02.28 for 83 days between June and August of 2014. Field 2 of the K2 mission is centered at RAJ2000=16:24:30.34,DEJ2000=-22:26:50.28, and was observed for 79 days between 2014 August and November. Field 3 of the K2 mission is centered at RAJ2000=22:26:39.68,DEJ2000=-11:05:47.99, and was observed for 69 days between 2014 November and 2015 February. We observed 68 stars with the high-resolution Tillinghast Reflector Echelle Spectrograph (TRES; on the 1.5m telescope at Fred L. Whipple Observatory (FLWO) on Mt. Hopkins, Arizona; R=44000) at least once, collecting a total of 101 spectra, and extracted the spectra using the procedure described in Buchhave et al. (2010, J/ApJ/720/1118). See tables 3 and 4. (4 data files).

  11. Human missions to Mars: issues and challenges

    Science.gov (United States)

    Race, M.; Kminek, G.

    Recent announcements of the planned future human exploration of Mars by both European and US space agencies have raised a host of questions and challenges that must be addressed in advance of long-duration human missions. While detailed mission planning is a long way off, numerous issues can already be identified in the broad context of planetary protection. In this session, a panel of experts will provide brief overviews of the types of challenges ahead, such as the protection of the martian environment; the integration of human and robotic mission elements and operations; precursor scientific information necessary to plan human missions; development and use of nuclear and other technologies for the protection and support of astronauts during the mission; protection of Earth upon return; and societal and ethical questions about human exploration. The session has been designed to encourage and incorporate audience participation in the discussion about the issues and challenges ahead.

  12. Robotic exploration of the solar system

    CERN Document Server

    Ulivi, Paolo

    In Robotic Exploration of the Solar System, Paolo Ulivi and David Harland provide a comprehensive account of the design and managment of deep-space missions, the spacecraft involved - some flown, others not - their instruments, and their scientific results. This third volume in the series covers launches in the period 1997 to 2003 and features: - a chapter entirely devoted to the Cassini-Huygens mission to Saturn; - coverage of planetary missions of the period, including the Deep Space 1 mission and the Stardust and Hayabusa sample returns from comets and asteroids; - extensive coverage of Mars exploration, the failed 1999 missions, Mars Odyssey, Mars Express, and the twin rovers Spirit and Opportunity. The story will continue in Part 4.

  13. Sustaining PICA for Future NASA Robotic Science Missions Including NF-4 and Discovery

    Science.gov (United States)

    Stackpoole, Mairead; Venkatapathy, Ethiraj; Violette, Steve

    2018-01-01

    Phenolic Impregnated Carbon Ablator (PICA), invented in the mid 1990's, is a low-density ablative thermal protection material proven capable of meeting sample return mission needs from the moon, asteroids, comets and other unrestricted class V destinations as well as for Mars. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flag-ship class missions. It is important that NASA maintain this thermal protection material capability and ensure its availability for future NASA use. The rayon based carbon precursor raw material used in PICA preform manufacturing has experienced multiple supply chain issues and required replacement and requalification at least twice in the past 25 years and a third substitution is now needed. The carbon precursor replacement challenge is twofold - the first involves finding a long-term replacement for the current rayon and the second is to assess its future availability periodically to ensure it is sustainable and be alerted if additional replacement efforts need to be initiated. This paper reviews current PICA sustainability activities to identify a rayon replacement and to establish that the capability of the new PICA derived from an alternative precursor is in family with previous versions.

  14. Measurements in Vacuum of the Complex Permittivity of Planetary Regolith Analog Materials in Support of the OSIRIS-REx Mission

    Science.gov (United States)

    Boivin, A.; Hickson, D. C.; Cunje, A.; Tsai, C. A.; Ghent, R. R.; Daly, M. G.

    2017-12-01

    In preparation for the OSIRIS-REx sample return mission, ground based radar data have been used to help characterize the carbonaceous asteroid (101955) Bennu as well as to produce a 3-D shape model. Radar data have also been used to derive the near-surface bulk density of the asteroid, a key engineering factor for sample acquisition and return. The relationship between radar albedo and bulk density of the nearsurface depends on the relative permittivity of the material, in this case regolith. The relative permittivity is complex such that ɛ r = ɛ r' + i ɛ r'', where ɛ r' is the dielectric constant and ɛ r'' is the loss factor. Laboratory permittivity measurements have been made in the past on a myriad of samples including Earth materials, lunar Apollo and analog samples, Mars soil analog samples, some meteorites, and cometary analog samples in support of the Rosetta mission. These measurements have been made in different frequency bands and in various conditions; however, no measurements to date have systematically explored the effect of changes in mineralogy on the complex permittivity, and particularly the loss tangent (tanδ , the ratio of ɛ r'' to ɛ r'). The loss tangent controls the absorption of the signal by the material. Continuing our investigation of the effects of mineralogy on these properties, we will present for the first time results of complex permittivity measurements of the UCF/DSI-CI-2 CI asteroid regolith simulant produced by Deep Space Industries Inc. The simulant is mineralogically similar to the CI meteorite Orgueil. CI meteorites are the most spectrally similar meteorites to (101955) Bennu. Since the simulant has been provided to us un-mixed, several sub-samples will be created containing different amounts of carbon, thus allowing us to systematically investigate the effects of carbon content on the permittivity. In order to remove moisture from our samples, powders are baked at 250°C for 48hrs prior to being loaded into a coaxial

  15. Aerothermal Instrumentation Loads To Implement Aeroassist Technology in Future Robotic and Human Missions to MARS and Other Locations Within the Solar System

    Science.gov (United States)

    Parmar, Devendra S.; Shams, Qamar A.

    2002-01-01

    The strategy of NASA to explore space objects in the vicinity of Earth and other planets of the solar system includes robotic and human missions. This strategy requires a road map for technology development that will support the robotic exploration and provide safety for the humans traveling to other celestial bodies. Aeroassist is one of the key elements of technology planning for the success of future robot and human exploration missions to other celestial bodies. Measurement of aerothermodynamic parameters such as temperature, pressure, and acceleration is of prime importance for aeroassist technology implementation and for the safety and affordability of the mission. Instrumentation and methods to measure such parameters have been reviewed in this report in view of past practices, current commercial availability of instrumentation technology, and the prospects of improvement and upgrade according to the requirements. Analysis of the usability of each identified instruments in terms of cost for efficient weight-volume ratio, power requirement, accuracy, sample rates, and other appropriate metrics such as harsh environment survivability has been reported.

  16. Broadband permittivity measurements on porous planetary regoliths simulants, in relation with the Rosetta mission to 67P/C-G

    Science.gov (United States)

    Brouet, Yann; Levasseur-Regourd, Anny-Chantal; Encrenaz, Pierre; Sabouroux, Pierre; Heggy, Essam; Kofman, Wlodek; Thomas, Nick

    2015-04-01

    The Rosetta mission has successfully rendezvous comet 67P/Churyumov-Gerasimenko (hereafter 67P) last year and landed Philae module on its nucleus on 12 November it 2014. Among instruments onboard Rosetta, MIRO [1], composed of two radiometers, with receivers at 190 GHz and 563 GHz (center-band), is dedicated to the measurements of the subsurface and surface brightness temperatures. These values depend on the complex relative permittivity (hereafter permittivity) with ɛ' and ɛ'' the real and imaginary parts. The permittivity of the material depends on frequency, bulk density/porosity, composition and temperature [2]. Considering the very low bulk density of 67P nucleus (about 450 kg.m-3 [3]) and the suspected presence of a dust mantle in many areas of the nucleus [4], investigations on the permittivity of porous granular samples are needed to support the interpretation of MIRO data, as well as of other microwave experiments onboard Rosetta, e.g. CONSERT [5], a bistatic penetrating radar working at 90 MHz. We have developed a programme of permittivity measurements on porous granular samples over a frequency range from 50 MHz to 190 GHz under laboratory conditions (e.g. [6] and [7]). We present new results obtained on JSC-1A lunar soil simulant and ashes from Etna. The samples were split into several sub-samples with different size ranges covering a few to 500 μm. Bulk densities of the sub-samples were carefully measured and found to be in the 800-1400 kg.m-3 range. Sub-samples were also dried and volumetric moisture content was found to be below 0.6%. From 50 MHz to 6 GHz and at 190 GHz, the permittivity has been determined, respectively with a coaxial cell and with a quasi-optical bench mounted in transmission, both connected to a vector network analyzer. The results demonstrate the dispersive behaviours of ɛ' between 50 MHz and 190 GHz. Values of ɛ' remain within the 3.9-2.6 range for all sub-samples. At CONSERT frequency, ɛ'' is within the 0.01-0.09 range

  17. The HORUS Observatory - A Next Generation 2.4m UV-Optical Mission To Study Planetary, Stellar And Galactic Formation

    Science.gov (United States)

    Scowen, Paul A.; SDT, HORUS

    2013-01-01

    The High-ORbit Ultraviolet-visible Satellite (HORUS) is a 2.4-meter class UV-optical space telescope that will conduct a comprehensive and systematic study of the astrophysical processes and environments relevant for the births and life cycles of stars and their planetary systems, to investigate and understand the range of environments, feedback mechanisms, and other factors that most affect the outcome of the star and planet formation process. To do so, HORUS will provide 100 times greater imaging efficiency and more than 10 times greater UV spectroscopic sensitivity than has existed on the Hubble Space Telescope (HST). The HORUS mission will contribute vital information on how solar systems form and whether habitable planets should be common or rare. It also will investigate the structure, evolution, and destiny of galaxies and universe. This program relies on focused capabilities unique to space that no other planned NASA mission will provide: near-UV/visible (200-1075nm) wide-field, diffraction-limited imaging; and high-sensitivity, high-resolution UV (100-170nm) spectroscopy. The core HORUS design will provide wide field of view imagery and high efficiency point source FUV spectroscopy using a novel combination of spectral selection and field sharing. The HORUS Optical Telescope Assembly (OTA) design is based on modern light weight mirror technology with a faster primary mirror to shorten the overall package and thereby reduce mass. The OTA uses a three-mirror anastigmat configuration to provide excellent imagery over a large FOV - and is exactly aligned to use one of the recently released f/1.2 NRO OTAs as part of its design. The UV/optical Imaging Cameras use two 21k x 21k Focal Plane Arrays (FPAs). The FUV spectrometer uses cross strip anode based MCPs. This poster presents results from a 2010 design update requested by the NRC Decadal Survey, and reflects updated costs and technology to the original 2004 study. It is now one of the most mature 2.4m UVOIR

  18. Conformal Ablative Thermal Protection System for Planetary and Human Exploration Missions: Overview of the Technology Maturation Efforts Funded by NASA's Game Changing Development Program

    Science.gov (United States)

    Beck, Robin A.; Arnold, James O.; Gasch, Matthew J.; Stackpoole, Margaret M.; Fan, Wendy; Szalai, Christine E.; Wercinski, Paul F.; Venkatapathy, Ethiraj

    2012-01-01

    The Office of Chief Technologist (OCT), NASA has identified the need for research and technology development in part from NASA's Strategic Goal 3.3 of the NASA Strategic Plan to develop and demonstrate the critical technologies that will make NASA's exploration, science, and discovery missions more affordable and more capable. Furthermore, the Game Changing Development Program (GCDP) is a primary avenue to achieve the Agency's 2011 strategic goal to "Create the innovative new space technologies for our exploration, science, and economic future." In addition, recently released "NASA space Technology Roadmaps and Priorities," by the National Research Council (NRC) of the National Academy of Sciences stresses the need for NASA to invest in the very near term in specific EDL technologies. The report points out the following challenges (Page 2-38 of the pre-publication copy released on February 1, 2012): Mass to Surface: Develop the ability to deliver more payload to the destination. NASA's future missions will require ever-greater mass delivery capability in order to place scientifically significant instrument packages on distant bodies of interest, to facilitate sample returns from bodies of interest, and to enable human exploration of planets such as Mars. As the maximum mass that can be delivered to an entry interface is fixed for a given launch system and trajectory design, the mass delivered to the surface will require reduction in spacecraft structural mass; more efficient, lighter thermal protection systems; more efficient lighter propulsion systems; and lighter, more efficient deceleration systems. Surface Access: Increase the ability to land at a variety of planetary locales and at a variety of times. Access to specific sites can be achieved via landing at a specific location (s) or transit from a single designated landing location, but it is currently infeasible to transit long distances and through extremely rugged terrain, requiring landing close to the

  19. Sample Return Robot

    Data.gov (United States)

    National Aeronautics and Space Administration — This Challenge requires demonstration of an autonomous robotic system to locate and collect a set of specific sample types from a large planetary analog area and...

  20. An Interactive Astronaut-Robot System with Gesture Control

    Directory of Open Access Journals (Sweden)

    Jinguo Liu

    2016-01-01

    Full Text Available Human-robot interaction (HRI plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM is employed to recognize hand gestures and particle swarm optimization (PSO algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL have been selected and used to test and validate the performance of the proposed system.

  1. Robotics Algorithms Provide Nutritional Guidelines

    Science.gov (United States)

    2009-01-01

    On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

  2. Subsurface Prospecting by Planetary Drones, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed program innovates subsurface prospecting by planetary drones to seek a solution to the difficulty of robotic prospecting, sample acquisition, and sample...

  3. Considering the Ethical Implications of Space Exploration and Potential Impacts on Planetary Environments and Possible Indigenous Life

    Science.gov (United States)

    Race, Margaret

    Since the early days of the Outer Space Treaty, a primary concern of planetary protection policy has been to avoid contamination of planetary environments by terrestrial microbes that could compromise current or subsequent scientific investigations, particularly those searching for indigenous life. Over the past decade robotic missions and astrobiological research have greatly increased our understanding of diverse planetary landscapes and altered our views about the survivability of terrestrial organisms in extreme environments. They have also expanded notions about the prospect for finding evidence of extraterrestrial life. Recently a number of different groups, including the COSPAR Planetary Protection Workshop in Montreal (January 2008), have questioned whether it is advisable to re-examine current biological planetary protection policy in light of the ethical implications and responsibilities to preserve planetary environments and possible indigenous life. This paper discusses the issues and concerns that have led to recent recommendations for convening an international workshop specifically to discuss planetary protection policy and practices within a broader ethical and practical framework, and to consider whether revisions to policy and practices should be made. In addition to including various international scientific and legal organizations and experts in such a workshop, it will be important to find ways to involve the public in these discussions about ethical aspects of planetary exploration.

  4. A Planetary Park system for the Moon and beyond

    Science.gov (United States)

    Cockell, Charles; Horneck, Gerda

    Deutschland International space exploration programs foresee the establishment of human settlements on the Moon and on Mars within the next decades, following a series of robotic precursor missions. These increasing robotic visits and eventual human exploration and settlements may have an environmental impact on scientifically important sites and sites of natural beauty in the form of contamination with microorganisms and spacecraft parts, or even pollution as a consequence of in situ resource use. This concern has already been reflected in the Moon Treaty, "The Agreement Governing the Activities of States on the Moon and Other Celestial Bodies" of the United Nations, which follows the Outer Space Treaty of the UN. However, so far, the Moon Treaty has not been ratified by any nation which engages in human space programs or has plans to do so. Planetary protection guidelines as formulated by the Committee on Space Research (COSPAR) are based on the Outer Space Treaty and follow the objectives: (i) to prevent contamination by terrestrial microorganisms if this might jeopardize scientific investi-gations of possible extraterrestrial life forms, and (ii) to protect the Earth from the potential hazard posed by extraterrestrial material brought back to the Earth. As a consequence, they group exploratory missions according to the type of mission and target body in five different categories, requesting specific means of cleaning and sterilization. However, the protection of extraterrestrial environments might also encompass ethical and other non-instrumental reasons. In order to allow intense scientific research and exploitation, and on the other hand to preserve regions of the Moon for research and use by future generations, we proposed the introduction of a planetary (or lunar) park system, which would protect areas of scientific, historic and intrinsic value under a common scheme. A similar placePlaceNamePlanetary PlaceTypePark system could be established on Mars well

  5. Planetary nebulae

    International Nuclear Information System (INIS)

    Amnuehl', P.R.

    1985-01-01

    The history of planetary nebulae discovery and their origin and evolution studies is discussed in a popular way. The problem of planetary nebulae central star is considered. The connection between the white-draft star and the planetary nebulae formulation is shown. The experimental data available acknowledge the hypothesis of red giant - planetary nebula nucleus - white-draft star transition process. Masses of planetary nebulae white-draft stars and central stars are distributed practically similarly: the medium mass is close to 0.6Msub(Sun) (Msub(Sun) - is the mass of the Sun)

  6. The Asteroid Redirect Mission (ARM)

    Science.gov (United States)

    Abell, Paul; Gates, Michele; Johnson, Lindley; Chodas, Paul; Mazanek, Dan; Reeves, David; Ticker, Ronald

    2016-07-01

    To achieve its long-term goal of sending humans to Mars, the National Aeronautics and Space Administration (NASA) plans to proceed in a series of incrementally more complex human spaceflight missions. Today, human flight experience extends only to Low-Earth Orbit (LEO), and should problems arise during a mission, the crew can return to Earth in a matter of minutes to hours. The next logical step for human spaceflight is to gain flight experience in the vicinity of the Moon. These cis-lunar missions provide a "proving ground" for the testing of systems and operations while still accommodating an emergency return path to the Earth that would last only several days. Cis-lunar mission experience will be essential for more ambitious human missions beyond the Earth-Moon system, which will require weeks, months, or even years of transit time. In addition, NASA has been given a Grand Challenge to find all asteroid threats to human populations and know what to do about them. Obtaining knowledge of asteroid physical properties combined with performing technology demonstrations for planetary defense provide much needed information to address the issue of future asteroid impacts on Earth. Hence the combined objectives of human exploration and planetary defense give a rationale for the Asteroid Re-direct Mission (ARM). Mission Description: NASA's ARM consists of two mission segments: 1) the Asteroid Redirect Robotic Mission (ARRM), the first robotic mission to visit a large (greater than ~100 m diameter) near-Earth asteroid (NEA), collect a multi-ton boulder from its surface along with regolith samples, demonstrate a planetary defense technique, and return the asteroidal material to a stable orbit around the Moon; and 2) the Asteroid Redirect Crewed Mission (ARCM), in which astronauts will take the Orion capsule to rendezvous and dock with the robotic vehicle, conduct multiple extravehicular activities to explore the boulder, and return to Earth with samples. NASA's proposed

  7. A mission to Mercury and a mission to the moons of Mars

    Science.gov (United States)

    1993-07-01

    Two Advanced Design Projects were completed this academic year at Penn State - a mission to the planet Mercury and a mission to the moons of Mars (Phobos and Deimos). At the beginning of the fall semester the students were organized into six groups and given their choice of missions. Once a mission was chosen, the students developed conceptual designs. These designs were then evaluated at the end of the fall semester and combined into two separate mission scenarios. To facilitate the work required for each mission, the class was reorganized in the spring semester by combining groups to form two mission teams. An integration team consisting of two members from each group was formed for each mission team so that communication and exchange of information would be easier among the groups. The types of projects designed by the students evolved from numerous discussions with Penn State faculty and mission planners at the Lewis Research Center Advanced Projects Office. Robotic planetary missions throughout the solar system can be considered valuable precursors to human visits and test beds for innovative technology. For example, by studying the composition of the Martian moons, scientists may be able to determine if their resources may be used or synthesized for consumption during a first human visit.

  8. Deep Space Gateway Facilitates Exploration of Planetary Crusts: A Human/Robotic Exploration Design Reference Campaign to the Lunar Orientale Basin

    Science.gov (United States)

    Head, J. W.; Pieters, C. M.; Scott, D. R.

    2018-02-01

    We outline an Orientale Basin Human/Robotic Architecture that can be facilitated by a Deep Space Gateway International Science Operations Center (DSG-ISOC) (like McMurdo/Antarctica) to address fundamental scientific problems about the Moon and Mars.

  9. Desert Rats 2011 Mission Simulation: Effects of Microgravity Operational Modes on Fields Geology Capabilities

    Science.gov (United States)

    Bleacher, Jacob E.; Hurtado, J. M., Jr.; Meyer, J. A.

    2012-01-01

    Desert Research and Technology Studies (DRATS) is a multi-year series of NASA tests that deploy planetary surface hardware and exercise mission and science operations in difficult conditions to advance human and robotic exploration capabilities. DRATS 2011 (Aug. 30-Sept. 9, 2011) tested strategies for human exploration of microgravity targets such as near-Earth asteroids (NEAs). Here we report the crew perspective on the impact of simulated microgravity operations on our capability to conduct field geology.

  10. Planetary Radar

    Science.gov (United States)

    Neish, Catherine D.; Carter, Lynn M.

    2015-01-01

    This chapter describes the principles of planetary radar, and the primary scientific discoveries that have been made using this technique. The chapter starts by describing the different types of radar systems and how they are used to acquire images and accurate topography of planetary surfaces and probe their subsurface structure. It then explains how these products can be used to understand the properties of the target being investigated. Several examples of discoveries made with planetary radar are then summarized, covering solar system objects from Mercury to Saturn. Finally, opportunities for future discoveries in planetary radar are outlined and discussed.

  11. Stochastic modeling of a hazard detection and avoidance maneuver—The planetary landing case

    International Nuclear Information System (INIS)

    Witte, Lars

    2013-01-01

    Hazard Detection and Avoidance (HDA) functionalities, thus the ability to recognize and avoid potential hazardous terrain features, is regarded as an enabling technology for upcoming robotic planetary landing missions. In the forefront of any landing mission the landing site safety assessment is an important task in the systems and mission engineering process. To contribute to this task, this paper presents a mathematical framework to consider the HDA strategy and system constraints in this mission engineering aspect. Therefore the HDA maneuver is modeled as a stochastic decision process based on Markov chains to map an initial dispersion at an arrival gate to a new dispersion pattern affected by the divert decision-making and system constraints. The implications for an efficient numerical implementation are addressed. An example case study is given to demonstrate the implementation and use of the proposed scheme

  12. Planetary magnetospheres

    International Nuclear Information System (INIS)

    Hill, T.W.; Michel, F.C.

    1975-01-01

    Recent planetary probes have resulted in the realization of the generality of magnetospheric interactions between the solar wind and the planets. The three categories of planetary magnetospheres are discussed: intrinsic slowly rotating magnetospheres, intrinsic rapidly rotating magnetospheres, and induced magnetospheres. (BJG)

  13. Planetary protection protecting earth and planets against alien microbes

    International Nuclear Information System (INIS)

    Leys, N.

    2006-01-01

    Protecting Earth and planets against the invasion of 'alien life forms' is not military science fiction, but it is the peaceful daily job of engineers and scientists of space agencies. 'Planetary Protection' is preventing microbial contamination of both the target planet and the Earth when sending robots on interplanetary space mission. It is important to preserve the 'natural' conditions of other planets and to not bring with robots 'earthly microbes' (forward contamination) when looking for 'spores of extra terrestrial life'. The Earth and its biosphere must be protected from potential extraterrestrial biological contamination when returning samples of other planets to the Earth (backward contamination). The NASA-Caltech Laboratory for Planetary Protection of Dr. Kasthuri Venkateswaran at the Jet Propulsion Laboratory (JPL) (California, USA) routinely monitors and characterizes the microbes of NASA spacecraft assembly rooms and space robots prior to flight. They have repeatedly isolated Cupriavidus and Ralstonia strains pre-flight from spacecraft assembly rooms (floor and air) and surfaces of space robots such as the Mars Odyssey Orbiter (La Duc et al., 2003). Cupriavidus and Ralstonia strains have also been found in-flight, in ISS cooling water and Shuttle drinking water (Venkateswaran et al., Pyle et al., Ott et al., all unpublished). The main objective of this study is to characterise the Cupriavidus and Ralstonia strains isolated at JPL and compare them to the Cupriavidus metallidurans CH34T model strain, isolated from a Belgian contaminated soil and studied since 25 years at SCK-CEN and to enhance our knowledge by performing additional tests at JPL and gathering information regarding the environmental conditions and the cleaning and isolation methods used in such spacecraft assembling facilities

  14. Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

    Directory of Open Access Journals (Sweden)

    Max Schwarz

    2016-10-01

    Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

  15. Design of Mobility System for Ground Model of Planetary Exploration Rover

    Directory of Open Access Journals (Sweden)

    Younkyu Kim

    2012-12-01

    Full Text Available In recent years, a number of missions have been planned and conducted worldwide on the planets such as Mars, which involves the unmanned robotic exploration with the use of rover. The rover is an important system for unmanned planetary exploration, performing the locomotion and sample collection and analysis at the exploration target of the planetary surface designated by the operator. This study investigates the development of mobility system for the rover ground model necessary to the planetary surface exploration for the benefit of future planetary exploration mission in Korea. First, the requirements for the rover mobility system are summarized and a new mechanism is proposed for a stable performance on rough terrain which consists of the passive suspension system with 8 wheeled double 4-bar linkage (DFBL, followed by the performance evaluation for the mechanism of the mobility system based on the shape design and simulation. The proposed mobility system DFBL was compared with the Rocker-Bogie suspension system of US space agency National Aeronautics and Space Administration and 8 wheeled mobility system CRAB8 developed in Switzerland, using the simulation to demonstrate the superiority with respect to the stability of locomotion. On the basis of the simulation results, a general system configuration was proposed and designed for the rover manufacture.

  16. Planetary Defense

    Science.gov (United States)

    2016-05-01

    4 Abstract Planetary defense against asteroids should be a major concern for every government in the world . Millions of asteroids and...helps make Planetary Defense viable because defending the Earth against asteroids benefits from all the above technologies. So if our planet security...information about their physical characteristics so we can employ the right strategies. It is a crucial difference if asteroids are made up of metal

  17. Europlanet Research Infrastructure: Planetary Simulation Facilities

    Science.gov (United States)

    Davies, G. R.; Mason, N. J.; Green, S.; Gómez, F.; Prieto, O.; Helbert, J.; Colangeli, L.; Srama, R.; Grande, M.; Merrison, J.

    2008-09-01

    . Potential phenomena for study include dust charging, dust magentosphere interactions, dust impact flashes and the possibility of obtaining compositional measurements of impact plasma plumes. Mars surface simulation Laboratory, Aberystwyth University. A Planetary Analogue Terrain Laboratory facilitates comprehensive mission operations emulation experiments designed to interpret and maximise scientific data return from robotic instruments. This facility includes Mars Soil Simulant and `science target' rocks that have been fully characterised. The terrain also has an area for sub-surface sampling. An Access Grid Node allows simulation of remote control operation and diminishes the need for direct onsite attendance. PAT Lab has a large selection of software tools for rover, robot arm and instrument modelling and simulation, and for the processing and visualisation of captured instrument data. Instrument motion is measured using a Vicon motion capture system with a resolution composition & temperature). This includes calibration of wind flow instrumentation and dust sensors.

  18. Automation &robotics for future Mars exploration

    Science.gov (United States)

    Schulte, W.; von Richter, A.; Bertrand, R.

    2003-04-01

    Automation and Robotics (A&R) are currently considered as a key technology for Mars exploration. initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. Kayser-Threde led the study AROMA (Automation &Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals was to define new developments and to maintain the competitiveness of European industry within this field. We present a summary of the A&R study in respect to a particular system: The Autonomous Research Island (ARI). In the Mars exploration scenario initially a robotic outpost system lands at pre-selected sites in order to search for life forms and water and to analyze the surface, geology and atmosphere. A&R systems, i.e. rovers and autonomous instrument packages, perform a number of missions with scientific and technology development objectives on the surface of Mars as part of preparations for a human exploration mission. In the Robotic Outpost Phase ARI is conceived as an automated lander which can perform in-situ analysis. It consists of a service module and a micro-rover system for local investigations. Such a system is already under investigation and development in other TRP activities. The micro-rover system provides local mobility for in-situ scientific investigations at a given landing or deployment site. In the long run ARI supports also human Mars missions. An astronaut crew would travel larger distances in a pressurized rover on Mars. Whenever interesting features on the surface are identified, the crew would interrupt the travel and perform local investigations. In order to save crew time ARI could be deployed by the astronauts to perform time-consuming investigations as for example in-situ geochemistry analysis of rocks/soil. Later, the crew could recover the research island for refurbishment and deployment at another

  19. Mars Technology Program Planetary Protection Technology Development

    Science.gov (United States)

    Lin, Ying

    2006-01-01

    The objectives of the NASA Planetary Protection program are to preserve biological and organic conditions of solar-system bodies for future scientific exploration and to protect the Earth from potential hazardous extraterrestrial contamination. As the exploration of solar system continues, NASA remains committed to the implementation of planetary protection policy and regulations. To fulfill this commitment, the Mars Technology Program (MTP) has invested in a portfolio of tasks for developing necessary technologies to meet planetary protection requirements for the next decade missions.

  20. Extrasolar Planetary Imaging Coronagraph

    Science.gov (United States)

    Clampin, M.

    2007-06-01

    The Extrasolar Planetary Imaging Coronagraph (EPIC) is a proposed NASA Discovery mission to image and characterize extrasolar giant planets in orbits with semi-major axes between 2 and 10 AU. EPIC will provide insights into the physical nature of a variety of planets in other solar systems complimenting radial velocity (RV) and astrometric planet searches. It will detect and characterize the atmospheres of planets identified by radial velocity surveys, determine orbital inclinations and masses, characterize the atmospheres around A and F type stars which cannot be found with RV techniques, and observe the inner spatial structure and colors of debris disks. The robust mission design is simple and flexible ensuring mission success while minimizing cost and risk. The science payload consists of a heritage optical telescope assembly (OTA), and visible nulling coronagraph (VNC) instrument.

  1. Compact Two-step Laser Time-of-Flight Mass Spectrometer for in Situ Analyses of Aromatic Organics on Planetary Missions

    Science.gov (United States)

    Getty, Stephanie; Brickerhoff, William; Cornish, Timothy; Ecelberger, Scott; Floyd, Melissa

    2012-01-01

    RATIONALE A miniature time-of-flight mass spectrometer has been adapted to demonstrate two-step laser desorption-ionization (LOI) in a compact instrument package for enhanced organics detection. Two-step LDI decouples the desorption and ionization processes, relative to traditional laser ionization-desorption, in order to produce low-fragmentation conditions for complex organic analytes. Tuning UV ionization laser energy allowed control ofthe degree of fragmentation, which may enable better identification of constituent species. METHODS A reflectron time-of-flight mass spectrometer prototype measuring 20 cm in length was adapted to a two-laser configuration, with IR (1064 nm) desorption followed by UV (266 nm) postionization. A relatively low ion extraction voltage of 5 kV was applied at the sample inlet. Instrument capabilities and performance were demonstrated with analysis of a model polycyclic aromatic hydrocarbon, representing a class of compounds important to the fields of Earth and planetary science. RESULTS L2MS analysis of a model PAH standard, pyrene, has been demonstrated, including parent mass identification and the onset o(tunable fragmentation as a function of ionizing laser energy. Mass resolution m/llm = 380 at full width at half-maximum was achieved which is notable for gas-phase ionization of desorbed neutrals in a highly-compact mass analyzer. CONCLUSIONS Achieving two-step laser mass spectrometry (L2MS) in a highly-miniature instrument enables a powerful approach to the detection and characterization of aromatic organics in remote terrestrial and planetary applications. Tunable detection of parent and fragment ions with high mass resolution, diagnostic of molecular structure, is possible on such a compact L2MS instrument. Selectivity of L2MS against low-mass inorganic salt interferences is a key advantage when working with unprocessed, natural samples, and a mechanism for the observed selectivity is presented.

  2. The MARS2013 Mars analog mission.

    Science.gov (United States)

    Groemer, Gernot; Soucek, Alexander; Frischauf, Norbert; Stumptner, Willibald; Ragonig, Christoph; Sams, Sebastian; Bartenstein, Thomas; Häuplik-Meusburger, Sandra; Petrova, Polina; Evetts, Simon; Sivenesan, Chan; Bothe, Claudia; Boyd, Andrea; Dinkelaker, Aline; Dissertori, Markus; Fasching, David; Fischer, Monika; Föger, Daniel; Foresta, Luca; Fritsch, Lukas; Fuchs, Harald; Gautsch, Christoph; Gerard, Stephan; Goetzloff, Linda; Gołebiowska, Izabella; Gorur, Paavan; Groemer, Gerhard; Groll, Petra; Haider, Christian; Haider, Olivia; Hauth, Eva; Hauth, Stefan; Hettrich, Sebastian; Jais, Wolfgang; Jones, Natalie; Taj-Eddine, Kamal; Karl, Alexander; Kauerhoff, Tilo; Khan, Muhammad Shadab; Kjeldsen, Andreas; Klauck, Jan; Losiak, Anna; Luger, Markus; Luger, Thomas; Luger, Ulrich; McArthur, Jane; Moser, Linda; Neuner, Julia; Orgel, Csilla; Ori, Gian Gabriele; Paternesi, Roberta; Peschier, Jarno; Pfeil, Isabella; Prock, Silvia; Radinger, Josef; Ramirez, Barbara; Ramo, Wissam; Rampey, Mike; Sams, Arnold; Sams, Elisabeth; Sandu, Oana; Sans, Alejandra; Sansone, Petra; Scheer, Daniela; Schildhammer, Daniel; Scornet, Quentin; Sejkora, Nina; Stadler, Andrea; Stummer, Florian; Taraba, Michael; Tlustos, Reinhard; Toferer, Ernst; Turetschek, Thomas; Winter, Egon; Zanella-Kux, Katja

    2014-05-01

    We report on the MARS2013 mission, a 4-week Mars analog field test in the northern Sahara. Nineteen experiments were conducted by a field crew in Morocco under simulated martian surface exploration conditions, supervised by a Mission Support Center in Innsbruck, Austria. A Remote Science Support team analyzed field data in near real time, providing planning input for the management of a complex system of field assets; two advanced space suit simulators, four robotic vehicles, an emergency shelter, and a stationary sensor platform in a realistic work flow were coordinated by a Flight Control Team. A dedicated flight planning group, external control centers for rover tele-operations, and a biomedical monitoring team supported the field operations. A 10 min satellite communication delay and other limitations pertinent to human planetary surface activities were introduced. The fields of research for the experiments were geology, human factors, astrobiology, robotics, tele-science, exploration, and operations research. This paper provides an overview of the geological context and environmental conditions of the test site and the mission architecture, in particular the communication infrastructure emulating the signal travel time between Earth and Mars. We report on the operational work flows and the experiments conducted, including a deployable shelter prototype for multiple-day extravehicular activities and contingency situations.

  3. Human-Automation Allocations for Current Robotic Space Operations

    Science.gov (United States)

    Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

    2018-01-01

    Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To

  4. Adaptive bio-inspired navigation for planetary exploration, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Exploration of planetary environments with current robotic technologies relies on human control and power-hungry active sensors to perform even the most elementary...

  5. Planetary Magnetism

    International Nuclear Information System (INIS)

    Russell, C.T.

    1980-01-01

    Planetary spacecraft have now probed the magnetic fields of all the terrestrial planets, the moon, Jupiter, and Saturn. These measurements reveal that dynamos are active in at least four of the planets, Mercury, the earth, Jupiter, and Saturn but that Venus and Mars appear to have at most only very weak planetary magnetic fields. The moon may have once possessed an internal dynamo, for the surface rocks are magnetized. The large satellites of the outer solar system are candidates for dynamo action in addition to the large planets themselves. Of these satellites the one most likely to generate its own internal magnetic field is Io

  6. Bringing Terramechanics to bear on Planetary Rover Design

    Science.gov (United States)

    Richter, L.

    2007-08-01

    Thus far, planetary rovers have been successfully operated on the Earth's moon and on Mars. In particular, the two NASA Mars Exploration Rovers (MERs) ,Spirit' and ,Opportunity' are still in sustained daily operations at two sites on Mars more than 3 years after landing there. Currently, several new planetary rover missions are in development targeting Mars (the US Mars Science Lab vehicle for launch in 2009 and ESA's ExoMars rover for launch in 2013), with lunar rover missions under study by China and Japan for launches around 2012. Moreover, the US Constellation program is preparing pre-development of lunar rovers for initially unmanned and, subsequently, human missions to the Moon with a corresponding team dedicated to mobility system development having been set up at the NASA Glenn Research Center. Given this dynamic environment, it was found timely to establish an expert group on off-the-road mobility as relevant for robotic vehicles that would involve individuals representing the various on-going efforts on the different continents. This was realized through the International Society of Terrain-Vehicle Systems (ISTVS), a research organisation devoted to terramechanics and to the ,science' of off-the-road vehicle development which as a result is just now establishing a Technical Group on Terrestrial and Planetary Rovers. Members represent space-related as well as military research institutes and universities from the US, Germany, Italy, and Japan. The group's charter for 2007 is to define its objectives, functions, organizational structure and recommended research objectives to support planetary rover design and development. Expected areas of activity of the ISTVS-sponsored group include: the problem of terrain specification for planetary rovers; identification of limitations in modelling of rover mobility; a survey of existing rover mobility testbeds; the consolidation of mobility predictive models and their state of validation; sensing and real

  7. GN and C Subsystem Concept for Safe Precision Landing of the Proposed Lunar MARE Robotic Science Mission

    Science.gov (United States)

    Carson, John M., III; Johnson, Andrew E.; Anderson, F. Scott; Condon, Gerald L.; Nguyen, Louis H.; Olansen, Jon B.; Devolites, Jennifer L.; Harris, William J.; Hines, Glenn D.; Lee, David E.; hide

    2016-01-01

    The Lunar MARE (Moon Age and Regolith Explorer) Discovery Mission concept targets delivery of a science payload to the lunar surface for sample collection and dating. The mission science is within a 100-meter radius region of smooth lunar maria terrain near Aristarchus crater. The location has several small, sharp craters and rocks that present landing hazards to the spacecraft. For successful delivery of the science payload to the surface, the vehicle Guidance, Navigation and Control (GN&C) subsystem requires safe and precise landing capability, so design infuses the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) and a gimbaled, throttleable LOX/LCH4 main engine. The ALHAT system implemented for Lunar MARE is a specialization of prototype technologies in work within NASA for the past two decades, including a passive optical Terrain Relative Navigation (TRN) sensor, a Navigation Doppler Lidar (NDL) velocity and range sensor, and a Lidar-based Hazard Detection (HD) sensor. The landing descent profile is from a retrograde orbit over lighted terrain with landing near lunar dawn. The GN&C subsystem with ALHAT capabilities will deliver the science payload to the lunar surface within a 20-meter landing ellipse of the target location and at a site having greater than 99% safety probability, which minimizes risk to safe landing and delivery of the MARE science payload to the intended terrain region.

  8. The real-time control of planetary rovers through behavior modification

    Science.gov (United States)

    Miller, David P.

    1991-01-01

    It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.

  9. Planetary Geomorphology.

    Science.gov (United States)

    Baker, Victor R.

    1984-01-01

    Discusses various topics related to planetary geomorphology, including: research techniques; such geomorphic processes as impact, volcanic, degradational, eolian, and hillslope/mass movement processes; and channels and valleys. Indicates that the subject should be taught as a series of scientific questions rather than scientific results of…

  10. NASA's Asteroid Redirect Mission: The Boulder Capture Option

    Science.gov (United States)

    Abell, Paul A.; Nuth, J.; Mazanek, D.; Merrill, R.; Reeves, D.; Naasz, B.

    2014-01-01

    NASA is examining two options for the Asteroid Redirect Mission (ARM), which will return asteroid material to a Lunar Distant Retrograde Orbit (LDRO) using a robotic solar-electric-propulsion spacecraft, called the Asteroid Redirect Vehicle (ARV). Once the ARV places the asteroid material into the LDRO, a piloted mission will rendezvous and dock with the ARV. After docking, astronauts will conduct two extravehicular activities (EVAs) to inspect and sample the asteroid material before returning to Earth. One option involves capturing an entire small (approximately 4-10 m diameter) near-Earth asteroid (NEA) inside a large inflatable bag. However, NASA is examining another option that entails retrieving a boulder (approximately 1-5 m) via robotic manipulators from the surface of a larger (approximately 100+ m) pre-characterized NEA. This option can leverage robotic mission data to help ensure success by targeting previously (or soon to be) well-characterized NEAs. For example, the data from the Hayabusa mission has been utilized to develop detailed mission designs that assess options and risks associated with proximity and surface operations. Hayabusa's target NEA, Itokawa, has been identified as a valid target and is known to possess hundreds of appropriately sized boulders on its surface. Further robotic characterization of additional NEAs (e.g., Bennu and 1999 JU3) by NASA's OSIRIS REx and JAXA's Hayabusa 2 missions is planned to begin in 2018. The boulder option is an extremely large sample-return mission with the prospect of bringing back many tons of well-characterized asteroid material to the Earth-Moon system. The candidate boulder from the target NEA can be selected based on inputs from the world-wide science community, ensuring that the most scientifically interesting boulder be returned for subsequent sampling. This boulder option for NASA's ARM can leverage knowledge of previously characterized NEAs from prior robotic missions, which provides more

  11. Planetary Image Geometry Library

    Science.gov (United States)

    Deen, Robert C.; Pariser, Oleg

    2010-01-01

    The Planetary Image Geometry (PIG) library is a multi-mission library used for projecting images (EDRs, or Experiment Data Records) and managing their geometry for in-situ missions. A collection of models describes cameras and their articulation, allowing application programs such as mosaickers, terrain generators, and pointing correction tools to be written in a multi-mission manner, without any knowledge of parameters specific to the supported missions. Camera model objects allow transformation of image coordinates to and from view vectors in XYZ space. Pointing models, specific to each mission, describe how to orient the camera models based on telemetry or other information. Surface models describe the surface in general terms. Coordinate system objects manage the various coordinate systems involved in most missions. File objects manage access to metadata (labels, including telemetry information) in the input EDRs and RDRs (Reduced Data Records). Label models manage metadata information in output files. Site objects keep track of different locations where the spacecraft might be at a given time. Radiometry models allow correction of radiometry for an image. Mission objects contain basic mission parameters. Pointing adjustment ("nav") files allow pointing to be corrected. The object-oriented structure (C++) makes it easy to subclass just the pieces of the library that are truly mission-specific. Typically, this involves just the pointing model and coordinate systems, and parts of the file model. Once the library was developed (initially for Mars Polar Lander, MPL), adding new missions ranged from two days to a few months, resulting in significant cost savings as compared to rewriting all the application programs for each mission. Currently supported missions include Mars Pathfinder (MPF), MPL, Mars Exploration Rover (MER), Phoenix, and Mars Science Lab (MSL). Applications based on this library create the majority of operational image RDRs for those missions. A

  12. Real-Time Hazard Detection and Avoidance Demonstration for a Planetary Lander

    Science.gov (United States)

    Epp, Chirold D.; Robertson, Edward A.; Carson, John M., III

    2014-01-01

    The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. In addition to precision landing close to a pre-mission defined landing location, the ALHAT System must be capable of autonomously identifying and avoiding surface hazards in real-time to enable a safe landing under any lighting conditions. This paper provides an overview of the recent results of the ALHAT closed loop hazard detection and avoidance flight demonstrations on the Morpheus Vertical Testbed (VTB) at the Kennedy Space Center, including results and lessons learned. This effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

  13. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  14. European SpaceCraft for the study of Atmospheric Particle Escape (ESCAPE): a planetary mission to Earth, proposed in response to the ESA M5-call

    Science.gov (United States)

    Dandouras, I.; Yamauchi, M.; Rème, H.; De Keyser, J.; Marghitu, O.; Fazakerley, A.; Grison, B.; Kistler, L.; Milillo, A.; Nakamura, R.; Paschalidis, N.; Paschalis, A.; Pinçon, J.-L.; Sakanoi, T.; Wieser, M.; Wurz, P.; Yoshikawa, I.; Häggström, I.; Liemohn, M.; Tian, F.

    2017-09-01

    ESCAPE is a mission proposed in response to the ESA-M5 call that will quantitatively estimate the amount of escaping particles of the major atmospheric components (nitrogen and oxygen), as neutral and ionised species, escaping from the Earth as a magnetised planet. The goal is to understand the importance of each escape mechanism, its dependence on solar and geomagnetic activity, and to infer the history of the Earth's atmospheric composition over a long (geological scale) time period. Since the solar EUV and solar wind conditions during solar maximum at present are comparable to the solar minimum conditions 1-2 billion years ago, the escaping amount and the isotope and N/O ratios should be obtained as a function of external forcing (solar and geomagnetic conditions) to allow a scaling to the past. The result will be used as a reference to understand the atmospheric/ionospheric evolution of magnetised planets, which is essential for habitability.

  15. Planetary Society

    Science.gov (United States)

    Murdin, P.

    2000-11-01

    Carl Sagan, Bruce Murray and Louis Friedman founded the non-profit Planetary Society in 1979 to advance the exploration of the solar system and to continue the search for extraterrestrial life. The Society has its headquarters in Pasadena, California, but is international in scope, with 100 000 members worldwide, making it the largest space interest group in the world. The Society funds a var...

  16. Exploration of the Moon to Enable Lunar and Planetary Science

    Science.gov (United States)

    Neal, C. R.

    2014-12-01

    The Moon represents an enabling Solar System exploration asset because of its proximity, resources, and size. Its location has facilitated robotic missions from 5 different space agencies this century. The proximity of the Moon has stimulated commercial space activity, which is critical for sustainable space exploration. Since 2000, a new view of the Moon is coming into focus, which is very different from that of the 20th century. The documented presence of volatiles on the lunar surface, coupled with mature ilmenite-rich regolith locations, represent known resources that could be used for life support on the lunar surface for extended human stays, as well as fuel for robotic and human exploration deeper into the Solar System. The Moon also represents a natural laboratory to explore the terrestrial planets and Solar System processes. For example, it is an end-member in terrestrial planetary body differentiation. Ever since the return of the first lunar samples by Apollo 11, the magma ocean concept was developed and has been applied to both Earth and Mars. Because of the small size of the Moon, planetary differentiation was halted at an early (primary?) stage. However, we still know very little about the lunar interior, despite the Apollo Lunar Surface Experiments, and to understand the structure of the Moon will require establishing a global lunar geophysical network, something Apollo did not achieve. Also, constraining the impact chronology of the Moon allows the surfaces of other terrestrial planets to be dated and the cratering history of the inner Solar System to be constrained. The Moon also represents a natural laboratory to study space weathering of airless bodies. It is apparent, then, that human and robotic missions to the Moon will enable both science and exploration. For example, the next step in resource exploration is prospecting on the surface those deposits identified from orbit to understand the yield that can be expected. Such prospecting will also

  17. Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions

    Science.gov (United States)

    Schuerger, Andrew C.; Lee, Pascal

    2015-01-01

    Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20C to -1C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle. Key Words: Planetary protection-Contamination-Habitability-Haughton Crater-Mars. Astrobiology

  18. Planetary engineering

    Science.gov (United States)

    Pollack, James B.; Sagan, Carl

    1991-01-01

    Assuming commercial fusion power, heavy lift vehicles and major advances in genetic engineering, the authors survey possible late-21st century methods of working major transformations in planetary environments. Much more Earthlike climates may be produced on Mars by generating low freezing point greenhouse gases from indigenous materials; on Venus by biological conversion of CO2 to graphite, by canceling the greenhouse effect with high-altitude absorbing fine particles, or by a sunshield at the first Lagrangian point; and on Titan by greenhouses and/or fusion warming. However, in our present state of ignorance we cannot guarantee a stable endstate or exclude unanticipated climatic feedbacks or other unintended consequences. Moreover, as the authors illustrate by several examples, many conceivable modes of planetary engineering are so wasteful of scarce solar system resources and so destructive of important scientific information as to raise profound ethical issues, even if they were economically feasible, which they are not. Global warming on Earth may lead to calls for mitigation by planetary engineering, e.g., emplacement and replenishment of anti-greenhouse layers at high altitudes, or sunshields in space. But here especially we must be concerned about precision, stability, and inadvertent side-effects. The safest and most cost-effective means of countering global warming - beyond, e.g., improved energy efficiency, CFC bans and alternative energy sources - is the continuing reforestation of approximately 2 times 107 sq km of the Earth's surface. This can be accomplished with present technology and probably at the least cost.

  19. Planetary engineering

    Science.gov (United States)

    Pollack, James B.; Sagan, Carl

    Assuming commercial fusion power, heavy lift vehicles and major advances in genetic engineering, the authors survey possible late-21st century methods of working major transformations in planetary environments. Much more Earthlike climates may be produced on Mars by generating low freezing point greenhouse gases from indigenous materials; on Venus by biological conversion of CO2 to graphite, by canceling the greenhouse effect with high-altitude absorbing fine particles, or by a sunshield at the first Lagrangian point; and on Titan by greenhouses and/or fusion warming. However, in our present state of ignorance we cannot guarantee a stable endstate or exclude unanticipated climatic feedbacks or other unintended consequences. Moreover, as the authors illustrate by several examples, many conceivable modes of planetary engineering are so wasteful of scarce solar system resources and so destructive of important scientific information as to raise profound ethical issues, even if they were economically feasible, which they are not. Global warming on Earth may lead to calls for mitigation by planetary engineering, e.g., emplacement and replenishment of anti-greenhouse layers at high altitudes, or sunshields in space. But here especially we must be concerned about precision, stability, and inadvertent side-effects. The safest and most cost-effective means of countering global warming - beyond, e.g., improved energy efficiency, CFC bans and alternative energy sources - is the continuing reforestation of approximately 2 times 107 sq km of the Earth's surface. This can be accomplished with present technology and probably at the least cost.

  20. Active Collision Avoidance for Planetary Landers

    Data.gov (United States)

    National Aeronautics and Space Administration — Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be...

  1. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  2. Game Changing: NASA's Space Launch System and Science Mission Design

    Science.gov (United States)

    Creech, Stephen D.

    2013-01-01

    NASA s Marshall Space Flight Center (MSFC) is directing efforts to build the Space Launch System (SLS), a heavy-lift rocket that will carry the Orion Multi-Purpose Crew Vehicle (MPCV) and other important payloads far beyond Earth orbit (BEO). Its evolvable architecture will allow NASA to begin with Moon fly-bys and then go on to transport humans or robots to distant places such as asteroids and Mars. Designed to simplify spacecraft complexity, the SLS rocket will provide improved mass margins and radiation mitigation, and reduced mission durations. These capabilities offer attractive advantages for ambitious missions such as a Mars sample return, by reducing infrastructure requirements, cost, and schedule. For example, if an evolved expendable launch vehicle (EELV) were used for a proposed mission to investigate the Saturn system, a complicated trajectory would be required - with several gravity-assist planetary fly-bys - to achieve the necessary outbound velocity. The SLS rocket, using significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, reducing trip time and cost. As this paper will report, the SLS rocket will launch payloads of unprecedented mass and volume, such as "monolithic" telescopes and in-space infrastructure. Thanks to its ability to co-manifest large payloads, it also can accomplish complex missions in fewer launches. Future analyses will include reviews of alternate mission concepts and detailed evaluations of SLS figures of merit, helping the new rocket revolutionize science mission planning and design for years to come.

  3. Planetary Data Archiving Plan at JAXA

    Science.gov (United States)

    Shinohara, Iku; Kasaba, Yasumasa; Yamamoto, Yukio; Abe, Masanao; Okada, Tatsuaki; Imamura, Takeshi; Sobue, Shinichi; Takashima, Takeshi; Terazono, Jun-Ya

    After the successful rendezvous of Hayabusa with the small-body planet Itokawa, and the successful launch of Kaguya to the moon, Japanese planetary community has gotten their own and full-scale data. However, at this moment, these datasets are only available from the data sites managed by each mission team. The databases are individually constructed in the different formats, and the user interface of these data sites is not compatible with foreign databases. To improve the usability of the planetary archives at JAXA and to enable the international data exchange smooth, we are investigating to make a new planetary database. Within a coming decade, Japan will have fruitful datasets in the planetary science field, Venus (Planet-C), Mercury (BepiColombo), and several missions in planning phase (small-bodies). In order to strongly assist the international scientific collaboration using these mission archive data, the planned planetary data archive at JAXA should be managed in an unified manner and the database should be constructed in the international planetary database standard style. In this presentation, we will show the current status and future plans of the planetary data archiving at JAXA.

  4. Mercury Lander Mission Concept Study Summary

    Science.gov (United States)

    Eng, D. A.

    2018-05-01

    Provides a summary of the Mercury Lander Mission Concept Study performed as part of the last Planetary Decadal Survey. The presentation will focus on engineering trades and the challenges of developing a Mercury lander mission.

  5. Lessons learned from planetary science archiving

    Science.gov (United States)

    Zender, J.; Grayzeck, E.

    2006-01-01

    The need for scientific archiving of past, current, and future planetary scientific missions, laboratory data, and modeling efforts is indisputable. To quote from a message by G. Santayama carved over the entrance of the US Archive in Washington DC “Those who can not remember the past are doomed to repeat it.” The design, implementation, maintenance, and validation of planetary science archives are however disputed by the involved parties. The inclusion of the archives into the scientific heritage is problematic. For example, there is the imbalance between space agency requirements and institutional and national interests. The disparity of long-term archive requirements and immediate data analysis requests are significant. The discrepancy between the space missions archive budget and the effort required to design and build the data archive is large. An imbalance exists between new instrument development and existing, well-proven archive standards. The authors present their view on the problems and risk areas in the archiving concepts based on their experience acquired within NASA’s Planetary Data System (PDS) and ESA’s Planetary Science Archive (PSA). Individual risks and potential problem areas are discussed based on a model derived from a system analysis done upfront. The major risk for a planetary mission science archive is seen in the combination of minimal involvement by Mission Scientists and inadequate funding. The authors outline how the risks can be reduced. The paper ends with the authors view on future planetary archive implementations including the archive interoperability aspect.

  6. The Planetary Data System— Archiving Planetary Data for the use of the Planetary Science Community

    Science.gov (United States)

    Morgan, Thomas H.; McLaughlin, Stephanie A.; Grayzeck, Edwin J.; Vilas, Faith; Knopf, William P.; Crichton, Daniel J.

    2014-11-01

    NASA’s Planetary Data System (PDS) archives, curates, and distributes digital data from NASA’s planetary missions. PDS provides the planetary science community convenient online access to data from NASA’s missions so that they can continue to mine these rich data sets for new discoveries. The PDS is a federated system consisting of nodes for specific discipline areas ranging from planetary geology to space physics. Our federation includes an engineering node that provides systems engineering support to the entire PDS.In order to adequately capture complete mission data sets containing not only raw and reduced instrument data, but also calibration and documentation and geometry data required to interpret and use these data sets both singly and together (data from multiple instruments, or from multiple missions), PDS personnel work with NASA missions from the initial AO through the end of mission to define, organize, and document the data. This process includes peer-review of data sets by members of the science community to ensure that the data sets are scientifically useful, effectively organized, and well documented. PDS makes the data in PDS easily searchable so that members of the planetary community can both query the archive to find data relevant to specific scientific investigations and easily retrieve the data for analysis. To ensure long-term preservation of data and to make data sets more easily searchable with the new capabilities in Information Technology now available (and as existing technologies become obsolete), the PDS (together with the COSPAR sponsored IPDA) developed and deployed a new data archiving system known as PDS4, released in 2013. The LADEE, MAVEN, OSIRIS REx, InSight, and Mars2020 missions are using PDS4. ESA has adopted PDS4 for the upcoming BepiColumbo mission. The PDS is actively migrating existing data records into PDS4 and developing tools to aid data providers and users. The PDS is also incorporating challenge

  7. Integrated Targeting and Guidance for Powered Planetary Descent

    Science.gov (United States)

    Azimov, Dilmurat M.; Bishop, Robert H.

    2018-02-01

    This paper presents an on-board guidance and targeting design that enables explicit state and thrust vector control and on-board targeting for planetary descent and landing. These capabilities are developed utilizing a new closed-form solution for the constant thrust arc of the braking phase of the powered descent trajectory. The key elements of proven targeting and guidance architectures, including braking and approach phase quartics, are employed. It is demonstrated that implementation of the proposed solution avoids numerical simulation iterations, thereby facilitating on-board execution of targeting procedures during the descent. It is shown that the shape of the braking phase constant thrust arc is highly dependent on initial mass and propulsion system parameters. The analytic solution process is explicit in terms of targeting and guidance parameters, while remaining generic with respect to planetary body and descent trajectory design. These features increase the feasibility of extending the proposed integrated targeting and guidance design to future cargo and robotic landing missions.

  8. Planetary Habitability

    Science.gov (United States)

    Kasting, James F.

    1997-01-01

    This grant was entitled 'Planetary Habitability' and the work performed under it related to elucidating the conditions that lead to habitable, i.e. Earth-like, planets. Below are listed publications for the past two and a half years that came out of this work. The main thrusts of the research involved: (1) showing under what conditions atmospheric O2 and O3 can be considered as evidence for life on a planet's surface; (2) determining whether CH4 may have played a role in warming early Mars; (3) studying the effect of varying UV levels on Earth-like planets around different types of stars to see whether this would pose a threat to habitability; and (4) studying the effect of chaotic obliquity variations on planetary climates and determining whether planets that experienced such variations might still be habitable. Several of these topics involve ongoing research that has been carried out under a new grant number, but which continues to be funded by NASA's Exobiology program.

  9. Planetary geology

    CERN Document Server

    Gasselt, Stephan

    2018-01-01

    This book provides an up-to-date interdisciplinary geoscience-focused overview of solid solar system bodies and their evolution, based on the comparative description of processes acting on them. Planetary research today is a strongly multidisciplinary endeavor with efforts coming from engineering and natural sciences. Key focal areas of study are the solid surfaces found in our Solar System. Some have a direct interaction with the interplanetary medium and others have dynamic atmospheres. In any of those cases, the geological records of those surfaces (and sub-surfaces) are key to understanding the Solar System as a whole: its evolution and the planetary perspective of our own planet. This book has a modular structure and is divided into 4 sections comprising 15 chapters in total. Each section builds upon the previous one but is also self-standing. The sections are:  Methods and tools Processes and Sources  Integration and Geological Syntheses Frontiers The latter covers the far-reaching broad topics of exo...

  10. Shaping of planetary nebulae

    International Nuclear Information System (INIS)

    Balick, B.

    1987-01-01

    The phases of stellar evolution and the development of planetary nebulae are examined. The relation between planetary nebulae and red giants is studied. Spherical and nonspherical cases of shaping planetaries with stellar winds are described. CCD images of nebulae are analyzed, and it is determined that the shape of planetary nebulae depends on ionization levels. Consideration is given to calculating the distances of planetaries using radio images, and molecular hydrogen envelopes which support the wind-shaping model of planetary nebulae

  11. The activities and prospect of planetary protection research in China

    Science.gov (United States)

    Li, Ming

    2016-07-01

    Planetary protection is an important activities and responsibilities for space exploration. In Chinese manned missions, micro-organism research and protection has been developed in Shenzhou-9, Shenzhou-10 and Tiangong-2 missions. In the experiment facility of Lunar Palace-1, the micro-organism pollution and protection/control technology has been studied. In the lunar sample recovery mission and China Mars mission, the planetary protection has become an important issue. This paper introduced the research about planetary protection in China. The planetary protection activities, strategy and procedures have been suggested for future space exploration program to meet the requirement for planetary protection, such as cabin pollution isolation, pollutant detection, and so on.

  12. Planetary Rings

    Science.gov (United States)

    Nicholson, P. D.

    2001-11-01

    A revolution in the studies in planetary rings studies occurred in the period 1977--1981, with the serendipitous discovery of the narrow, dark rings of Uranus, the first Voyager images of the tenuous jovian ring system, and the many spectacular images returned during the twin Voyager flybys of Saturn. In subsequent years, ground-based stellar occultations, HST observations, and the Voyager flybys of Uranus (1986) and Neptune (1989), as well as a handful of Galileo images, provided much additional information. Along with the completely unsuspected wealth of detail these observations revealed came an unwelcome problem: are the rings ancient or are we privileged to live at a special time in history? The answer to this still-vexing question may lie in the complex gravitational interactions recent studies have revealed between the rings and their retinues of attendant satellites. Among the four known ring systems, we see elegant examples of Lindblad and corotation resonances (first invoked in the context of galactic disks), electromagnetic resonances, spiral density waves and bending waves, narrow ringlets which exhibit internal modes due to collective instabilities, sharp-edged gaps maintained via tidal torques from embedded moonlets, and tenuous dust belts created by meteoroid impact onto parent bodies. Perhaps most puzzling is Saturn's multi-stranded, clumpy F ring, which continues to defy a simple explanation 20 years after it was first glimpsed in grainy images taken by Pioneer 11. Voyager and HST images reveal a complex, probably chaotic, dynamical interaction between unseen parent bodies within this ring and its two shepherd satellites, Pandora and Prometheus. The work described here reflects contributions by Joe Burns, Jeff Cuzzi, Luke Dones, Dick French, Peter Goldreich, Colleen McGhee, Carolyn Porco, Mark Showalter, and Bruno Sicardy, as well as those of the author. This research has been supported by NASA's Planetary Geology and Geophysics program and the

  13. Planetary Geologic Mapping Handbook - 2009

    Science.gov (United States)

    Tanaka, K. L.; Skinner, J. A.; Hare, T. M.

    2009-01-01

    Geologic maps present, in an historical context, fundamental syntheses of interpretations of the materials, landforms, structures, and processes that characterize planetary surfaces and shallow subsurfaces (e.g., Varnes, 1974). Such maps also provide a contextual framework for summarizing and evaluating thematic research for a given region or body. In planetary exploration, for example, geologic maps are used for specialized investigations such as targeting regions of interest for data collection and for characterizing sites for landed missions. Whereas most modern terrestrial geologic maps are constructed from regional views provided by remote sensing data and supplemented in detail by field-based observations and measurements, planetary maps have been largely based on analyses of orbital photography. For planetary bodies in particular, geologic maps commonly represent a snapshot of a surface, because they are based on available information at a time when new data are still being acquired. Thus the field of planetary geologic mapping has been evolving rapidly to embrace the use of new data and modern technology and to accommodate the growing needs of planetary exploration. Planetary geologic maps have been published by the U.S. Geological Survey (USGS) since 1962 (Hackman, 1962). Over this time, numerous maps of several planetary bodies have been prepared at a variety of scales and projections using the best available image and topographic bases. Early geologic map bases commonly consisted of hand-mosaicked photographs or airbrushed shaded-relief views and geologic linework was manually drafted using mylar bases and ink drafting pens. Map publishing required a tedious process of scribing, color peel-coat preparation, typesetting, and photo-laboratory work. Beginning in the 1990s, inexpensive computing, display capability and user-friendly illustration software allowed maps to be drawn using digital tools rather than pen and ink, and mylar bases became obsolete

  14. Modified Ionic Liquid-Based High-Performance Lubricants for Robotic Operations, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA needs an advanced lubrication solution for its future robotic systems and planetary surface assets. The required lubrication technology must offer...

  15. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  16. The role of automation and robotics in space stations

    Science.gov (United States)

    Black, D. C.

    1985-01-01

    Automation and robotics have played important roles in space research, most notably in planetary exploration. While an increased need for automation and robotics in space research is anticipated, some of the major challenges and opportunities for automation and robotics will be provided by the Space Station. Examples of these challenges are briefly reviewed.

  17. Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

    Science.gov (United States)

    Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

    2016-01-01

    This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion spacecraft. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build-time instead of at design-time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal non-recurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current

  18. Mars Technology Program: Planetary Protection Technology Development

    Science.gov (United States)

    Lin, Ying

    2006-01-01

    This slide presentation reviews the development of Planetary Protection Technology in the Mars Technology Program. The goal of the program is to develop technologies that will enable NASA to build, launch, and operate a mission that has subsystems with different Planetary Protection (PP) classifications, specifically for operating a Category IVb-equivalent subsystem from a Category IVa platform. The IVa category of planetary protection requires bioburden reduction (i.e., no sterilization is required) The IVb category in addition to IVa requirements: (i.e., terminal sterilization of spacecraft is required). The differences between the categories are further reviewed.

  19. Novelty Search for Soft Robotic Space Exploration

    NARCIS (Netherlands)

    Methenitis, G.; Hennes, D.; Izzo, D.; Visser, A.

    2015-01-01

    The use of soft robots in future space exploration is still a far-fetched idea, but an attractive one. Soft robots are inherently compliant mechanisms that are well suited for locomotion on rough terrain as often faced in extra-planetary environments. Depending on the particular application and

  20. Novelty search for soft robotic space exploration

    NARCIS (Netherlands)

    G. Methenitis (Georgios); D. Hennes; D. Izzo; A. Visser

    2015-01-01

    textabstractThe use of soft robots in future space exploration is still a far-fetched idea, but an attractive one. Soft robots are inherently compliant mechanisms that are well suited for locomotion on rough terrain as often faced in extra-planetary environments. Depending on the particular

  1. Robotic Hand

    Science.gov (United States)

    1993-01-01

    The Omni-Hand was developed by Ross-Hime Designs, Inc. for Marshall Space Flight Center (MSFC) under a Small Business Innovation Research (SBIR) contract. The multiple digit hand has an opposable thumb and a flexible wrist. Electric muscles called Minnacs power wrist joints and the interchangeable digits. Two hands have been delivered to NASA for evaluation for potential use on space missions and the unit is commercially available for applications like hazardous materials handling and manufacturing automation. Previous SBIR contracts resulted in the Omni-Wrist and Omni-Wrist II robotic systems, which are commercially available for spray painting, sealing, ultrasonic testing, as well as other uses.

  2. Lunar and Planetary Geology

    Science.gov (United States)

    Basilevsky, Alexander T.

    2018-05-01

    Lunar and planetary geology can be described using examples such as the geology of Earth (as the reference case) and geologies of the Earth's satellite the Moon; the planets Mercury, Mars and Venus; the satellite of Saturn Enceladus; the small stony asteroid Eros; and the nucleus of the comet 67P Churyumov-Gerasimenko. Each body considered is illustrated by its global view, with information given as to its position in the solar system, size, surface, environment including gravity acceleration and properties of its atmosphere if it is present, typical landforms and processes forming them, materials composing these landforms, information on internal structure of the body, stages of its geologic evolution in the form of stratigraphic scale, and estimates of the absolute ages of the stratigraphic units. Information about one body may be applied to another body and this, in particular, has led to the discovery of the existence of heavy "meteoritic" bombardment in the early history of the solar system, which should also significantly affect Earth. It has been shown that volcanism and large-scale tectonics may have not only been an internal source of energy in the form of radiogenic decay of potassium, uranium and thorium, but also an external source in the form of gravity tugging caused by attractions of the neighboring bodies. The knowledge gained by lunar and planetary geology is important for planning and managing space missions and for the practical exploration of other bodies of the solar system and establishing manned outposts on them.

  3. Planetary Simulation Chambers bring Mars to laboratory studies

    Energy Technology Data Exchange (ETDEWEB)

    Mateo-Marti, E.

    2016-07-01

    Although space missions provide fundamental and unique knowledge for planetary exploration, they are always costly and extremely time-consuming. Due to the obvious technical and economical limitations of in-situ planetary exploration, laboratory simulations are among the most feasible research options for making advances in planetary exploration. Therefore, laboratory simulations of planetary environments are a necessary and complementary option to expensive space missions. Simulation chambers are economical, more versatile, and allow for a higher number of experiments than space missions. Laboratory-based facilities are able to mimic the conditions found in the atmospheres and on the surfaces of a majority of planetary objects. Number of relevant applications in Mars planetary exploration will be described in order to provide an understanding about the potential and flexibility of planetary simulation chambers systems: mainly, stability and presence of certain minerals on Mars surface; and microorganisms potential habitability under planetary environmental conditions would be studied. Therefore, simulation chambers will be a promising tools and necessary platform to design future planetary space mission and to validate in-situ measurements from orbital or rover observations. (Author)

  4. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  5. Enabling All-Access Mobility for Planetary Exploration Vehicles via Transformative Reconfiguration

    Science.gov (United States)

    Ferguson, Scott; Mazzoleni, Andre

    2016-01-01

    Effective large-scale exploration of planetary surfaces requires robotic vehicles capable of mobility across chaotic terrain. Characterized by a combination of ridges, cracks and valleys, the demands of this environment can cause spacecraft to experience significant reductions in operating footprint, performance, or even result in total system loss. Significantly increasing the scientific return of an interplanetary mission is facilitated by architectures capable of real-time configuration changes that go beyond that of active suspensions while concurrently meeting system, mass, power, and cost constraints. This Phase 1 report systematically explores how in-service architecture changes can expand system capabilities and mission opportunities. A foundation for concept generation is supplied by four Martian mission profiles spanning chasms, ice fields, craters and rocky terrain. A fifth mission profile centered on Near Earth Object exploration is also introduced. Concept generation is directed using four transformation principles - a taxonomy developed by the engineering design community to explain the cause of an architecture change and existing brainstorming techniques. This allowed early conceptual sketches of architecture changes to be organized by the principle driving the greatest increase in mission performance capability.

  6. An archiving system for Planetary Mapping Data - Availability of derived information and knowledge in Planetary Science!

    Science.gov (United States)

    Nass, A.

    2017-12-01

    Since the late 1950s a huge number of planetary missions started to explore our solar system. The data resulting from this robotic exploration and remote sensing varies in data type, resolution and target. After data preprocessing, and referencing, the released data are available for the community on different portals and archiving systems, e.g. PDS or PSA. One major usage for these data is mapping, i.e. the extraction and filtering of information by combining and visualizing different kind of base data. Mapping itself is conducted either for mission planning (e.g. identification of landing site) or fundamental research (e.g. reconstruction of surface). The mapping results for mission planning are directly managed within the mission teams. The derived data for fundamental research - also describable as maps, diagrams, or analysis results - are mainly project-based and exclusively available in scientific papers. Within the last year, first steps have been taken to ensure a sustainable use of these derived data by finding an archiving system comparable to the data portals, i.e. reusable, well-documented, and sustainable. For the implementation three tasks are essential. Two tasks have been treated in the past 1. Comparability and interoperability has been made possible by standardized recommendations for visual, textual, and structural description of mapping data. 2. Interoperability between users, information- and graphic systems is possible by templates and guidelines for digital GIS-based mapping. These two steps are adapted e.g. within recent mapping projects for the Dawn mission. The third task hasn`t been implemented thus far: Establishing an easily detectable and accessible platform that holds already acquired information and published mapping results for future investigations or mapping projects. An archive like this would support the scientific community significantly by a constant rise of knowledge and understanding based on recent discussions within

  7. Definition phase of Grand Tour missions/radio science investigations study for outer planets missions

    Science.gov (United States)

    Tyler, G. L.

    1972-01-01

    Scientific instrumentation for satellite communication and radio tracking systems in the outer planet exploration mission is discussed. Mission planning considers observations of planetary and satellite-masses, -atmospheres, -magnetic fields, -surfaces, -gravitational fields, solar wind composition, planetary radio emissions, and tests of general relativity in time delay and ray bending experiments.

  8. Virtual reality and planetary exploration

    Science.gov (United States)

    McGreevy, Michael W.

    Exploring planetary environments is central to NASA's missions and goals. A new computing technology called Virtual Reality has much to offer in support of planetary exploration. This technology augments and extends human presence within computer-generated and remote spatial environments. Historically, NASA has been a leader in many of the fundamental concepts and technologies that comprise Virtual Reality. Indeed, Ames Research Center has a central role in the development of this rapidly emerging approach to using computers. This ground breaking work has inspired researchers in academia, industry, and the military. Further, NASA's leadership in this technology has spun off new businesses, has caught the attention of the international business community, and has generated several years of positive international media coverage. In the future, Virtual Reality technology will enable greatly improved human-machine interactions for more productive planetary surface exploration. Perhaps more importantly, Virtual Reality technology will democratize the experience of planetary exploration and thereby broaden understanding of, and support for, this historic enterprise.

  9. Virtual reality and planetary exploration

    Science.gov (United States)

    Mcgreevy, Michael W.

    1992-01-01

    Exploring planetary environments is central to NASA's missions and goals. A new computing technology called Virtual Reality has much to offer in support of planetary exploration. This technology augments and extends human presence within computer-generated and remote spatial environments. Historically, NASA has been a leader in many of the fundamental concepts and technologies that comprise Virtual Reality. Indeed, Ames Research Center has a central role in the development of this rapidly emerging approach to using computers. This ground breaking work has inspired researchers in academia, industry, and the military. Further, NASA's leadership in this technology has spun off new businesses, has caught the attention of the international business community, and has generated several years of positive international media coverage. In the future, Virtual Reality technology will enable greatly improved human-machine interactions for more productive planetary surface exploration. Perhaps more importantly, Virtual Reality technology will democratize the experience of planetary exploration and thereby broaden understanding of, and support for, this historic enterprise.

  10. Lightweight Robotic Excavation, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robust, lightweight, power-efficient excavation robots are mission enablers for lunar outposts and surface systems. Lunar excavators of this type cost-effectively...

  11. The complete integration of MissionLab and CARMEN

    Directory of Open Access Journals (Sweden)

    FJ Serrano Rodriguez

    2017-05-01

    Full Text Available Nowadays, a major challenge in the development of advanced robotic systems is the creation of complex missions for groups of robots, with two main restrictions: complex programming activities not needed and the mission configuration time should be short (e.g. Urban Search And Rescue. With these ideas in mind, we analysed several robotic development environments, such as Robot Operating System (ROS, Open Robot Control Software (OROCOS, MissionLab, Carnegie Mellon Robot Navigation Toolkit (CARMEN and Player/Stage, which are helpful when creating autonomous robots. MissionLab provides high-level features (automatic mission creation, code generation and a graphical mission editor that are unavailable in other significant robotic development environments. It has however some weaknesses regarding its map-based capabilities. Creating, managing and taking advantage of maps for localization and navigation tasks are among CARMEN’s most significant features. This fact makes the integration of MissionLab with CARMEN both possible and interesting. This article describes the resulting robotic development environment, which makes it possible to work with several robots, and makes use of their map-based navigation capabilities. It will be shown that the proposed platform solves the proposed goal, that is, it simplifies the programmer’s job when developing control software for robot teams, and it further facilitates multi-robot deployment task in mission-critical situations.

  12. Past and future of radio occultation studies of planetary atmospheres

    Science.gov (United States)

    Eshleman, Von R.; Hinson, David P.; Tyler, G. Leonard; Lindal, Gunnar F.

    1987-01-01

    Measurements of radio waves that have propagated through planetary atmospheres have provided exploratory results on atmospheric constituents, structure, dynamics, and ionization for Venus, Mars, Titan, Jupiter, Saturn, and Uranus. Highlights of past results are reviewed in order to define and illustrate the potential of occultation and related radio studies in future planetary missions.

  13. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  14. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  15. Sensor Array Analyzer for Planetary Exploration, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Future planetary exploration missions such as those planned by NASA and other space agencies over the next few decades require advanced chemical and biological...

  16. Highly Efficient Compact Laser for Planetary Exploration, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — In response to the solicitation for advances in critical components of instruments for enhanced scientific investigations on future planetary mission, Q-Peak...

  17. Communication System Architecture for Planetary Exploration

    Science.gov (United States)

    Braham, Stephen P.; Alena, Richard; Gilbaugh, Bruce; Glass, Brian; Norvig, Peter (Technical Monitor)

    2001-01-01

    Future human missions to Mars will require effective communications supporting exploration activities and scientific field data collection. Constraints on cost, size, weight and power consumption for all communications equipment make optimization of these systems very important. These information and communication systems connect people and systems together into coherent teams performing the difficult and hazardous tasks inherent in planetary exploration. The communication network supporting vehicle telemetry data, mission operations, and scientific collaboration must have excellent reliability, and flexibility.

  18. The Perfect Mindstorm: 4-H Robotics in Afterschool Settings

    Directory of Open Access Journals (Sweden)

    Dave Francis

    2009-12-01

    Full Text Available As the 4-H Science, Engineering and Technology (SET Mission Mandate unfolds, robotics provides an opportunity to involve youth in SET activities. Utah 4-H utilized Lego Mindstorms Robotics kits to teach youth about robotics. Evaluations demonstrated that robots increase youth’s interest in science, engineering and technology.

  19. Immersive Interaction, Manipulation and Analysis of Large 3D Datasets for Planetary and Earth Sciences

    Science.gov (United States)

    Pariser, O.; Calef, F.; Manning, E. M.; Ardulov, V.

    2017-12-01

    We will present implementation and study of several use-cases of utilizing Virtual Reality (VR) for immersive display, interaction and analysis of large and complex 3D datasets. These datasets have been acquired by the instruments across several Earth, Planetary and Solar Space Robotics Missions. First, we will describe the architecture of the common application framework that was developed to input data, interface with VR display devices and program input controllers in various computing environments. Tethered and portable VR technologies will be contrasted and advantages of each highlighted. We'll proceed to presenting experimental immersive analytics visual constructs that enable augmentation of 3D datasets with 2D ones such as images and statistical and abstract data. We will conclude by presenting comparative analysis with traditional visualization applications and share the feedback provided by our users: scientists and engineers.

  20. Photochemistry of Planetary Atmospheres

    Science.gov (United States)

    Yung, Y. L.

    2005-12-01

    The Space Age started half a century ago. Today, with the completion of a fairly detailed study of the planets of the Solar System, we have begun studying exoplanets (or extrasolar planets). The overriding question in is to ask whether an exoplanet is habitable and harbors life, and if so, what the biosignatures ought to be. This forces us to confront the fundamental question of what controls the composition of an atmosphere. The composition of a planetary atmosphere reflects a balance between thermodynamic equilibrium chemistry (as in the interior of giant planets) and photochemistry (as in the atmosphere of Mars). The terrestrial atmosphere has additional influence from life (biochemistry). The bulk of photochemistry in planetary atmospheres is driven by UV radiation. Photosynthesis may be considered an extension of photochemistry by inventing a molecule (chlorophyll) that can harvest visible light. Perhaps the most remarkable feature of photochemistry is catalytic chemistry, the ability of trace amounts of gases to profoundly affect the composition of the atmosphere. Notable examples include HOx (H, OH and HO2) chemistry on Mars and chlorine chemistry on Earth and Venus. Another remarkable feature of photochemistry is organic synthesis in the outer solar system. The best example is the atmosphere of Titan. Photolysis of methane results in the synthesis of more complex hydrocarbons. The hydrocarbon chemistry inevitably leads to the formation of high molecular weight products, giving rise to aerosols when the ambient atmosphere is cool enough for them to condense. These results are supported by the findings of the recent Cassini mission. Lastly, photochemistry leaves a distinctive isotopic signature that can be used to trace back the evolutionary history of the atmosphere. Examples include nitrogen isotopes on Mars and sulfur isotopes on Earth. Returning to the question of biosignatures on an exoplanet, our Solar System experience tells us to look for speciation

  1. Energetic Techniques For Planetary Defense

    Science.gov (United States)

    Barbee, B.; Bambacus, M.; Bruck Syal, M.; Greenaugh, K. C.; Leung, R. Y.; Plesko, C. S.

    2017-12-01

    Near-Earth Objects (NEOs) are asteroids and comets whose heliocentric orbits tend to approach or cross Earth's heliocentric orbit. NEOs of various sizes periodically collide with Earth, and efforts are currently underway to discover, track, and characterize NEOs so that those on Earth-impacting trajectories are discovered far enough in advance that we would have opportunities to deflect or destroy them prior to Earth impact, if warranted. We will describe current efforts by the National Aeronautics and Space Administration (NASA) and the National Nuclear Security Administration (NNSA) to assess options for energetic methods of deflecting or destroying hazardous NEOs. These methods include kinetic impactors, which are spacecraft designed to collide with an NEO and thereby alter the NEO's trajectory, and nuclear engineering devices, which are used to rapidly vaporize a layer of NEO surface material. Depending on the amount of energy imparted, this can result in either deflection of the NEO via alteration of its trajectory, or robust disruption of the NEO and dispersal of the remaining fragments. We have studied the efficacies and limitations of these techniques in simulations, and have combined the techniques with corresponding spacecraft designs and mission designs. From those results we have generalized planetary defense mission design strategies and drawn conclusions that are applicable to a range of plausible scenarios. We will present and summarize our research efforts to date, and describe approaches to carrying out planetary defense missions with energetic NEO deflection or disruption techniques.

  2. Mobile robotics research at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Morse, W.D.

    1998-09-01

    Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

  3. A Lab-on-Chip Design for Miniature Autonomous Bio-Chemoprospecting Planetary Rovers

    Science.gov (United States)

    Santoli, S.

    The performance of the so-called ` Lab-on-Chip ' devices, featuring micrometre size components and employed at present for carrying out in a very fast and economic way the extremely high number of sequence determinations required in genomic analyses, can be largely improved as to further size reduction, decrease of power consumption and reaction efficiency through development of nanofluidics and of nano-to-micro inte- grated systems. As is shown, such new technologies would lead to robotic, fully autonomous, microwatt consumption and complete ` laboratory on a chip ' units for accurate, fast and cost-effective astrobiological and planetary exploration missions. The theory and the manufacturing technologies for the ` active chip ' of a miniature bio/chemoprospecting planetary rover working on micro- and nanofluidics are investigated. The chip would include micro- and nanoreactors, integrated MEMS (MicroElectroMechanical System) components, nanoelectronics and an intracavity nanolaser for highly accurate and fast chemical analysis as an application of such recently introduced solid state devices. Nano-reactors would be able to strongly speed up reaction kinetics as a result of increased frequency of reactive collisions. The reaction dynamics may also be altered with respect to standard macroscopic reactors. A built-in miniature telemetering unit would connect a network of other similar rovers and a central, ground-based or orbiting control unit for data collection and transmission to an Earth-based unit through a powerful antenna. The development of the ` Lab-on-Chip ' concept for space applications would affect the economy of space exploration missions, as the rover's ` Lab-on-Chip ' development would link space missions with the ever growing terrestrial market and business concerning such devices, largely employed in modern genomics and bioinformatics, so that it would allow the recoupment of space mission costs.

  4. From red giants to planetary nebulae: Asymmetries, dust, and polarization

    International Nuclear Information System (INIS)

    Johnson, J.J.

    1990-01-01

    In order to investigate the development of aspherical planetary nebulae, polarimetry was obtained for a group of planetary nebulae and for objects that will evolve into planetary nebulae, i.e., red giants, late asymptotic giant branch (AGB) objects, proto-planetary nebulae, and young planetary nebulae. To study the dust around the objects in our sample, we also used data from the Infrared Astronomy Satellite (IRAS) mission. The youngest objects in our survey, red giants, had the hottest dust temperatures while planetary nebulae had the coolest. Most of the objects were intrinsically polarized, including the red giants. This indicated that the circumstellar dust shells of these objects were aspherical. Both carbon- and oxygen-rich objects could be intrinsically polarized. The intrinsic polarizations of a sample of our objects were modeled using an ellipsoidal circumstellar dust shell. The findings of this study suggest that the asphericities that lead to an aspherical planetary nebula originate when a red giant begins to undergo mass loss. The polarization and thus the asphericity as the star evolves, with both reaching a maximum during the proto-planetary nebula stage. The circumstellar dust shell will dissipate after the proto-planetary nebulae stage since no new material is being added. The polarization of planetary nebulae will thus be low. In the most evolved planetary nebulae, the dust has either been destroyed or dissipated into the interstellar medium. In these objects no polarization was observed

  5. Planetary Protection Bioburden Analysis Program

    Science.gov (United States)

    Beaudet, Robert A.

    2013-01-01

    is programmed in Visual Basic for Applications for installation as a simple add-in for Microsoft Excel. The user is directed to a graphical user interface (GUI) that requires user inputs and provides solutions directly in Microsoft Excel workbooks. This work was done by Shannon Ryan of the USRA Lunar and Planetary Institute for Johnson Space Center. Further information is contained in a TSP (see page 1). MSC- 24582-1 Micrometeoroid and Orbital Debris (MMOD) Shield Ballistic Limit Analysis Program Lyndon B. Johnson Space Center, Houston, Texas Commercially, because it is so generic, Enigma can be used for almost any project that requires engineering visualization, model building, or animation. Models in Enigma can be exported to many other formats for use in other applications as well. Educationally, Enigma is being used to allow university students to visualize robotic algorithms in a simulation mode before using them with actual hardware. This work was done by David Shores and Sharon P. Goza of Johnson Space Center; Cheyenne McKeegan, Rick Easley, Janet Way, and Shonn Everett of MEI Technologies; Mark Manning of PTI; and Mark Guerra, Ray Kraesig, and William Leu of Tietronix Software, Inc. For further information, contact the JSC Innovation Partnerships Office at (281) 483-3809. MSC-24211-1 Spitzer Telemetry Processing System NASA's Jet Propulsion Laboratory, Pasadena, California The Spitzer Telemetry Processing System (SirtfTlmProc) was designed to address objectives of JPL's Multi-mission Image Processing Lab (MIPL) in processing spacecraft telemetry and distributing the resulting data to the science community. To minimize costs and maximize operability, the software design focused on automated error recovery, performance, and information management. The system processes telemetry from the Spitzer spacecraft and delivers Level 0 products to the Spitzer Science Center. SirtfTlmProc is a unique system with automated error notification and recovery, with a real

  6. SSERVI Opportunities for the Next Generation of Planetary Researchers

    Science.gov (United States)

    Bailey, B. E.; Day, B. H.; Minafra, J.; Baer, J.

    2015-12-01

    NASA's Solar System Exploration Research Virtual Institute (SSERVI) was founded as a virtual institute that provides interdisciplinary research centered on the goals of its supporting directorates: NASA Science Mission Directorate (SMD) and the Human Exploration & Operations Mission Directorate (HEOMD). SSERVI consists of a diverse set of domestic teams and (currently) nine international teams, ultimately represented by greater than 75 distinct research institutions and more than 450 individual researchers and EPO specialists. The decline in funding opportunities after the termination of the Apollo missions to the Moon in the early 1970's produced a large gap in both the scientific knowledge and experience of the original lunar Apollo researchers and the resurgent group of young lunar/NEA researchers that have emerged within the last 15 years. One of SSERVI's many goals is to bridge this gap through the many networking and scientific connections made between young researchers and established planetary principle investigators. To this end, SSERVI has supported the establishment of NextGen Lunar Scientists and Engineers group (NGLSE), a group of students and early-career professionals designed to build experience and provide networking opportunities to its members. SSERVI has also created the LunarGradCon, a scientific conference dedicated solely to graduate and undergraduate students working in the lunar field. Additionally, SSERVI produces monthly seminars and bi-yearly virtual workshops that introduce students to the wide variety of exploration science being performed in today's research labs. SSERVI also brokers opportunities for domestic and international student exchange between collaborating laboratories as well as internships at our member institutions. SSERVI provides a bridge that is essential to the continued international success of scientific, as well as human and robotic, exploration.

  7. Anytime Summarization for Remote Robot Operations, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA plans to use intelligent planetary rovers to improve the productivity and safety of human explorers. A key challenge in using robots to support human...

  8. Anytime Summarization for Remote Robot Operations, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA plans to use intelligent planetary rovers to improve the productivity and safety of human explorers. A key challenge in using robots for human exploration is...

  9. Life Support and Habitation and Planetary Protection Workshop

    Science.gov (United States)

    Hogan, John A. (Editor); Race, Margaret S. (Editor); Fisher, John W. (Editor); Joshi, Jitendra A. (Editor); Rummel, John D. (Editor)

    2006-01-01

    A workshop entitled "Life Support and Habitation and Planetary Protection Workshop" was held in Houston, Texas on April 27-29, 2005 to facilitate the development of planetary protection guidelines for future human Mars exploration missions and to identify the potential effects of these guidelines on the design and selection of related human life support, extravehicular activity and monitoring and control systems. This report provides a summary of the workshop organization, starting assumptions, working group results and recommendations. Specific result topics include the identification of research and technology development gaps, potential forward and back contaminants and pathways, mitigation alternatives, and planetary protection requirements definition needs. Participants concluded that planetary protection and science-based requirements potentially affect system design, technology trade options, development costs and mission architecture. Therefore early and regular coordination between the planetary protection, scientific, planning, engineering, operations and medical communities is needed to develop workable and effective designs for human exploration of Mars.

  10. MetNet Network Mission for Martian Atmospheric Investigations

    Science.gov (United States)

    Harri, A.-M.; Alexashkin, S.; Arrugeo, I.; Schmidt, W.; Vazquez, L.; Genzer, M.; Haukka, H.

    2014-07-01

    A new kind of planetary exploration mission for Mars called MetNet is being developed for martian atmospheric investigations. The eventual scope of the MetNet Mission is to deploy tens of small landers on the martian surface.

  11. INTEGRITY -- Integrated Human Exploration Mission Simulation Facility

    Science.gov (United States)

    Henninger, D.; Tri, T.; Daues, K.

    It is proposed to develop a high -fidelity ground facil ity to carry out long-duration human exploration mission simulations. These would not be merely computer simulations - they would in fact comprise a series of actual missions that just happen to stay on earth. These missions would include all elements of an actual mission, using actual technologies that would be used for the real mission. These missions would also include such elements as extravehicular activities, robotic systems, telepresence and teleoperation, surface drilling technology--all using a simulated planetary landscape. A sequence of missions would be defined that get progressively longer and more robust, perhaps a series of five or six missions over a span of 10 to 15 years ranging in durat ion from 180 days up to 1000 days. This high-fidelity ground facility would operate hand-in-hand with a host of other terrestrial analog sites such as the Antarctic, Haughton Crater, and the Arizona desert. Of course, all of these analog mission simulations will be conducted here on earth in 1-g, and NASA will still need the Shuttle and ISS to carry out all the microgravity and hypogravity science experiments and technology validations. The proposed missions would have sufficient definition such that definitive requirements could be derived from them to serve as direction for all the program elements of the mission. Additionally, specific milestones would be established for the "launch" date of each mission so that R&D programs would have both good requirements and solid milestones from which to build their implementation plans. Mission aspects that could not be directly incorporated into the ground facility would be simulated via software. New management techniques would be developed for evaluation in this ground test facility program. These new techniques would have embedded metrics which would allow them to be continuously evaluated and adjusted so that by the time the sequence of missions is completed

  12. Influence of Planetary Protection Guidelines on Waste Management Operations

    Science.gov (United States)

    Hogan, John A.; Fisher, John W.; Levri, Julie A.; Wignarajah, Kanapathipi; Race, Margaret S.; Stabekis, Perry D.; Rummel, John D.

    2005-01-01

    Newly outlined missions in the Space Exploration Initiative include extended human habitation on Mars. During these missions, large amounts of waste materials will be generated in solid, liquid and gaseous form. Returning these wastes to Earth will be extremely costly, and will therefore likely remain on Mars. Untreated, these wastes are a reservoir of live/dead organisms and molecules considered to be "biomarkers" i.e., indicators of life). If released to the planetary surface, these materials can potentially confound exobiology experiments and disrupt Martian ecology indefinitely (if existent). Waste management systems must therefore be specifically designed to control release of problematic materials both during the active phase of the mission, and for any specified post-mission duration. To effectively develop waste management requirements for Mars missions, planetary protection guidelines must first be established. While previous policies for Apollo lunar missions exist, it is anticipated that the increased probability of finding evidence of life on Mars, as well as the lengthy mission durations will initially lead to more conservative planetary protection measures. To facilitate the development of overall requirements for both waste management and planetary protection for future missions, a workshop was conducted to identify how these two areas interface, and to establish a preliminary set of planetary protection guidelines that address waste management operations. This paper provides background regarding past and current planetary protection and waste management issues, and their interactions. A summary of the recommended planetary protection guidelines, anticipated ramifications and research needs for waste management system design for both forward (Mars) and backward (Earth) contamination is also provided.

  13. Improving accessibility and discovery of ESA planetary data through the new planetary science archive

    Science.gov (United States)

    Macfarlane, A. J.; Docasal, R.; Rios, C.; Barbarisi, I.; Saiz, J.; Vallejo, F.; Besse, S.; Arviset, C.; Barthelemy, M.; De Marchi, G.; Fraga, D.; Grotheer, E.; Heather, D.; Lim, T.; Martinez, S.; Vallat, C.

    2018-01-01

    The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific data sets through various interfaces at http://psa.esa.int. Mostly driven by the evolution of the PDS standards which all new ESA planetary missions shall follow and the need to update the interfaces to the archive, the PSA has undergone an important re-engineering. In order to maximise the scientific exploitation of ESA's planetary data holdings, significant improvements have been made by utilising the latest technologies and implementing widely recognised open standards. To facilitate users in handling and visualising the many products stored in the archive which have spatial data associated, the new PSA supports Geographical Information Systems (GIS) by implementing the standards approved by the Open Geospatial Consortium (OGC). The modernised PSA also attempts to increase interoperability with the international community by implementing recognised planetary science specific protocols such as the PDAP (Planetary Data Access Protocol) and EPN-TAP (EuroPlanet-Table Access Protocol). In this paper we describe some of the methods by which the archive may be accessed and present the challenges that are being faced in consolidating data sets of the older PDS3 version of the standards with the new PDS4 deliveries into a single data model mapping to ensure transparent access to the data for users and services whilst maintaining a high performance.

  14. GeoLab: A Geological Workstation for Future Missions

    Science.gov (United States)

    Evans, Cynthia; Calaway, Michael; Bell, Mary Sue; Li, Zheng; Tong, Shuo; Zhong, Ye; Dahiwala, Ravi

    2014-01-01

    The GeoLab glovebox was, until November 2012, fully integrated into NASA's Deep Space Habitat (DSH) Analog Testbed. The conceptual design for GeoLab came from several sources, including current research instruments (Microgravity Science Glovebox) used on the International Space Station, existing Astromaterials Curation Laboratory hardware and clean room procedures, and mission scenarios developed for earlier programs. GeoLab allowed NASA scientists to test science operations related to contained sample examination during simulated exploration missions. The team demonstrated science operations that enhance theThe GeoLab glovebox was, until November 2012, fully integrated into NASA's Deep Space Habitat (DSH) Analog Testbed. The conceptual design for GeoLab came from several sources, including current research instruments (Microgravity Science Glovebox) used on the International Space Station, existing Astromaterials Curation Laboratory hardware and clean room procedures, and mission scenarios developed for earlier programs. GeoLab allowed NASA scientists to test science operations related to contained sample examination during simulated exploration missions. The team demonstrated science operations that enhance the early scientific returns from future missions and ensure that the best samples are selected for Earth return. The facility was also designed to foster the development of instrument technology. Since 2009, when GeoLab design and construction began, the GeoLab team [a group of scientists from the Astromaterials Acquisition and Curation Office within the Astromaterials Research and Exploration Science (ARES) Directorate at JSC] has progressively developed and reconfigured the GeoLab hardware and software interfaces and developed test objectives, which were to 1) determine requirements and strategies for sample handling and prioritization for geological operations on other planetary surfaces, 2) assess the scientific contribution of selective in-situ sample

  15. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  16. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  17. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  18. Human Exploration using Real-Time Robotic Operations (HERRO): A space exploration strategy for the 21st century

    Science.gov (United States)

    Schmidt, George R.; Landis, Geoffrey A.; Oleson, Steven R.

    2012-11-01

    This paper presents an exploration strategy for human missions beyond Low Earth Orbit (LEO) and the Moon that combines the best features of human and robotic spaceflight. This "Human Exploration using Real-time Robotic Operations" (HERRO) strategy refrains from placing humans on the surfaces of the Moon and Mars in the near-term. Rather, it focuses on sending piloted spacecraft and crews into orbit around Mars and other exploration targets of interest, and conducting astronaut exploration of the surfaces using telerobots and remotely-controlled systems. By eliminating the significant communications delay or "latency" with Earth due to the speed of light limit, teleoperation provides scientists real-time control of rovers and other sophisticated instruments. This in effect gives them a "virtual presence" on planetary surfaces, and thus expands the scientific return at these destinations. HERRO mitigates several of the major issues that have hindered the progress of human spaceflight beyond Low Earth Orbit (LEO) by: (1) broadening the range of destinations for near-term human missions; (2) reducing cost and risk through less complexity and fewer man-rated elements; (3) offering benefits of human-equivalent in-situ cognition, decision-making and field-work on planetary bodies; (4) providing a simpler approach to returning samples from Mars and planetary surfaces; and (5) facilitating opportunities for international collaboration through contribution of diverse robotic systems. HERRO provides a firm justification for human spaceflight—one that expands the near-term capabilities of scientific exploration while providing the space transportation infrastructure needed for eventual human landings in the future.

  19. Workshop on Advanced Technologies for Planetary Instruments, part 1

    International Nuclear Information System (INIS)

    Appleby, J.F.

    1993-01-01

    This meeting was conceived in response to new challenges facing NASA's robotic solar system exploration program. This volume contains papers presented at the Workshop on Advanced Technologies for Planetary Instruments on 28-30 Apr. 1993. This meeting was conceived in response to new challenges facing NASA's robotic solar system exploration program. Over the past several years, SDIO has sponsored a significant technology development program aimed, in part, at the production of instruments with these characteristics. This workshop provided an opportunity for specialists from the planetary science and DOD communities to establish contacts, to explore common technical ground in an open forum, and more specifically, to discuss the applicability of SDIO's technology base to planetary science instruments

  20. Planetary Landscape Geography

    Science.gov (United States)

    Hargitai, H.

    hydrosphere (no erosion). Adding new elements (differentiated body: horizon, atmosphere: blue/purple etc sky as visually important elements; complex lithology (mountains of tectonic ori- gin); atmosphere (which can alter temperature) and hydrosphere (erosion, rivers, de- position) a more complex landscape will appear. As a first step, by making a "landscape model", we can input general parameters of atmosphere, lithosphere, hydrosphere, biosphere, the distance from the Sun, orbital parameters, last resurfacing date, age of the planet and the model will output the pos- 1 sible landscape elements in the planet. This can be refined by inputing the actual pa- rameters (place on planet, climate region etc.) from which the actual landscape can be the result. The landscape altering processes are: exogenic (impact), mass movement, endogenic (volcanism, thermal conditions), weathering, aeolic, fluvial, glacial, biogenic, antro- pogenic processes. Comparing planets and moons, all of these processes work on Earth, only half of them works on Mars and Venus, and even fewer on Mercury and Moon [3], where most of the surface is an "post-impact" landscape. A Planetary view. Science-fiction writers often describe planets with one characteris- tic: "desert planet", "ocean planet", "forest planet". Generally, planetary flyby missions verify these images (Europa - ice plain planet or Io - volcano world), but a orbiter mis- sion makes clear than in any planet, several significantly different landcape units are present, but from planet to planet, the average climatic and lithologic conditions do change and characterize the given planet. LANDSCAPE RESOURCES, LANDSCAPE "HOT SPOTS" Landscape hot spots has "high values" in the factors listed below. Physical landscape values. Small object not detectable from orbiters: individual rocks or the local physical characteristics of the upper layer of the regolith, the sediment or bedrock characteristics along with relief forms will be the important factors of

  1. Trends in Planetary Data Analysis. Executive summary of the Planetary Data Workshop

    Science.gov (United States)

    Evans, N.

    1984-09-01

    Planetary data include non-imaging remote sensing data, which includes spectrometric, radiometric, and polarimetric remote sensing observations. Also included are in-situ, radio/radar data, and Earth based observation. Also discussed is development of a planetary data system. A catalog to identify observations will be the initial entry point for all levels of users into the data system. There are seven distinct data support services: encyclopedia, data index, data inventory, browse, search, sample, and acquire. Data systems for planetary science users must provide access to data, process, store, and display data. Two standards will be incorporated into the planetary data system: Standard communications protocol and Standard format data unit. The data system configuration must combine a distributed system with those of a centralized system. Fiscal constraints have made prioritization important. Activities include saving previous mission data, planning/cost analysis, and publishing of proceedings.

  2. Ultra-Compact Raman Spectrometer for Planetary Explorations

    Science.gov (United States)

    Davis, Derek; Hornef, James; Lucas, John; Elsayed-Ali, Hani; Abedin, M. Nurul

    2016-01-01

    To develop a compact Raman spectroscopy system with features that will make it suitable for future space missions which require surface landing. Specifically, this system will be appropriate for any mission in which planetary surface samples need to be measured and analyzed.

  3. Proto-planetary nebulae

    International Nuclear Information System (INIS)

    Zuckerman, B.

    1978-01-01

    A 'proto-planetary nebula' or a 'planetary nebula progenitor' is the term used to describe those objects that are losing mass at a rate >approximately 10 -5 Msolar masses/year (i.e. comparable to mass loss rates in planetary nebulae with ionized masses >approximately 0.2 Msolar masses) and which, it is believed, will become planetary nebulae themselves within 5 years. It is shown that most proto-planetary nebulae appear as very red objects although a few have been 'caught' near the middle of the Hertzsprung-Russell diagram. The precursors of these proto-planetaries are the general red giant population, more specifically probably Mira and semi-regular variables. (Auth.)end

  4. Extrasolar Planetary Imaging Coronagraph (EPIC)

    Science.gov (United States)

    Clampin, Mark

    2009-01-01

    The Extrasolar Planetary Imaging Coronagraph (EPIC) is a proposed NASA Exoplanet Probe mission to image and characterize extrasolar giant planets. EPIC will provide insights into the physical nature and architecture of a variety of planets in other solar systems. Initially, it will detect and characterize the atmospheres of planets identified by radial velocity surveys, determine orbital inclinations and masses and characterize the atmospheres around A and F type stars which cannot be found with RV techniques. It will also observe the inner spatial structure of exozodiacal disks. EPIC has a heliocentric Earth trailing drift-away orbit, with a 5 year mission lifetime. The robust mission design is simple and flexible ensuring mission success while minimizing cost and risk. The science payload consists of a heritage optical telescope assembly (OTA), and visible nulling coronagraph (VNC) instrument. The instrument achieves a contrast ratio of 10^9 over a 5 arcsecond field-of-view with an unprecedented inner working angle of 0.13 arcseconds over the spectral range of 440-880 nm. The telescope is a 1.65 meter off-axis Cassegrain with an OTA wavefront error of lambda/9, which when coupled to the VNC greatly reduces the requirements on the large scale optics.

  5. Russian Planetary Exploration History, Development, Legacy, Prospects

    CERN Document Server

    Harvey, Brian

    2007-01-01

    Russia’s accomplishments in planetary space exploration were not achieved easily. Formerly, the USSR experienced frustration in trying to tame unreliable Molniya and Proton upper stages and in tracking spacecraft over long distances. This book will assess the scientific haul of data from the Venus and Mars missions and look at the engineering approaches. The USSR developed several generations of planetary probes: from MV and Zond to the Phobos type. The engineering techniques used and the science packages are examined, as well as the nature of the difficulties encountered which ruined several missions. The programme’s scientific and engineering legacy is also addressed, as well as its role within the Soviet space programme as a whole. Brian Harvey concludes by looking forward to future Russian planetary exploration (e.g Phobos Grunt sample return mission). Several plans have been considered and may, with a restoration of funding, come to fruition. Soviet studies of deep space and Mars missions (e.g. TMK, ...

  6. NASA-ESA Joint Mission to Explore Two Worlds of Great Astrobiological Interest - Titan and Enceladus

    Science.gov (United States)

    Reh, K.; Coustenis, A.; Lunine, J.; Matson, D.; Lebreton, J.-P.; Erd, C.; Beauchamp, P.

    2009-04-01

    Rugged shorelines, laced with canyons, leading to ethane/methane seas glimpsed through an organic haze, vast fields of dunes shaped by alien sciroccos… An icy moon festooned with plumes of water-ice and organics, whose warm watery source might be glimpsed through surface cracks that glow in the infrared… The revelations by Cassini-Huygens about Saturn's crown jewels, Titan and Enceladus, have rocked the public with glimpses of new worlds unimagined a decade before. The time is at hand to capitalize on those discoveries with a broad mission of exploration that combines the widest range of planetary science disciplines—Geology, Geophysics, Atmospheres, Astrobiology,Chemistry, Magnetospheres—in a single NASA/ESA collaboration. The Titan Saturn System Mission will explore these exciting new environments, flying through Enceladus' plumes and plunging deep into Titan's atmosphere with instruments tuned to find what Cassini could only hint at. Exploring Titan with an international fleet of vehicles; from orbit, from the surface of a great polar sea, and from the air with the first hot air balloon to ride an extraterrestrial breeze, TSSM will turn our snapshot gaze of these worlds into an epic film. This paper will describe a collaborative NASA-ESA Titan Saturn System Mission that will open a new phase of planetary exploration by projecting robotic presence on the land, on the sea, and in the air of an active, organic-rich world.

  7. The Comet Radar Explorer Mission

    Science.gov (United States)

    Asphaug, Erik; Belton, Mike; Bockelee-Morvan, Dominique; Chesley, Steve; Delbo, Marco; Farnham, Tony; Gim, Yonggyu; Grimm, Robert; Herique, Alain; Kofman, Wlodek; Oberst, Juergen; Orosei, Roberto; Piqueux, Sylvain; Plaut, Jeff; Robinson, Mark; Sava, Paul; Heggy, Essam; Kurth, William; Scheeres, Dan; Denevi, Brett; Turtle, Elizabeth; Weissman, Paul

    2014-11-01

    Missions to cometary nuclei have revealed major geological surprises: (1) Global scale layers - do these persist through to the interior? Are they a record of primary accretion? (2) Smooth regions - are they landslides originating on the surface? Are they cryovolcanic? (3) Pits - are they impact craters or sublimation pits, or rooted in the interior? Unambiguous answers to these and other questions can be obtained by high definition 3D radar reflection imaging (RRI) of internal structure. RRI can answer many of the great unknowns in planetary science: How do primitive bodies accrete? Are cometary nuclei mostly ice? What drives their spectacular activity and evolution? The Comet Radar Explorer (CORE) mission will image the detailed internal structure of the nucleus of 10P/Tempel 2. This ~16 x 8 x 7 km Jupiter Family Comet (JFC), or its parent body, originated in the outer planets region possibly millions of years before planet formation. CORE arrives post-perihelion and observes the comet’s waning activity from safe distance. Once the nucleus is largely dormant, the spacecraft enters a ~20-km dedicated Radar Mapping Orbit (RMO). The exacting design of the RRI experiment and the precise navigation of RMO will achieve a highly focused 3D radar reflection image of internal structure, to tens of meters resolution, and tomographic images of velocity and attenuation to hundreds of meters resolution, tied to the gravity model and shape. Visible imagers will produce maps of the surface morphology, albedo, color, texture, and photometric response, and images for navigation and shape determination. The cameras will also monitor the structure and dynamics of the coma, and its dusty jets, allowing their correlation in 3D with deep interior structures and surface features. Repeated global high-resolution thermal images will probe the near-surface layers heated by the Sun. Derived maps of thermal inertia will be correlated with the radar boundary response, and photometry and

  8. Planetary ring systems properties, structures, and evolution

    CERN Document Server

    Murray, Carl D

    2018-01-01

    Planetary rings are among the most intriguing structures of our solar system and have fascinated generations of astronomers. Collating emerging knowledge in the field, this volume reviews our current understanding of ring systems with reference to the rings of Saturn, Uranus, Neptune, and more. Written by leading experts, the history of ring research and the basics of ring–particle orbits is followed by a review of the known planetary ring systems. All aspects of ring system science are described in detail, including specific dynamical processes, types of structures, thermal properties and their origins, and investigations using computer simulations and laboratory experiments. The concluding chapters discuss the prospects of future missions to planetary rings, the ways in which ring science informs and is informed by the study of other astrophysical disks, and a perspective on the field's future. Researchers of all levels will benefit from this thorough and engaging presentation.

  9. Planetary Cartography - Activities and Current Challenges

    Science.gov (United States)

    Nass, Andrea; Di, Kaichang; Elgner, Stephan; van Gasselt, Stephan; Hare, Trent; Hargitai, Henrik; Karachevtseva, Irina; Kereszturi, Akos; Kersten, Elke; Kokhanov, Alexander; Manaud, Nicolas; Roatsch, Thomas; Rossi, Angelo Pio; Skinner, James, Jr.; Wählisch, Marita

    2018-05-01

    Maps are one of the most important tools for communicating geospatial information between producers and receivers. Geospatial data, tools, contributions in geospatial sciences, and the communication of information and transmission of knowledge are matter of ongoing cartographic research. This applies to all topics and objects located on Earth or on any other body in our Solar System. In planetary science, cartography and mapping have a history dating back to the roots of telescopic space exploration and are now facing new technological and organizational challenges with the rise of new missions, new global initiatives, organizations and opening research markets. The focus of this contribution is to introduce the community to the field of planetary cartography and its historic foundation, to highlight some of the organizations involved and to emphasize challenges that Planetary Cartography has to face today and in the near future.

  10. Miniaturisation of imaging spectrometer for planetary exploration

    Science.gov (United States)

    Drossart, Pierre; Sémery, Alain; Réess, Jean-Michel; Combes, Michel

    2017-11-01

    Future planetary exploration on telluric or giant planets will need a new kind of instrumentation combining imaging and spectroscopy at high spectral resolution to achieve new scientific measurements, in particular for atmospheric studies in nadir configuration. We present here a study of a Fourier Transform heterodyne spectrometer, which can achieve these objectives, in the visible or infrared. The system is composed of a Michelson interferometer, whose mirrors have been replaced by gratings, a configuration studied in the early days of Fourier Transform spectroscopy, but only recently reused for space instrumentation, with the availability of large infrared mosaics. A complete study of an instrument is underway, with optical and electronic tests, as well as data processing analysis. This instrument will be proposed for future planetary missions, including ESA/Bepi Colombo Mercury Planetary Orbiter or Earth orbiting platforms.

  11. Flyover Modeling of Planetary Pits - Undergraduate Student Instrument Project

    Science.gov (United States)

    Bhasin, N.; Whittaker, W.

    2015-12-01

    On the surface of the moon and Mars there are hundreds of skylights, which are collapsed holes that are believed to lead to underground caves. This research uses Vision, Inertial, and LIDAR sensors to build a high resolution model of a skylight as a landing vehicle flies overhead. We design and fabricate a pit modeling instrument to accomplish this task, implement software, and demonstrate sensing and modeling capability on a suborbital reusable launch vehicle flying over a simulated pit. Future missions on other planets and moons will explore pits and caves, led by the technology developed by this research. Sensor software utilizes modern graph-based optimization techniques to build 3D models using camera, LIDAR, and inertial data. The modeling performance was validated with a test flyover of a planetary skylight analog structure on the Masten Xombie sRLV. The trajectory profile closely follows that of autonomous planetary powered descent, including translational and rotational dynamics as well as shock and vibration. A hexagonal structure made of shipping containers provides a terrain feature that serves as an appropriate analog for the rim and upper walls of a cylindrical planetary skylight. The skylight analog floor, walls, and rim are modeled in elevation with a 96% coverage rate at 0.25m2 resolution. The inner skylight walls have 5.9cm2 color image resolution and the rims are 6.7cm2 with measurement precision superior to 1m. The multidisciplinary student team included students of all experience levels, with backgrounds in robotics, physics, computer science, systems, mechanical and electrical engineering. The team was commited to authentic scientific experimentation, and defined specific instrument requirements and measurable experiment objectives to verify successful completion.This work was made possible by the NASA Undergraduate Student Instrument Project Educational Flight Opportunity 2013 program. Additional support was provided by the sponsorship of an

  12. The International Planetary Data Alliance

    Science.gov (United States)

    Stein, T.; Arviset, C.; Crichton, D. J.

    2017-12-01

    The International Planetary Data Alliance (IPDA) is an association of partners with the aim of improving the quality of planetary science data and services to the end users of space based instrumentation. The specific mission of the IPDA is to facilitate global access to, and exchange of, high quality scientific data products managed across international boundaries. Ensuring proper capture, accessibility and availability of the data is the task of the individual member space agencies. The IPDA was formed in 2006 with the purpose of adopting standards and developing collaborations across agencies to ensure data is captured in common formats. Member agencies include: Armenian Astronomical Society, China National Space Agency (CNSA), European Space Agency (ESA), German Aerospace Center (DLR), Indian Space Research Organization (ISRO), Italian Space Agency (ASI), Japanese Aerospace Exploration Agency (JAXA), National Air and Space Administration (NASA), National Centre for Space Studies (CNES), Space Research Institute (IKI), UAE Space Agency, and UK Space Agency. The IPDA Steering Committee oversees the execution of projects and coordinates international collaboration. The IPDA conducts a number of focused projects to enable interoperability, construction of compatible archives, and the operation of the IPDA as a whole. These projects have helped to establish the IPDA and to move the collaboration forward. A key project that is currently underway is the implementation of the PDS4 data standard. Given the international focus, it has been critical that the PDS and the IPDA collaborate on its development. Also, other projects have been conducted successfully, including developing the IPDA architecture and corresponding requirements, developing shared registries for data and tools across international boundaries, and common templates for supporting agreements for archiving and sharing data for international missions. Several projects demonstrating interoperability across

  13. The Role of NASA's Planetary Data System in the Planetary Spatial Data Infrastructure Initiative

    Science.gov (United States)

    Arvidson, R. E.; Gaddis, L. R.

    2017-12-01

    An effort underway in NASA's planetary science community is the Mapping and Planetary Spatial Infrastructure Team (MAPSIT, http://www.lpi.usra.edu/mapsit/). MAPSIT is a community assessment group organized to address a lack of strategic spatial data planning for space science and exploration. Working with MAPSIT, a new initiative of NASA and USGS is the development of a Planetary Spatial Data Infrastructure (PSDI) that builds on extensive knowledge on storing, accessing, and working with terrestrial spatial data. PSDI is a knowledge and technology framework that enables the efficient discovery, access, and exploitation of planetary spatial data to facilitate data analysis, knowledge synthesis, and decision-making. NASA's Planetary Data System (PDS) archives >1.2 petabytes of digital data resulting from decades of planetary exploration and research. The PDS charter focuses on the efficient collection, archiving, and accessibility of these data. The PDS emphasis on data preservation and archiving is complementary to that of the PSDI initiative because the latter utilizes and extends available data to address user needs in the areas of emerging technologies, rapid development of tailored delivery systems, and development of online collaborative research environments. The PDS plays an essential PSDI role because it provides expertise to help NASA missions and other data providers to organize and document their planetary data, to collect and maintain the archives with complete, well-documented and peer-reviewed planetary data, to make planetary data accessible by providing online data delivery tools and search services, and ultimately to ensure the long-term preservation and usability of planetary data. The current PDS4 information model extends and expands PDS metadata and relationships between and among elements of the collections. The PDS supports data delivery through several node services, including the Planetary Image Atlas (https

  14. Planetary Data Systems (PDS) Imaging Node Atlas II

    Science.gov (United States)

    Stanboli, Alice; McAuley, James M.

    2013-01-01

    The Planetary Image Atlas (PIA) is a Rich Internet Application (RIA) that serves planetary imaging data to the science community and the general public. PIA also utilizes the USGS Unified Planetary Coordinate system (UPC) and the on-Mars map server. The Atlas was designed to provide the ability to search and filter through greater than 8 million planetary image files. This software is a three-tier Web application that contains a search engine backend (MySQL, JAVA), Web service interface (SOAP) between server and client, and a GWT Google Maps API client front end. This application allows for the search, retrieval, and download of planetary images and associated meta-data from the following missions: 2001 Mars Odyssey, Cassini, Galileo, LCROSS, Lunar Reconnaissance Orbiter, Mars Exploration Rover, Mars Express, Magellan, Mars Global Surveyor, Mars Pathfinder, Mars Reconnaissance Orbiter, MESSENGER, Phoe nix, Viking Lander, Viking Orbiter, and Voyager. The Atlas utilizes the UPC to translate mission-specific coordinate systems into a unified coordinate system, allowing the end user to query across missions of similar targets. If desired, the end user can also use a mission-specific view of the Atlas. The mission-specific views rely on the same code base. This application is a major improvement over the initial version of the Planetary Image Atlas. It is a multi-mission search engine. This tool includes both basic and advanced search capabilities, providing a product search tool to interrogate the collection of planetary images. This tool lets the end user query information about each image, and ignores the data that the user has no interest in. Users can reduce the number of images to look at by defining an area of interest with latitude and longitude ranges.

  15. PSUP: A Planetary SUrface Portal

    Science.gov (United States)

    Poulet, F.; Quantin-Nataf, C.; Ballans, H.; Dassas, K.; Audouard, J.; Carter, J.; Gondet, B.; Lozac'h, L.; Malapert, J.-C.; Marmo, C.; Riu, L.; Séjourné, A.

    2018-01-01

    The large size and complexity of planetary data acquired by spacecraft during the last two decades create a demand within the planetary community for access to the archives of raw and high level data and for the tools necessary to analyze these data. Among the different targets of the Solar System, Mars is unique as the combined datasets from the Viking, Mars Global Surveyor, Mars Odyssey, Mars Express and Mars Reconnaissance Orbiter missions provide a tremendous wealth of information that can be used to study the surface of Mars. The number and the size of the datasets require an information system to process, manage and distribute data. The Observatories of Paris Sud (OSUPS) and Lyon (OSUL) have developed a portal, called PSUP (Planetary SUrface Portal), for providing users with efficient and easy access to data products dedicated to the Martian surface. The objectives of the portal are: 1) to allow processing and downloading of data via a specific application called MarsSI (Martian surface data processing Information System); 2) to provide the visualization and merging of high level (image, spectral, and topographic) products and catalogs via a web-based user interface (MarsVisu), and 3) to distribute some of these specific high level data with an emphasis on products issued by the science teams of OSUPS and OSUL. As the MarsSI service is extensively described in a companion paper (Quantin-Nataf et al., companion paper, submitted to this special issue), the present paper focus on the general architecture and the functionalities of the web-based user interface MarsVisu. This service provides access to many data products for Mars: albedo, mineral and thermal inertia global maps from spectrometers; mosaics from imagers; image footprints and rasters from the MarsSI tool; high level specific products (defined as catalogs or vectors). MarsVisu can be used to quickly assess the visualized processed data and maps as well as identify areas that have not been mapped yet

  16. Dust in planetary nebulae

    International Nuclear Information System (INIS)

    Kwok, S.

    1980-01-01

    A two-component dust model is suggested to explain the infrared emission from planetary nebulae. A cold dust component located in the extensive remnant of the red-giant envelope exterior to the visible nebula is responsible for the far-infrared emission. A ward dust component, which is condensed after the formation of the planetary nebula and confined within the ionized gas shell, emits most of the near- and mid-infrared radiation. The observations of NGC 7027 are shown to be consisten with such a model. The correlation of silicate emission in several planetary nebulae with an approximately +1 spectral index at low radio frequencies suggests that both the silicate and radio emissions originate from the remnant of the circumstellar envelope of th precursor star and are observable only while the planetary nebula is young. It is argued that oxygen-rich stars as well as carbon-rich stars can be progenitors of planetary nebulae

  17. Robotics in hazardous waste management

    International Nuclear Information System (INIS)

    Mahalingam, R.J.; Jayaraman, K.M.; Cunningham, A.J.; Meieran, H.B.; Zafrir, H.; Kroitoru, L.

    1994-01-01

    This paper addresses the advent of mobile robotic systems into the earth sciences and environmental studies. It presents issues surrounding the rationale for employing stationary and mobile robots to assist in waste chemical site remediation and cleanup activities, missions that could be conducted, and the current availability status for these devices. This rationale is an extension of that being promoted by the US Department of Energy (DOE) to assist in resolving environmental restoration and waste management (ER and WM) issues associated with several DOE national laboratories, facilities, and other sites. DOE has also committed to restore the environment surrounding the existing storage facilities and sites to a safe state. Technologies that are expected to play a major role in these activities are stationary and mobile robotic devices, and in particular, mobile robots. Specific topics discussed in this article include: introduction to robotics: motivations for considering robots in HWM: incorporation of robotics into HWM methods--this subsection includes a rationale for performing a ''screening test'' to determine the advantages of using a robot; safety and performance factors; illustrations for robots in action and current and future trends

  18. Laser Mass Spectrometry in Planetary Science

    International Nuclear Information System (INIS)

    Wurz, P.; Whitby, J. A.; Managadze, G. G.

    2009-01-01

    Knowing the chemical, elemental, and isotopic composition of planetary objects allows the study of their origin and evolution within the context of our solar system. Exploration plans in planetary research of several space agencies consider landing spacecraft for future missions. Although there have been successful landers in the past, more landers are foreseen for Mars and its moons, Venus, the jovian moons, and asteroids. Furthermore, a mass spectrometer on a landed spacecraft can assist in the sample selection in a sample-return mission and provide mineralogical context, or identify possible toxic soils on Mars for manned Mars exploration. Given the resources available on landed spacecraft mass spectrometers, as well as any other instrument, have to be highly miniaturised.

  19. On sub-modularization and morphological heterogeneity in modular robotics

    DEFF Research Database (Denmark)

    Lyder, A. H.; Stoy, K.; Garciá, R. F. M.

    2012-01-01

    Modular robots are a kind of robots built from mechatronic modules, which can be assembled in many different ways allowing the modular robot to assume a wide range of morphologies and functions. An important question in modular robotics is to which degree modules should be heterogeneous....... In this paper we introduce two contributing factors to heterogeneity namely morphological heterogeneity and sub-functional modularization. Respectively, the ideas are to create modules with significantly different morphologies and to spread sub-functionality across modules. Based on these principles we design...... and implement the Thor robot and evaluate it by participating in the ICRA Planetary Robotic Contingency Challenge. The Thor robot demonstrates that sub-functional modularity and morphological heterogeneity may increase the versatility of modular robots while reducing the complexity of individual modules, which...

  20. Solar discrepancies: Mars exploration and the curious problem of inter-planetary time

    Science.gov (United States)

    Mirmalek, Zara Lenora

    The inter-planetary work system for the NASA's Mars Exploration Rovers (MER) mission entailed coordinating work between two corporally diverse workgroups, human beings and solar-powered robots, and between two planets with asynchronous axial rotations. The rotation of Mars takes approximately 24 hours and 40 minutes while for Earth the duration is 24 hours, a differential that was synchronized on Earth by setting a clock forward forty minutes every day. The hours of the day during which the solar-powered rovers were operational constituted the central consideration in the relationship between time and work around which the schedule of MER science operations were organized. And, the operational hours for the rovers were precarious for at least two reasons: on the one hand, the possibility of a sudden and inexplicable malfunction was always present; on the other, the rovers were powered by solar-charged batteries that could simply (and would eventually) fail. Thus, the timetable for the inter-planetary work system was scheduled according to the daily cycle of the sun on Mars and a version of clock time called Mars time was used to keep track of the movement of the sun on Mars. While the MER mission was a success, it does not necessarily follow that all aspects of mission operations were successful. One of the central problems that plagued the organization of mission operations was precisely this construct called "Mars time" even while it appeared that the use of Mars time was unproblematic and central to the success of the mission. In this dissertation, Zara Mirmalek looks at the construction of Mars time as a tool and as a social process. Of particular interest are the consequences of certain (ostensibly foundational) assumptions about the relationship between clock time and the conduct of work that contributed to making the relationship between Mars time and work on Earth appear operational. Drawing on specific examples of breakdowns of Mars time as a support

  1. Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes

    OpenAIRE

    Botelho, Wagner Tanaka; Okada, Tokuji; Mahmoud, Abeer; Shimizu, Toshimi

    2011-01-01

    One of the objectives of the paper is to describe the hybrid robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot) with regard to switching between leg-type and wheel-type. Our robot has an easier design and control system than other hybrid robots. The software and hardware control in the process of performing five robot tasks are considered. These are the walking, rolling, switching, turning and spinning. In the switching task, we show the control method based on minimization of...

  2. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  3. Information architecture for a planetary 'exploration web'

    Science.gov (United States)

    Lamarra, N.; McVittie, T.

    2002-01-01

    'Web services' is a common way of deploying distributed applications whose software components and data sources may be in different locations, formats, languages, etc. Although such collaboration is not utilized significantly in planetary exploration, we believe there is significant benefit in developing an architecture in which missions could leverage each others capabilities. We believe that an incremental deployment of such an architecture could significantly contribute to the evolution of increasingly capable, efficient, and even autonomous remote exploration.

  4. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic architectural environments to be implemented and tested in the last decade in virtual and physical prototypes. These prototypes are incorporating sensing-actuating

  5. Absolute Navigation Information Estimation for Micro Planetary Rovers

    Directory of Open Access Journals (Sweden)

    Muhammad Ilyas

    2016-03-01

    Full Text Available This paper provides algorithms to estimate absolute navigation information, e.g., absolute attitude and position, by using low power, weight and volume Microelectromechanical Systems-type (MEMS sensors that are suitable for micro planetary rovers. Planetary rovers appear to be easily navigable robots due to their extreme slow speed and rotation but, unfortunately, the sensor suites available for terrestrial robots are not always available for planetary rover navigation. This makes them difficult to navigate in a completely unexplored, harsh and complex environment. Whereas the relative attitude and position can be tracked in a similar way as for ground robots, absolute navigation information, unlike in terrestrial applications, is difficult to obtain for a remote celestial body, such as Mars or the Moon. In this paper, an algorithm called the EASI algorithm (Estimation of Attitude using Sun sensor and Inclinometer is presented to estimate the absolute attitude using a MEMS-type sun sensor and inclinometer, only. Moreover, the output of the EASI algorithm is fused with MEMS gyros to produce more accurate and reliable attitude estimates. An absolute position estimation algorithm has also been presented based on these on-board sensors. Experimental results demonstrate the viability of the proposed algorithms and the sensor suite for low-cost and low-weight micro planetary rovers.

  6. Deep Space Gateway "Recycler" Mission

    Science.gov (United States)

    Graham, L.; Fries, M.; Hamilton, J.; Landis, R.; John, K.; O'Hara, W.

    2018-02-01

    Use of the Deep Space Gateway provides a hub for a reusable planetary sample return vehicle for missions to gather star dust as well as samples from various parts of the solar system including main belt asteroids, near-Earth asteroids, and Mars moon.

  7. NASA Lunar and Planetary Mapping and Modeling

    Science.gov (United States)

    Day, B. H.; Law, E.

    2016-12-01

    NASA's Lunar and Planetary Mapping and Modeling Portals provide web-based suites of interactive visualization and analysis tools to enable mission planners, planetary scientists, students, and the general public to access mapped lunar data products from past and current missions for the Moon, Mars, and Vesta. New portals for additional planetary bodies are being planned. This presentation will recap significant enhancements to these toolsets during the past year and look forward to the results of the exciting work currently being undertaken. Additional data products and tools continue to be added to the Lunar Mapping and Modeling Portal (LMMP). These include both generalized products as well as polar data products specifically targeting potential sites for the Resource Prospector mission. Current development work on LMMP also includes facilitating mission planning and data management for lunar CubeSat missions, and working with the NASA Astromaterials Acquisition and Curation Office's Lunar Apollo Sample database in order to help better visualize the geographic contexts from which samples were retrieved. A new user interface provides, among other improvements, significantly enhanced 3D visualizations and navigation. Mars Trek, the project's Mars portal, has now been assigned by NASA's Planetary Science Division to support site selection and analysis for the Mars 2020 Rover mission as well as for the Mars Human Landing Exploration Zone Sites. This effort is concentrating on enhancing Mars Trek with data products and analysis tools specifically requested by the proposing teams for the various sites. Also being given very high priority by NASA Headquarters is Mars Trek's use as a means to directly involve the public in these upcoming missions, letting them explore the areas the agency is focusing upon, understand what makes these sites so fascinating, follow the selection process, and get caught up in the excitement of exploring Mars. The portals also serve as

  8. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

    Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

  9. The European standard on planetary protection requirements.

    Science.gov (United States)

    Debus, André

    2006-01-01

    Since the beginning of solar system exploration, numerous spacecrafts have been sent towards others worlds, and one of the main goals of such missions is the search for extraterrestrial forms of life. It is known that, under certain conditions, some terrestrial entities are able to survive during cruises in space and that they may contaminate other planets (forward contamination). At another level, possible extraterrestrial life forms are unknown and their ability to contaminate the Earth's biosphere (back contamination) in the frame of sample return missions cannot be excluded. Article IX of the Outer Space Treaty (London/Washington, January 27, 1967) requires the preservation of planets and the Earth from contamination. All nations taking part in this Treaty must prevent forward and back contamination during missions exploring our solar system. Consequently, the United Nations (UN-COPUOS) has delegated COSPAR (Committee of Space Research) to take charge of planetary protection and, at present, all space-faring nations must comply with COSPAR policy and consequently with COSPAR planetary protection recommendations. Starting from these recommendations and the "CNES Planetary Protection Standard" document, a working group has been set up in the framework of the "European Cooperation for Space Standardization" (ECSS) to establish the main specifications for preventing cross-contamination between target bodies within the solar system and the Earth-moon system.

  10. Planetary Geologic Mapping Handbook - 2010. Appendix

    Science.gov (United States)

    Tanaka, K. L.; Skinner, J. A., Jr.; Hare, T. M.

    2010-01-01

    Geologic maps present, in an historical context, fundamental syntheses of interpretations of the materials, landforms, structures, and processes that characterize planetary surfaces and shallow subsurfaces. Such maps also provide a contextual framework for summarizing and evaluating thematic research for a given region or body. In planetary exploration, for example, geologic maps are used for specialized investigations such as targeting regions of interest for data collection and for characterizing sites for landed missions. Whereas most modern terrestrial geologic maps are constructed from regional views provided by remote sensing data and supplemented in detail by field-based observations and measurements, planetary maps have been largely based on analyses of orbital photography. For planetary bodies in particular, geologic maps commonly represent a snapshot of a surface, because they are based on available information at a time when new data are still being acquired. Thus the field of planetary geologic mapping has been evolving rapidly to embrace the use of new data and modern technology and to accommodate the growing needs of planetary exploration. Planetary geologic maps have been published by the U.S. Geological Survey (USGS) since 1962. Over this time, numerous maps of several planetary bodies have been prepared at a variety of scales and projections using the best available image and topographic bases. Early geologic map bases commonly consisted of hand-mosaicked photographs or airbrushed shaded-relief views and geologic linework was manually drafted using mylar bases and ink drafting pens. Map publishing required a tedious process of scribing, color peel-coat preparation, typesetting, and photo-laboratory work. Beginning in the 1990s, inexpensive computing, display capability and user-friendly illustration software allowed maps to be drawn using digital tools rather than pen and ink, and mylar bases became obsolete. Terrestrial geologic maps published by

  11. Robotics in near-earth space

    Science.gov (United States)

    Card, Michael E.

    1991-01-01

    The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

  12. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  13. Maximizing Function through Intelligent Robot Actuator Control

    Data.gov (United States)

    National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

  14. Starting a Robotics Program in Your County

    Science.gov (United States)

    Habib, Maria A.

    2012-01-01

    The current mission mandates of the National 4-H Headquarters are Citizenship, Healthy Living, and Science. Robotics programs are excellent in fulfilling the Science mandate. Robotics engages students in STEM (Science, Engineering, Technology, and Mathematics) fields by providing interactive, hands-on, minds-on, cross-disciplinary learning…

  15. Observability during planetary approach navigation

    Science.gov (United States)

    Bishop, Robert H.; Burkhart, P. Daniel; Thurman, Sam W.

    1993-01-01

    The objective of the research is to develop an analytic technique to predict the relative navigation capability of different Earth-based radio navigation measurements. In particular, the problem is to determine the relative ability of geocentric range and Doppler measurements to detect the effects of the target planet gravitational attraction on the spacecraft during the planetary approach and near-encounter mission phases. A complete solution to the two-dimensional problem has been developed. Relatively simple analytic formulas are obtained for range and Doppler measurements which describe the observability content of the measurement data along the approach trajectories. An observability measure is defined which is based on the observability matrix for nonlinear systems. The results show good agreement between the analytic observability analysis and the computational batch processing method.

  16. Planetary explorer liquid propulsion study

    Science.gov (United States)

    Mckevitt, F. X.; Eggers, R. F.; Bolz, C. W.

    1971-01-01

    An analytical evaluation of several candidate monopropellant hydrazine propulsion system approaches is conducted in order to define the most suitable configuration for the combined velocity and attitude control system for the Planetary Explorer spacecraft. Both orbiter and probe-type missions to the planet Venus are considered. The spacecraft concept is that of a Delta launched spin-stabilized vehicle. Velocity control is obtained through preprogrammed pulse-mode firing of the thrusters in synchronism with the spacecraft spin rate. Configuration selection is found to be strongly influenced by the possible error torques induced by uncertainties in thruster operation and installation. The propulsion systems defined are based on maximum use of existing, qualified components. Ground support equipment requirements are defined and system development testing outlined.

  17. Becoming Earth Independent: Human-Automation-Robotics Integration Challenges for Future Space Exploration

    Science.gov (United States)

    Marquez, Jessica J.

    2016-01-01

    Future exploration missions will require NASA to integrate more automation and robotics in order to accomplish mission objectives. This presentation will describe on the future challenges facing the human operator (astronaut, ground controllers) as we increase the amount of automation and robotics in spaceflight operations. It will describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. This presentation will outline future human-automation-robotic integration challenges.

  18. Mars Rover Model Celebration: Developing Inquiry Based Lesson Plans to Teach Planetary Science In Elementary And Middle School

    Science.gov (United States)

    Bering, E. A.; Slagle, E.; Nieser, K.; Carlson, C.; Kapral, A.; Dominey, W.; Ramsey, J.; Konstantinidis, I.; James, J.; Sweaney, S.; Mendez, R.

    2012-12-01

    The recent NASA Mars Rover missions capture the imagination of children, as NASA missions have done for decades. The University of Houston is in the process of developing a prototype of a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model rover. The existing prototype program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students will design and build a model of a Mars rover to carry out a student selected science mission on the surface of Mars. The model will be a mock-up, constructed at a minimal cost from art supplies. The students will build the models as part of a project on Mars. The students will be given design criteria for a rover and will do basic research on Mars that will determine the objectives and features of their rover. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The project's unique strength lies in engaging students in the process of spacecraft design and interesting them in aerospace engineering careers. The project is aimed at elementary and secondary education. Not only will these students learn about scientific fields relevant to the mission (space science, physics, geology, robotics, and more), they will gain an appreciation for how this knowledge is used to tackle complex problems. The low cost of the event makes it an ideal enrichment vehicle for low income schools. It provides activities that provide professional development to educators, curricular support resources using NASA Science Mission Directorate (SMD) content, and provides family opportunities for involvement in K-12 student learning. This paper will describe the development of a detailed set of new 5E lesson plans to

  19. State Estimation for Tensegrity Robots

    Science.gov (United States)

    Caluwaerts, Ken; Bruce, Jonathan; Friesen, Jeffrey M.; Sunspiral, Vytas

    2016-01-01

    Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

  20. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  1. The Messenger Mission to Mercury

    CERN Document Server

    Domingue, D. L

    2007-01-01

    NASA’s MESSENGER mission, launched on 3 August, 2004 is the seventh mission in the Discovery series. MESSENGER encounters the planet Mercury four times, culminating with an insertion into orbit on 18 March 2011. It carries a comprehensive package of geophysical, geological, geochemical, and space environment experiments to complete the complex investigations of this solar-system end member, which begun with Mariner 10. The articles in this book, written by the experts in each area of the MESSENGER mission, describe the mission, spacecraft, scientific objectives, and payload. The book is of interest to all potential users of the data returned by the MESSENGER mission, to those studying the nature of the planet Mercury, and by all those interested in the design and implementation of planetary exploration missions.

  2. Gazetteer of Planetary Nomenclature

    Data.gov (United States)

    National Aeronautics and Space Administration — Planetary nomenclature, like terrestrial nomenclature, is used to uniquely identify a feature on the surface of a planet or satellite so that the feature can be...

  3. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  4. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

    Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

  5. An Ion-Propelled Cubesat for Planetary Defense and Planetary Science

    Science.gov (United States)

    Russell, Christopher T.; Wirz, Richard; Lai, Hairong; Li, Jian-Yang; Connors, Martin

    2017-04-01

    Small satellites can reduce the cost of launch by riding along with other payloads on a large rocket or being launched on a small rocket, but are perceived as having limited capabilities. This perception can be at least partially overcome by innovative design, including ample in-flight propulsion. This allows achieving multiple targets and adaptive exploration. Ion propulsion has been pioneered on Deep Space 1 and honed on the long-duration, multiple-planetary body mission Dawn. Most importantly, the operation of such a mission is now well- understood, including navigation, communication, and science operations for remote sensing. We examined different mission concepts that can be used for both planetary defense and planetary science near 1 AU. Such a spacecraft would travel in the region between Venus and Mars, allowing a complete inventory of material above, including objects down to about 10m diameter to be inventoried. The ion engines could be used to approach these bodies slowly and carefully and allow the spacecraft to map debris and follow its collisional evolution throughout its orbit around the Sun, if so desired. The heritage of Dawn operations experience enables the mission to be operated inexpensively, and the engineering heritage will allow it to be operated for many trips around the Sun.

  6. Exploring the ethical landscape of robot-assisted Search and Rescue

    NARCIS (Netherlands)

    Harbers, M.; Greeff, J. de; Kruijff-Korbayová, I.; Neerincx, M.A.; Hindriks, K.V.

    2017-01-01

    As robots are increasingly used in Search and Rescue (SAR) missions, it becomes highly relevant to study how SAR robots can be developed and deployed in a responsible way. In contrast to some other robot application domains, e.g. military and healthcare, the ethics of robot-assisted SAR are

  7. Public Outreach with NASA Lunar and Planetary Mapping and Modeling

    Science.gov (United States)

    Law, E.; Day, B.

    2017-09-01

    NASA's Trek family of online portals is an exceptional collection of resources making it easy for students and the public to explore surfaces of planetary bodies using real data from real missions. Exotic landforms on other worlds and our plans to explore them provide inspiring context for science and technology lessons in classrooms, museums, and at home. These portals can be of great value to formal and informal educators, as well as to scientists working to share the excitement of the latest developments in planetary science, and can significantly enhance visibility and public engagement in missions of exploration.

  8. Radiation protection for human interplanetary spaceflight and planetary surface operations

    Energy Technology Data Exchange (ETDEWEB)

    Clark, B.C. [Armed Forces Radiobiology Research Inst., Bethesda, MD (United States)]|[DLR Inst. of Aerospace Medicine, Cologne (Germany)]|[NASA, Goddard Space Flight Center, Greenbelt, MD (United States)

    1993-12-31

    Radiation protection issues are reviewed for five categories of radiation exposure during human missions to the moon and Mars: trapped radiation belts, galactic cosmic rays, solar flare particle events, planetary surface emissions, and on-board radiation sources. Relative hazards are dependent upon spacecraft and vehicle configurations, flight trajectories, human susceptibility, shielding effectiveness, monitoring and warning systems, and other factors. Crew cabins, interplanetary mission modules, surface habitats, planetary rovers, and extravehicular mobility units (spacesuits) provide various degrees of protection. Countermeasures that may be taken are reviewed relative to added complexity and risks that they could entail, with suggestions for future research and analysis.

  9. Missions to Venus

    Science.gov (United States)

    Titov, D. V.; Baines, K. H.; Basilevsky, A. T.; Chassefiere, E.; Chin, G.; Crisp, D.; Esposito, L. W.; Lebreton, J.-P.; Lellouch, E.; Moroz, V. I.; Nagy, A. F.; Owen, T. C.; Oyama, K.-I.; Russell, C. T.; Taylor, F. W.; Young, R. E.

    2002-10-01

    Venus has always been a fascinating objective for planetary studies. At the beginning of the space era Venus became one of the first targets for spacecraft missions. Our neighbour in the solar system and, in size, the twin sister of Earth, Venus was expected to be very similar to our planet. However, the first phase of Venus spacecraft exploration in 1962-1992 by the family of Soviet Venera and Vega spacecraft and US Mariner, Pioneer Venus, and Magellan missions discovered an entirely different, exotic world hidden behind a curtain of dense clouds. These studies gave us a basic knowledge of the conditions on the planet, but generated many more questions concerning the atmospheric composition, chemistry, structure, dynamics, surface-atmosphere interactions, atmospheric and geological evolution, and the plasma environment. Despite all of this exploration by more than 20 spacecraft, the "morning star" still remains a mysterious world. But for more than a decade Venus has been a "forgotten" planet with no new missions featuring in the plans of the world space agencies. Now we are witnessing the revival of interest in this planet: the Venus Orbiter mission is approved in Japan, Venus Express - a European orbiter mission - has successfully passed the selection procedure in ESA, and several Venus Discovery proposals are knocking at the doors of NASA. The paper presents an exciting story of Venus spacecraft exploration, summarizes open scientific problems, and builds a bridge to the future missions.

  10. Controlling the autonomy of a reconnaissance robot

    Science.gov (United States)

    Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

    2004-09-01

    In this paper, we present our research on the control of a mobile robot for indoor reconnaissance missions. Based on previous work concerning our robot control architecture HARPIC, we have developed a man machine interface and software components that allow a human operator to control a robot at different levels of autonomy. This work aims at studying how a robot could be helpful in indoor reconnaissance and surveillance missions in hostile environment. In such missions, since a soldier faces many threats and must protect himself while looking around and holding his weapon, he cannot devote his attention to the teleoperation of the robot. Moreover, robots are not yet able to conduct complex missions in a fully autonomous mode. Thus, in a pragmatic way, we have built a software that allows dynamic swapping between control modes (manual, safeguarded and behavior-based) while automatically performing map building and localization of the robot. It also includes surveillance functions like movement detection and is designed for multirobot extensions. We first describe the design of our agent-based robot control architecture and discuss the various ways to control and interact with a robot. The main modules and functionalities implementing those ideas in our architecture are detailed. More precisely, we show how we combine manual controls, obstacle avoidance, wall and corridor following, way point and planned travelling. Some experiments on a Pioneer robot equipped with various sensors are presented. Finally, we suggest some promising directions for the development of robots and user interfaces for hostile environment and discuss our planned future improvements.

  11. Design Tools for Cost-Effective Implementation of Planetary Protection Requirements

    Science.gov (United States)

    Hamlin, Louise; Belz, Andrea; Evans, Michael; Kastner, Jason; Satter, Celeste; Spry, Andy

    2006-01-01

    Since the Viking missions to Mars in the 1970s, accounting for the costs associated with planetary protection implementation has not been done systematically during early project formulation phases, leading to unanticipated costs during subsequent implementation phases of flight projects. The simultaneous development of more stringent planetary protection requirements, resulting from new knowledge about the limits of life on Earth, together with current plans to conduct life-detection experiments on a number of different solar system target bodies motivates a systematic approach to integrating planetary protection requirements and mission design. A current development effort at NASA's Jet Propulsion Laboratory is aimed at integrating planetary protection requirements more fully into the early phases of mission architecture formulation and at developing tools to more rigorously predict associated cost and schedule impacts of architecture options chosen to meet planetary protection requirements.

  12. Lay and Expert Perceptions of Planetary Protection

    Science.gov (United States)

    Race, Margaret S.; MacGregor, Donald G.; Slovic, Paul

    2000-01-01

    As space scientists and engineers plan new missions to Mars and other planets in our solar system, they will face critical questions about the potential for biological contamination of planetary surfaces. In a society that places ever-increasing importance on the role of public involvement in science and technology policy, questions about risks of biological contamination will be examined and debated in the media, and will lead to the formation of public perceptions of planetary-contamination risks. These perceptions will, over time, form an important input to the development of space policy. Previous research in public and expert perceptions of technological risks and hazards has shown that many of the problems faced by risk-management organizations are the result of differing perceptions of risk (and risk management) between the general public and scientific and technical experts. These differences manifest themselves both as disagreements about the definition (and level) of risk associated with a scientific, technological or industrial enterprise, and as distrust about the ability of risk-management organizations (both public and private) to adequately protect people's health and safety. This report presents the results of a set of survey studies designed to reveal perceptions of planetary exploration and protection from a wide range of respondents, including both members of the general public and experts in the life sciences. The potential value of this research lies in what it reveals about perceptions of risk and benefit that could improve risk-management policies and practices. For example, efforts to communicate with the public about Mars sample return missions could benefit from an understanding of the specific concerns that nonscientists have about such a mission by suggesting areas of potential improvement in public education and information. Assessment of both public and expert perceptions of risk can also be used to provide an advanced signal of

  13. Autonomous planetary rover at Carnegie Mellon

    Science.gov (United States)

    Whittaker, William; Kanade, Takeo; Mitchell, Tom

    1990-01-01

    This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

  14. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

  15. Artificial Intelligence in planetary spectroscopy

    Science.gov (United States)

    Waldmann, Ingo

    2017-10-01

    The field of exoplanetary spectroscopy is as fast moving as it is new. Analysing currently available observations of exoplanetary atmospheres often invoke large and correlated parameter spaces that can be difficult to map or constrain. This is true for both: the data analysis of observations as well as the theoretical modelling of their atmospheres.Issues of low signal-to-noise data and large, non-linear parameter spaces are nothing new and commonly found in many fields of engineering and the physical sciences. Recent years have seen vast improvements in statistical data analysis and machine learning that have revolutionised fields as diverse as telecommunication, pattern recognition, medical physics and cosmology.In many aspects, data mining and non-linearity challenges encountered in other data intensive fields are directly transferable to the field of extrasolar planets. In this conference, I will discuss how deep neural networks can be designed to facilitate solving said issues both in exoplanet atmospheres as well as for atmospheres in our own solar system. I will present a deep belief network, RobERt (Robotic Exoplanet Recognition), able to learn to recognise exoplanetary spectra and provide artificial intelligences to state-of-the-art atmospheric retrieval algorithms. Furthermore, I will present a new deep convolutional network that is able to map planetary surface compositions using hyper-spectral imaging and demonstrate its uses on Cassini-VIMS data of Saturn.

  16. Instrumented Moles for Planetary Subsurface Regolith Studies

    Science.gov (United States)

    Richter, L. O.; Coste, P. A.; Grzesik, A.; Knollenberg, J.; Magnani, P.; Nadalini, R.; Re, E.; Romstedt, J.; Sohl, F.; Spohn, T.

    2006-12-01

    Soil-like materials, or regolith, on solar system objects provide a record of physical and/or chemical weathering processes on the object in question and as such possess significant scientific relevance for study by landed planetary missions. In the case of Mars, a complex interplay has been at work between impact gardening, aeolian as well as possibly fluvial processes. This resulted in regolith that is texturally as well as compositionally layered as hinted at by results from the Mars Exploration Rover (MER) missions which are capable of accessing shallow subsurface soils by wheel trenching. Significant subsurface soil access on Mars, i.e. to depths of a meter or more, remains to be accomplished on future missions. This has been one of the objectives of the unsuccessful Beagle 2 landed element of the ESA Mars Express mission having been equipped with the Planetary Underground Tool (PLUTO) subsurface soil sampling Mole system capable of self-penetration into regolith due to an internal electro-mechanical hammering mechanism. This lightweight device of less than 900 g mass was designed to repeatedly obtain and deliver to the lander regolith samples from depths down to 2 m which would have been analysed for organic matter and, specifically, organic carbon from potential extinct microbial activity. With funding from the ESA technology programme, an evolved Mole system - the Instrumented Mole System (IMS) - has now been developed to a readiness level of TRL 6. The IMS is to serve as a carrier for in situ instruments for measurements in planetary subsurface soils. This could complement or even eliminate the need to recover samples to the surface. The Engineering Model hardware having been developed within this effort is designed for accommodating a geophysical instrument package (Heat Flow and Physical Properties Package, HP3) that would be capable of measuring regolith physical properties and planetary heat flow. The chosen design encompasses a two-body Mole

  17. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  18. Mobility Systems For Robotic Vehicles

    Science.gov (United States)

    Chun, Wendell

    1987-02-01

    The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

  19. Solar System Exploration Augmented by In-Situ Resource Utilization: Human Planetary Base Issues for Mercury and Saturn

    Science.gov (United States)

    Palaszewski, Bryan A.

    2017-01-01

    Human and robotic missions to Mercury and Saturn are presented and analyzed with a range of propulsion options. Historical studies of space exploration, planetary spacecraft, and astronomy, in-situ resource utilization (ISRU), and industrialization all point to the vastness of natural resources in the solar system. Advanced propulsion benefitted from these resources in many ways. While advanced propulsion systems were proposed in these historical studies, further investigation of nuclear options using high power nuclear thermal and nuclear pulse propulsion as well as advanced chemical propulsion can significantly enhance these scenarios. Updated analyses based on these historical visions are presented. Nuclear thermal propulsion and ISRU enhanced chemical propulsion landers are assessed for Mercury missions. At Saturn, nuclear pulse propulsion with alternate propellant feed systems and Saturn moon exploration with chemical propulsion and nuclear electric propulsion options are discussed. Issues with using in-situ resource utilization on Mercury missions are discussed. At Saturn, the best locations for exploration and the use of the moons Titan and Enceladus as central locations for Saturn moon exploration is assessed.

  20. The US planetary exploration program opportunities for international cooperation

    Science.gov (United States)

    Briggs, G. A.

    1984-01-01

    Opportunities for international participation in US-sponsored interplanetary missions are discussed on the basis of the recommendations of the Committee on Planetary and Lunar Exploration of the National Academy of Sciences Space Science Board. The initial core missions suggested are a Venus radar mapper, a Mars geoscience/climatology orbiter, a comet-rendezvous/asteroid-flyby mission, and a Titan probe/radar mapper. Subsequent core missions are listed, and the need for cooperation in planning and development stages to facilitate international participation is indicated.

  1. Reconfigurable Autonomy for Future Planetary Rovers

    Science.gov (United States)

    Burroughes, Guy

    Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.

  2. Infrared observations of planetary atmospheres

    International Nuclear Information System (INIS)

    Orton, G.S.; Baines, K.H.; Bergstralh, J.T.

    1988-01-01

    The goal of this research in to obtain infrared data on planetary atmospheres which provide information on several aspects of structure and composition. Observations include direct mission real-time support as well as baseline monitoring preceding mission encounters. Besides providing a broader information context for spacecraft experiment data analysis, observations will provide the quantitative data base required for designing optimum remote sensing sequences and evaluating competing science priorities. In the past year, thermal images of Jupiter and Saturn were made near their oppositions in order to monitor long-term changes in their atmospheres. Infrared images of the Jovian polar stratospheric hot spots were made with IUE observations of auroral emissions. An exploratory 5-micrometer spectrum of Uranus was reduced and accepted for publication. An analysis of time-variability of temperature and cloud properties of the Jovian atomsphere was made. Development of geometric reduction programs for imaging data was initiated for the sun workstation. Near-infrared imaging observations of Jupiter were reduced and a preliminary analysis of cloud properties made. The first images of the full disk of Jupiter with a near-infrared array camera were acquired. Narrow-band (10/cm) images of Jupiter and Saturn were obtained with acousto-optical filters

  3. An Overview of Wind-Driven Rovers for Planetary Exploration

    Science.gov (United States)

    Hajos, Gregory A.; Jones, Jack A.; Behar, Alberto; Dodd, Micheal

    2005-01-01

    The use of in-situ propulsion is considered enabling technology for long duration planetary surface missions. Most studies have focused on stored energy from chemicals extracted from the soil or the use of soil chemicals to produce photovoltaic arrays. An older form of in-situ propulsion is the use of wind power. Recent studies have shown potential for wind driven craft for exploration of Mars, Titan and Venus. The power of the wind, used for centuries to power wind mills and sailing ships, is now being applied to modern land craft. Efforts are now underway to use the wind to push exploration vehicles on other planets and moons in extended survey missions. Tumbleweed rovers are emerging as a new type of wind-driven science platform concept. Recent investigations by the National Aeronautics and Space Administration (NASA) and Jet Propulsion Laboratory (JPL) indicate that these light-weight, mostly spherical or quasi-spherical devices have potential for long distance surface exploration missions. As a power boat has unique capabilities, but relies on stored energy (fuel) to move the vessel, the Tumbleweed, like the sailing ships of the early explorers on earth, uses an unlimited resource the wind to move around the surface of Mars. This has the potential to reduce the major mass drivers of robotic rovers as well as the power generation and storage systems. Jacques Blamont of JPL and the University of Paris conceived the first documented Mars wind-blown ball in 1977, shortly after the Viking landers discovered that Mars has a thin CO2 atmosphere with relatively strong winds. In 1995, Jack Jones, et al, of JPL conceived of a large wind-blown inflated ball for Mars that could also be driven and steered by means of a motorized mass hanging beneath the rolling axis of the ball. A team at NASA Langley Research Center started a biomimetic Tumbleweed design study in 1998. Wind tunnel and CFD analysis were applied to a variety of concepts to optimize the aerodynamic

  4. Propulsive Maneuver Design for the 2007 Mars Phoenix Lander Mission

    Science.gov (United States)

    Raofi, Behzad; Bhat, Ramachandra S.; Helfrich, Cliff

    2008-01-01

    On May 25, 2008, the Mars Phoenix Lander (PHX) successfully landed in the northern planes of Mars in order to continue and complement NASA's "follow the water" theme as its predecessor Mars missions, such as Mars Odyssey (ODY) and Mars Exploration Rovers, have done in recent years. Instruments on the lander, through a robotic arm able to deliver soil samples to the deck, will perform in-situ and remote-sensing investigations to characterize the chemistry of materials at the local surface, subsurface, and atmosphere. Lander instruments will also identify the potential history of key indicator elements of significance to the biological potential of Mars, including potential organics within any accessible water ice. Precise trajectory control and targeting were necessary in order to achieve the accurate atmospheric entry conditions required for arriving at the desired landing site. The challenge for the trajectory control maneuver design was to meet or exceed these requirements in the presence of spacecraft limitations as well as other mission constraints. This paper describes the strategies used, including the specialized targeting specifically developed for PHX, in order to design and successfully execute the propulsive maneuvers that delivered the spacecraft to its targeted landing site while satisfying the planetary protection requirements in the presence of flight system constraints.

  5. CHOMIK -Sampling Device of Penetrating Type for Russian Phobos Sample Return Mission

    Science.gov (United States)

    Seweryn, Karol; Grygorczuk, Jerzy; Rickmann, Hans; Morawski, Marek; Aleksashkin, Sergey; Banaszkiewicz, Marek; Drogosz, Michal; Gurgurewicz, Joanna; Kozlov, Oleg E.; Krolikowska-Soltan, Malgorzata; Sutugin, Sergiej E.; Wawrzaszek, Roman; Wisniewski, Lukasz; Zakharov, Alexander

    Measurements of physical properties of planetary bodies allow to determine many important parameters for scientists working in different fields of research. For example effective heat conductivity of the regolith can help with better understanding of processes occurring in the body interior. Chemical and mineralogical composition gives us a chance to better understand the origin and evolution of the moons. In principle such parameters of the planetary bodies can be determined based on three different measurement techniques: (i) in situ measurements (ii) measurements of the samples in laboratory conditions at the Earth and (iii) remote sensing measurements. Scientific missions which allow us to perform all type of measurements, give us a chance for not only parameters determination but also cross calibration of the instruments. Russian Phobos Sample Return (PhSR) mission is one of few which allows for all type of such measurements. The spacecraft will be equipped with remote sensing instruments like: spectrometers, long wave radar and dust counter, instruments for in-situ measurements -gas-chromatograph, seismometer, thermodetector and others and also robotic arm and sampling device. PhSR mission will be launched in November 2011 on board of a launch vehicle Zenit. About a year later (11 months) the vehicle will reach the Martian orbit. It is anticipated that it will land on Phobos in the beginning of 2013. A take off back will take place a month later and the re-entry module containing a capsule that will hold the soil sample enclosed in a container will be on its way back to Earth. The 11 kg re-entry capsule with the container will land in Kazakhstan in mid-2014. A unique geological penetrator CHOMIK dedicated for the Phobos Sample Return space mis-sion will be designed and manufactured at the Space Mechatronics and Robotics Laboratory, Space Research Centre Polish Academy of Sciences (SRC PAS) in Warsaw. Functionally CHOMIK is based on the well known MUPUS

  6. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  7. Planetary Radio Interferometry and Doppler Experiment (PRIDE) for Planetary Atmospheric Studies

    Science.gov (United States)

    Bocanegra Bahamon, Tatiana; Cimo, Giuseppe; Duev, Dmitry; Gurvits, Leonid; Molera Calves, Guifre; Pogrebenko, Sergei

    2015-04-01

    ' atmosphere were derived. The demonstration of the capability of PRIDE as a radio science instrument for planetary atmospheric studies is developed in the framework of the upcoming ESA's JUICE mission to study Jupiter's system.

  8. Preparing for Humans at Mars, MPPG Updates to Strategic Knowledge Gaps and Collaboration with Science Missions

    Science.gov (United States)

    Baker, John; Wargo, Michael J.; Beaty, David

    2013-01-01

    The Mars Program Planning Group (MPPG) was an agency wide effort, chartered in March 2012 by the NASA Associate Administrator for Science, in collaboration with NASA's Associate Administrator for Human Exploration and Operations, the Chief Scientist, and the Chief Technologist. NASA tasked the MPPG to develop foundations for a program-level architecture for robotic exploration of Mars that is consistent with the President's challenge of sending humans to the Mars system in the decade of the 2030s and responsive to the primary scientific goals of the 2011 NRC Decadal Survey for Planetary Science. The Mars Exploration Program Analysis Group (MEPAG) also sponsored a Precursor measurement Strategy Analysis Group (P-SAG) to revisit prior assessments of required precursor measurements for the human exploration of Mars. This paper will discuss the key results of the MPPG and P-SAG efforts to update and refine our understanding of the Strategic Knowledge Gaps (SKGs) required to successfully conduct human Mars missions.

  9. Planetary mass function and planetary systems

    Science.gov (United States)

    Dominik, M.

    2011-02-01

    With planets orbiting stars, a planetary mass function should not be seen as a low-mass extension of the stellar mass function, but a proper formalism needs to take care of the fact that the statistical properties of planet populations are linked to the properties of their respective host stars. This can be accounted for by describing planet populations by means of a differential planetary mass-radius-orbit function, which together with the fraction of stars with given properties that are orbited by planets and the stellar mass function allows the derivation of all statistics for any considered sample. These fundamental functions provide a framework for comparing statistics that result from different observing techniques and campaigns which all have their very specific selection procedures and detection efficiencies. Moreover, recent results both from gravitational microlensing campaigns and radial-velocity surveys of stars indicate that planets tend to cluster in systems rather than being the lonely child of their respective parent star. While planetary multiplicity in an observed system becomes obvious with the detection of several planets, its quantitative assessment however comes with the challenge to exclude the presence of further planets. Current exoplanet samples begin to give us first hints at the population statistics, whereas pictures of planet parameter space in its full complexity call for samples that are 2-4 orders of magnitude larger. In order to derive meaningful statistics, however, planet detection campaigns need to be designed in such a way that well-defined fully deterministic target selection, monitoring and detection criteria are applied. The probabilistic nature of gravitational microlensing makes this technique an illustrative example of all the encountered challenges and uncertainties.

  10. Human exploration mission studies

    Science.gov (United States)

    Cataldo, Robert L.

    1989-01-01

    The Office of Exploration has established a process whereby all NASA field centers and other NASA Headquarters offices participate in the formulation and analysis of a wide range of mission strategies. These strategies were manifested into specific scenarios or candidate case studies. The case studies provided a systematic approach into analyzing each mission element. First, each case study must address several major themes and rationale including: national pride and international prestige, advancement of scientific knowledge, a catalyst for technology, economic benefits, space enterprise, international cooperation, and education and excellence. Second, the set of candidate case studies are formulated to encompass the technology requirement limits in the life sciences, launch capabilities, space transfer, automation, and robotics in space operations, power, and propulsion. The first set of reference case studies identify three major strategies: human expeditions, science outposts, and evolutionary expansion. During the past year, four case studies were examined to explore these strategies. The expeditionary missions include the Human Expedition to Phobos and Human Expedition to Mars case studies. The Lunar Observatory and Lunar Outpost to Early Mars Evolution case studies examined the later two strategies. This set of case studies established the framework to perform detailed mission analysis and system engineering to define a host of concepts and requirements for various space systems and advanced technologies. The details of each mission are described and, specifically, the results affecting the advanced technologies required to accomplish each mission scenario are presented.

  11. The ARTEMIS mission

    CERN Document Server

    Angelopoulos, Vassilis

    2014-01-01

    The ARTEMIS mission was initiated by skillfully moving the two outermost Earth-orbiting THEMIS spacecraft into lunar orbit to conduct unprecedented dual spacecraft observations of the lunar environment. ARTEMIS stands for Acceleration, Reconnection, Turbulence and Electrodynamics of the Moon's Interaction with the Sun. Indeed, this volume discusses initial findings related to the Moon’s magnetic and plasma environments and the electrical conductivity of the lunar interior. This work is aimed at researchers and graduate students in both heliophysics and planetary physics. Originally published in Space Science Reviews, Vol. 165/1-4, 2011.

  12. Developing Principles for Effective Human Collaboration with Free-Flying Robots

    Data.gov (United States)

    National Aeronautics and Space Administration — Aerial robots hold great promise in supporting human activities during space missions and terrestrial operations. For example, free-flying robots may automate...

  13. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

    This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. CANINE: a robotic mine dog

    Science.gov (United States)

    Stancil, Brian A.; Hyams, Jeffrey; Shelley, Jordan; Babu, Kartik; Badino, Hernán.; Bansal, Aayush; Huber, Daniel; Batavia, Parag

    2013-01-01

    Neya Systems, LLC competed in the CANINE program sponsored by the U.S. Army Tank Automotive Research Development and Engineering Center (TARDEC) which culminated in a competition held at Fort Benning as part of the 2012 Robotics Rodeo. As part of this program, we developed a robot with the capability to learn and recognize the appearance of target objects, conduct an area search amid distractor objects and obstacles, and relocate the target object in the same way that Mine dogs and Sentry dogs are used within military contexts for exploration and threat detection. Neya teamed with the Robotics Institute at Carnegie Mellon University to develop vision-based solutions for probabilistic target learning and recognition. In addition, we used a Mission Planning and Management System (MPMS) to orchestrate complex search and retrieval tasks using a general set of modular autonomous services relating to robot mobility, perception and grasping.

  15. High Measurement Channel Density Sensor Array Impedance Analyzer for Planetary Exploration, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Planetary exploration missions, such as those planned by NASA and other space agencies over the next few decades, require advanced chemical and biological marker...

  16. Design and Simulation Tools for Planetary Atmospheric Entry Vehicles, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Atmospheric entry is one of the most critical phases of flight during planetary exploration missions. During the design of an entry vehicle, experimental and...

  17. On-Orbit Planetary Science Laboratories for Simulating Surface Conditions of Planets and Small Bodies

    Science.gov (United States)

    Thangavelautham, J.; Asphaug, E.; Schwartz, S.

    2017-02-01

    Our work has identified the use of on-orbit centrifuge science laboratories as a key enabler towards low-cost, fast-track physical simulation of off-world environments for future planetary science missions.

  18. NASA Mars 2020 Rover Mission: New Frontiers in Science

    Science.gov (United States)

    Calle, Carlos I.

    2014-01-01

    The Mars 2020 rover mission is the next step in NASAs robotic exploration of the red planet. The rover, based on the Mars Science Laboratory Curiosity rover now on Mars, will address key questions about the potential for life on Mars. The mission would also provide opportunities to gather knowledge and demonstrate technologies that address the challenges of future human expeditions to Mars.Like the Mars Science Laboratory rover, which has been exploring Mars since 2012, the Mars 2020 spacecraft will use a guided entry, descent, and landing system which includes a parachute, descent vehicle, and, during the provides the ability to land a very large, heavy rover on the surface of Mars in a more precise landing area. The Mars 2020 mission is designed to accomplish several high-priority planetary science goals and will be an important step toward meeting NASAs challenge to send humans to Mars in the 2030s. The mission will conduct geological assessments of the rover's landing site, determine the habitability of the environment, search for signs of ancient Martian life, and assess natural resources and hazards for future human explorers. The science instruments aboard the rover also will enable scientists to identify and select a collection of rock and soil samples that will be stored for potential return to Earth in the future. The rover also may help designers of a human expedition understand the hazards posed by Martian dust and demonstrate how to collect carbon dioxide from the atmosphere, which could be a valuable resource for producing oxygen and rocket fuel.

  19. Planetary Data Archiving Activities of ISRO

    Science.gov (United States)

    Gopala Krishna, Barla; D, Rao J.; Thakkar, Navita; Prashar, Ajay; Manthira Moorthi, S.

    ISRO has launched its first planetary mission to moon viz., Chandrayaan-1 on October 22, 2008. This mission carried eleven instruments; a wealth of science data has been collected during its mission life (November 2008 to August 2009), which is archived at Indian Space Science Data Centre (ISSDC). The data centre ISSDC is responsible for the Ingest, storage, processing, Archive, and dissemination of the payload and related ancillary data in addition to real-time spacecraft operations support. ISSDC is designed to provide high computation power, large storage and hosting a variety of applications necessary to support all the planetary and space science missions of ISRO. State-of-the-art architecture of ISSDC provides the facility to ingest the raw payload data of all the science payloads of the science satellites in automatic manner, processes raw data and generates payload specific processed outputs, generate higher level products and disseminates the data sets to principal investigators, guest observers, payload operations centres (POC) and to general public. The data archive makes use of the well-proven archive standards of the Planetary Data System (PDS). The long term Archive for five payloads of Chandrayaan-1 data viz., TMC, HySI, SARA, M3 and MiniSAR is released from ISSDC on19th April 2013 (http://www.issdc.gov.in) to the users. Additionally DEMs generated from possible passes of Chandrayaan-1 TMC stereo data and sample map sheets of Lunar Atlas are also archived and released from ISSDC along with the LTA. Mars Orbiter Mission (MOM) is the recent planetary mission launched on October 22, 2013; currently enroute to MARS, carrying five instruments (http://www.isro.org) viz., Mars Color Camera (MCC) to map various morphological features on Mars with varying resolution and scales using the unique elliptical orbit, Methane Sensor for Mars (MSM) to measure total column of methane in the Martian atmosphere, Thermal Infrared Imaging Spectrometer (TIS) to map surface

  20. Evolution of space drones for planetary exploration: A review

    Science.gov (United States)

    Hassanalian, M.; Rice, D.; Abdelkefi, A.

    2018-02-01

    In the past decade, there has been a tendency to design and fabricate drones which can perform planetary exploration. Generally, there are various ways to study space objects, such as the application of telescopes and satellites, launching robots and rovers, and sending astronauts to the targeted solar bodies. However, due to the advantages of drones compared to other approaches in planetary exploration, ample research has been carried out by different space agencies in the world, including NASA to apply drones in other solar bodies. In this review paper, several studies which have been performed on space drones for planetary exploration are consolidated and discussed. Design and fabrication challenges of space drones, existing methods for their flight tests, different methods for deployment and planet entry, and various navigation and control approaches are reviewed and discussed elaborately. Limitations of applying space drones, proposed solutions for future space drones, and recommendations are also presented and discussed.

  1. Planetary Space Weather Services for the Europlanet 2020 Research Infrastructure

    Science.gov (United States)

    André, Nicolas; Grande, Manuel

    2016-04-01

    Under Horizon 2020, the Europlanet 2020 Research Infrastructure (EPN2020-RI) will include an entirely new Virtual Access Service, WP5 VA1 "Planetary Space Weather Services" (PSWS) that will extend the concepts of space weather and space situational awareness to other planets in our Solar System and in particular to spacecraft that voyage through it. VA1 will make five entirely new 'toolkits' accessible to the research community and to industrial partners planning for space missions: a general planetary space weather toolkit, as well as three toolkits dedicated to the following key planetary environments: Mars (in support ExoMars), comets (building on the expected success of the ESA Rosetta mission), and outer planets (in preparation for the ESA JUICE mission to be launched in 2022). This will give the European planetary science community new methods, interfaces, functionalities and/or plugins dedicated to planetary space weather in the tools and models available within the partner institutes. It will also create a novel event-diary toolkit aiming at predicting and detecting planetary events like meteor showers and impacts. A variety of tools (in the form of web applications, standalone software, or numerical models in various degrees of implementation) are available for tracing propagation of planetary and/or solar events through the Solar System and modelling the response of the planetary environment (surfaces, atmospheres, ionospheres, and magnetospheres) to those events. But these tools were not originally designed for planetary event prediction and space weather applications. So WP10 JRA4 "Planetary Space Weather Services" (PSWS) will provide the additional research and tailoring required to apply them for these purposes. The overall objectives of this Joint Research Aactivities will be to review, test, improve and adapt methods and tools available within the partner institutes in order to make prototype planetary event and space weather services operational in

  2. Vanguard: A New Science Mission For Experimental Astrobiology

    Science.gov (United States)

    Ellery, A.; Wynn-Williams, D.; Edwards, H.; Dickensheets, D.; Welch, C.; Curley, A.

    As an alternative to technically and financially problemat ic sample return missions, a rover-mounted laser Raman spectrometer sensitive to biomolecules and their mineral substrata is a promising alternative in the search for evidence of former life on Mars. We presented a new remote in situ analysis package being designed for experimental astrobiology on terrestrial-type planetary surfaces. The science is based on the hypothesis that if life arose on Mars, the selective pressure of solar radiation would have led to the evolution of pigmented systems to harness the energy of sunlight and to protect cells from concurrent UV stress. Microbial communities would have therefore become stratified by the light gradient, and our remote system would penetrate the near-subsurface profile in a vertical transect of horizontal strata in ancient sediments (such as palaeolake beds). The system will include an extensive array of robotic support to translocate and deploy a Raman spectrometer detectors beneath the surface of Mars ­ it will comprise of a base station lander to support communications, a robotic micro-rover to permit well- separated triplicate profiles made by three ground-penetrating moles mounted in a vertical configuration. Each mole will deploy a tether carrying fibre optic cables coupling the Raman spectrometer onboard the rover and the side-scanning sensor head on the mole. The complete system has been named Vanguard, and it represents a close collaboration between a space robotics engineer (Ellery), an astrobiologist (Wynn-Williams), a molecular spectroscopist (Edwards), an opto-electronic technologist (Dickensheets), a spacecraft engineer (Welch) and a robotic vision specialist (Curley). The autonomy requirement for the Vanguard instrument requires that significant scientific competence is imparted to the instrument through an expert system to ensure that quick-look analysis is performed onboard in real-time as the mole penetrates beneath the surface. Onboard

  3. Measuring and interpreting X-ray fluorescence from planetary surfaces.

    Science.gov (United States)

    Owens, Alan; Beckhoff, Burkhard; Fraser, George; Kolbe, Michael; Krumrey, Michael; Mantero, Alfonso; Mantler, Michael; Peacock, Anthony; Pia, Maria-Grazia; Pullan, Derek; Schneider, Uwe G; Ulm, Gerhard

    2008-11-15

    As part of a comprehensive study of X-ray emission from planetary surfaces and in particular the planet Mercury, we have measured fluorescent radiation from a number of planetary analog rock samples using monochromatized synchrotron radiation provided by the BESSY II electron storage ring. The experiments were carried out using a purpose built X-ray fluorescence (XRF) spectrometer chamber developed by the Physikalisch-Technische Bundesanstalt, Germany's national metrology institute. The XRF instrumentation is absolutely calibrated and allows for reference-free quantitation of rock sample composition, taking into account secondary photon- and electron-induced enhancement effects. The fluorescence data, in turn, have been used to validate a planetary fluorescence simulation tool based on the GEANT4 transport code. This simulation can be used as a mission analysis tool to predict the time-dependent orbital XRF spectral distributions from planetary surfaces throughout the mapping phase.

  4. Selecting and implementing scientific objectives. [for Voyager 1 and 2 planetary encounters

    Science.gov (United States)

    Miner, E. D.; Stembridge, C. H.; Doms, P. E.

    1985-01-01

    The procedures used to select and implement scientific objectives for the Voyager 1 and 2 planetary encounters are described. Attention is given to the scientific tradeoffs and engineering considerations must be addressed at various stages in the mission planning process, including: the limitations of ground and spacecraft communications systems, ageing of instruments in flight, and instrument calibration over long distances. The contribution of planetary science workshops to the definition of scientific objectives for deep space missions is emphasized.

  5. Reports and recommendations from COSPAR Planetary Exploration Committee (PEX) & International Lunar Exploration Working Group (ILEWG)

    Science.gov (United States)

    Ehrenfreund, Pascale; Foing, Bernard

    2014-05-01

    In response to the growing importance of space exploration, the objectives of the COSPAR Panel on Exploration (PEX) are to provide high quality, independent science input to support the development of a global space exploration program while working to safeguard the scientific assets of solar system bodies. PEX engages with COSPAR Commissions and Panels, science foundations, IAA, IAF, UN bodies, and IISL to support in particular national and international space exploration working groups and the new era of planetary exploration. COSPAR's input, as gathered by PEX, is intended to express the consensus view of the international scientific community and should ultimately provide a series of guidelines to support future space exploration activities and cooperative efforts, leading to outstanding scientific discoveries, opportunities for innovation, strategic partnerships, technology progression, and inspiration for people of all ages and cultures worldwide. We shall focus on the lunar exploration aspects, where the COSPAR PEX is building on previous COSPAR, ILEWG and community conferences. An updated COSPAR PEX report is published and available online (Ehrenfreund P. et al, COSPAR planetary exploration panel report, http://www.gwu.edu/~spi/assets/COSPAR_PEX2012.pdf). We celebrate 20 years after the 1st International Conference on Exploration and Utilisation of the Moon at Beatenberg in June 1994. The International Lunar Exploration Working Group (ILEWG) was established the year after in April 1995 at an EGS meeting in Hamburg, Germany. As established in its charter, this working group reports to COSPAR and is charged with developing an international strategy for the exploration of the Moon (http://sci.esa.int/ilewg/ ). It discusses coordination between missions, and a road map for future international lunar exploration and utilisation. It fosters information exchange or potential and real future lunar robotic and human missions, as well as for new scientific and

  6. Using NASA's Space Launch System to Enable Game Changing Science Mission Designs

    Science.gov (United States)

    Creech, Stephen D.

    2013-01-01

    NASA's Marshall Space Flight Center is directing efforts to build the Space Launch System (SLS), a heavy-lift rocket that will help restore U.S. leadership in space by carrying the Orion Multi-Purpose Crew Vehicle and other important payloads far beyond Earth orbit. Its evolvable architecture will allow NASA to begin with Moon fly-bys and then go on to transport humans or robots to distant places such as asteroids, Mars, and the outer solar system. Designed to simplify spacecraft complexity, the SLS rocket will provide improved mass margins and radiation mitigation, and reduced mission durations. These capabilities offer attractive advantages for ambitious missions such as a Mars sample return, by reducing infrastructure requirements, cost, and schedule. For example, if an evolved expendable launch vehicle (EELV) were used for a proposed mission to investigate the Saturn system, a complicated trajectory would be required with several gravity-assist planetary fly-bys to achieve the necessary outbound velocity. The SLS rocket, using significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, reducing trip times and cost. As this paper will report, the SLS rocket will launch payloads of unprecedented mass and volume, such as monolithic telescopes and in-space infrastructure. Thanks to its ability to co-manifest large payloads, it also can accomplish complex missions in fewer launches. Future analyses will include reviews of alternate mission concepts and detailed evaluations of SLS figures of merit, helping the new rocket revolutionize science mission planning and design for years to come.

  7. Formulation Assessment and Support Team (FAST) for the Asteroid Redirect Mission (ARM)

    Science.gov (United States)

    Mazanek, Daniel D.; Abell, Paul; Reeves, David M.; NASA Asteroid Redirect Mission (ARM) Formulation Assessment and Support Team (FAST)

    2016-10-01

    The Formulation Assessment and Support Team (FAST) for the Asteroid Redirect Mission (ARM) was a two-month effort, chartered by NASA, to provide timely inputs for mission requirement formulation in support of the Asteroid Redirect Robotic Mission (ARRM) Requirements Closure Technical Interchange Meeting held December 15-16, 2015. Additionally, the FAST was tasked with developing an initial list of potential mission investigations and providing input on potential hosted payloads and partnerships. The FAST explored several aspects of potential science benefits and knowledge gain from the ARM. Expertise from the science, engineering, and technology communities was represented in exploring lines of inquiry related to key characteristics of the ARRM reference target asteroid (2008 EV5) for engineering design purposes. Specific areas of interest included target origin, spatial distribution and size of boulders, surface geotechnical properties, boulder physical properties, and considerations for boulder handling, crew safety, and containment. In order to increase knowledge gain potential from the mission, opportunities for partnerships and accompanying payloads that could be provided by domestic and international partners were also investigated. The ARM FAST final report was publicly released on February 18, 2016 and represents the FAST's final product. The report and associated public comments are being used to support mission requirements formulation and serve as an initial inquiry to the science and engineering communities relating to the characteristics of the ARRM reference target asteroid. This report also provides a suggested list of potential investigations sorted and grouped based on their likely benefit to ARM and potential relevance to NASA science and exploration goals. These potential investigations could be conducted to reduce mission risks and increase knowledge return in the areas of science, planetary defense, asteroid resources and in-situ resource

  8. Field Exploration and Life Detection Sampling for Planetary Analogue Research (FELDSPAR): Variability and Correlation in Biomarker and Mineralogy Measurements from Icelandic Mars Analogues

    Science.gov (United States)

    Gentry, D.; Amador, E.; Cable, M. L.; Cantrell, T.; Chaudry, N.; Cullen, T.; Duca, Z.; Jacobsen, M.; Kirby, J.; McCaig, H.; hide

    2018-01-01

    In situ exploration of planetary environments allows biochemical analysis of sub-centimeter-scale samples; however, landing sites are selected a priori based on measurable meter- to kilometer-scale geological features. Optimizing life detection mission science return requires both understanding the expected biomarker distributions across sample sites at different scales and efficiently using first-stage in situ geochemical instruments to justify later-stage biological or chemical analysis. Icelandic volcanic regions have an extensive history as Mars analogue sites due to desiccation, low nutrient availability, and temperature extremes, in addition to the advantages of geological youth and isolation from anthropogenic contamination. Many Icelandic analogue sites are also rugged and remote enough to create the same type of instrumentation and sampling constraints typically faced by robotic exploration.

  9. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  10. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    future. A real version of Ava would not last long in a human world because she is basically a solipsist, who does not really care about humans. She cannot co-create the line humans walk along. The robots created as ‘perfect women’ (sex robots) today are very far from the ideal image of Ava...

  11. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    International Nuclear Information System (INIS)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot's own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup

  12. Robot Teachers

    DEFF Research Database (Denmark)

    Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

    The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

  13. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

    Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

  14. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  15. Robotic seeding

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

    2017-01-01

    Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

  16. New and misclassified planetary nebulae

    International Nuclear Information System (INIS)

    Kohoutek, L.

    1978-01-01

    Since the 'Catalogue of Galactic Planetary Nebulae' 226 new objects have been classified as planetary nebulae. They are summarized in the form of designations, names, coordinates and the references to the discovery. Further 9 new objects have been added and called 'proto-planetary nebulae', but their status is still uncertain. Only 34 objects have been included in the present list of misclassified planetary nebulae although the number of doubtful cases is much larger. (Auth.)

  17. Asteroid Kinetic Impactor Missions

    Science.gov (United States)

    Chesley, Steven

    2015-08-01

    Asteroid impact missions can be carried out as a relatively low-cost add-ons to most asteroid rendezvous missions and such impact experiments have tremendous potential, both scientifically and in the arena of planetary defense.The science returns from an impactor demonstration begin with the documentation of the global effects of the impact, such as changes in orbit and rotation state, the creation and dissipation of an ejecta plume and debris disk, and morphological changes across the body due to the transmission of seismic waves, which might induce landslides and toppling of boulders, etc. At a local level, an inspection of the impact crater and ejecta blanket reveals critical material strength information, as well as spectral differences between the surface and subsurface material.From the planetary defense perspective, an impact demonstration will prove humankind’s capacity to alter the orbit of a potentially threatening asteroid. This technological leap comes in two parts. First, terminal guidance systems that can deliver an impactor with small errors relative to the ~100-200 meter size of a likely impactor have yet to be demonstrated in a deep space environment. Second, the response of an asteroid to such an impact is only understood theoretically due to the potentially significant dependence on the momentum carried by escaping ejecta, which would tend to enhance the deflection by tens of percent and perhaps as much as a factor of a few. A lack of validated understanding of momentum enhancement is a significant obstacle in properly sizing a real-world impactor deflection mission.This presentation will describe the drivers for asteroid impact demonstrations and cover the range of such concepts, starting with ESA’s pioneering Don Quijote mission concept and leading to a brief description of concepts under study at the present time, including the OSIRIS-REx/ISIS, BASiX/KIX and AIM/DART (AIDA) concepts.

  18. Dust in planetary nebulae

    International Nuclear Information System (INIS)

    Mathis, J.S.

    1978-01-01

    The author's review concentrates on theoretical aspects of dust in planetary nebulae (PN). He considers the questions: how much dust is there is PN; what is its composition; what effects does it have on the ionization structure, on the dynamics of the nebula. (Auth.)

  19. The planetary scientist's companion

    CERN Document Server

    Lodders, Katharina

    1998-01-01

    A comprehensive and practical book of facts and data about the Sun, planets, asteroids, comets, meteorites, the Kuiper belt and Centaur objects in our solar system. Also covered are properties of nearby stars, the interstellar medium, and extra-solar planetary systems.

  20. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

    This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

  1. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  2. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  3. Gas mission; Mission gaz

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-07-01

    This preliminary report analyses the desirable evolutions of gas transport tariffing and examines some questions relative to the opening of competition on the French gas market. The report is made of two documents: a synthesis of the previous report with some recommendations about the tariffing of gas transport, about the modalities of network access to third parties, and about the dissociation between transport and trade book-keeping activities. The second document is the progress report about the opening of the French gas market. The first part presents the European problem of competition in the gas supply and its consequences on the opening and operation of the French gas market. The second part presents some partial syntheses about each topic of the mission letter of the Ministry of Economics, Finances and Industry: future evolution of network access tariffs, critical analysis of contractual documents for gas transport and delivery, examination of auxiliary services linked with the access to the network (modulation, balancing, conversion), consideration about the processing of network congestions and denied accesses, analysis of the metering dissociation between the integrated activities of gas operators. Some documents are attached in appendixes: the mission letter from July 9, 2001, the detailed analysis of the new temporary tariffs of GdF and CFM, the offer of methane terminals access to third parties, the compatibility of a nodal tariffing with the presence of three transport operators (GdF, CFM and GSO), the contract-type for GdF supply, and the contract-type for GdF connection. (J.S.)

  4. Lunar Exploration Missions Since 2006

    Science.gov (United States)

    Lawrence, S. J. (Editor); Gaddis, L. R.; Joy, K. H.; Petro, N. E.

    2017-01-01

    The announcement of the Vision for Space Exploration in 2004 sparked a resurgence in lunar missions worldwide. Since the publication of the first "New Views of the Moon" volume, as of 2017 there have been 11 science-focused missions to the Moon. Each of these missions explored different aspects of the Moon's geology, environment, and resource potential. The results from this flotilla of missions have revolutionized lunar science, and resulted in a profoundly new emerging understanding of the Moon. The New Views of the Moon II initiative itself, which is designed to engage the large and vibrant lunar science community to integrate the results of these missions into new consensus viewpoints, is a direct outcome of this impressive array of missions. The "Lunar Exploration Missions Since 2006" chapter will "set the stage" for the rest of the volume, introducing the planetary community at large to the diverse array of missions that have explored the Moon in the last decade. Content: This chapter will encompass the following missions: Kaguya; ARTEMIS (Acceleration, Reconnection, Turbulence, and Electrodynamics of the Moon’s Interaction with the Sun); Chang’e-1; Chandrayaan-1; Moon Impact Probe; Lunar Reconnaissance Orbiter (LRO); Lunar Crater Observation Sensing Satellite (LCROSS); Chang’e-2; Gravity Recovery and Interior Laboratory (GRAIL); Lunar Atmosphere and Dust Environment Explorer (LADEE); Chang’e-3.

  5. Collecting, Managing, and Visualizing Data during Planetary Surface Exploration

    Science.gov (United States)

    Young, K. E.; Graff, T. G.; Bleacher, J. E.; Whelley, P.; Garry, W. B.; Rogers, A. D.; Glotch, T. D.; Coan, D.; Reagan, M.; Evans, C. A.; Garrison, D. H.

    2017-12-01

    While the Apollo lunar surface missions were highly successful in collecting valuable samples to help us understand the history and evolution of the Moon, technological advancements since 1969 point us toward a new generation of planetary surface exploration characterized by large volumes of data being collected and used to inform traverse execution real-time. Specifically, the advent of field portable technologies mean that future planetary explorers will have vast quantities of in situ geochemical and geophysical data that can be used to inform sample collection and curation as well as strategic and tactical decision making that will impact mission planning real-time. The RIS4E SSERVI (Remote, In Situ and Synchrotron Studies for Science and Exploration; Solar System Exploration Research Virtual Institute) team has been working for several years to deploy a variety of in situ instrumentation in relevant analog environments. RIS4E seeks both to determine ideal instrumentation suites for planetary surface exploration as well as to develop a framework for EVA (extravehicular activity) mission planning that incorporates this new generation of technology. Results from the last several field campaigns will be discussed, as will recommendations for how to rapidly mine in situ datasets for tactical and strategic planning. Initial thoughts about autonomy in mining field data will also be presented. The NASA Extreme Environments Mission Operations (NEEMO) missions focus on a combination of Science, Science Operations, and Technology objectives in a planetary analog environment. Recently, the increase of high-fidelity marine science objectives during NEEMO EVAs have led to the ability to evaluate how real-time data collection and visualization can influence tactical and strategic planning for traverse execution and mission planning. Results of the last few NEEMO missions will be discussed in the context of data visualization strategies for real-time operations.

  6. NASA's Lunar and Planetary Mapping and Modeling Program

    Science.gov (United States)

    Law, E.; Day, B. H.; Kim, R. M.; Bui, B.; Malhotra, S.; Chang, G.; Sadaqathullah, S.; Arevalo, E.; Vu, Q. A.

    2016-12-01

    NASA's Lunar and Planetary Mapping and Modeling Program produces a suite of online visualization and analysis tools. Originally designed for mission planning and science, these portals offer great benefits for education and public outreach (EPO), providing access to data from a wide range of instruments aboard a variety of past and current missions. As a component of NASA's Science EPO Infrastructure, they are available as resources for NASA STEM EPO programs, and to the greater EPO community. As new missions are planned to a variety of planetary bodies, these tools are facilitating the public's understanding of the missions and engaging the public in the process of identifying and selecting where these missions will land. There are currently three web portals in the program: the Lunar Mapping and Modeling Portal or LMMP (http://lmmp.nasa.gov), Vesta Trek (http://vestatrek.jpl.nasa.gov), and Mars Trek (http://marstrek.jpl.nasa.gov). Portals for additional planetary bodies are planned. As web-based toolsets, the portals do not require users to purchase or install any software beyond current web browsers. The portals provide analysis tools for measurement and study of planetary terrain. They allow data to be layered and adjusted to optimize visualization. Visualizations are easily stored and shared. The portals provide 3D visualization and give users the ability to mark terrain for generation of STL files that can be directed to 3D printers. Such 3D prints are valuable tools in museums, public exhibits, and classrooms - especially for the visually impaired. Along with the web portals, the program supports additional clients, web services, and APIs that facilitate dissemination of planetary data to a range of external applications and venues. NASA challenges and hackathons are also providing members of the software development community opportunities to participate in tool development and leverage data from the portals.

  7. Status and Mission Applicability of NASA's In-Space Propulsion Technology Project

    Science.gov (United States)

    Anderson, David J.; Munk, Michelle M.; Dankanich, John; Pencil, Eric; Liou, Larry

    2009-01-01

    The In-Space Propulsion Technology (ISPT) project develops propulsion technologies that will enable or enhance NASA robotic science missions. Since 2001, the ISPT project developed and delivered products to assist technology infusion and quantify mission applicability and benefits through mission analysis and tools. These in-space propulsion technologies are applicable, and potentially enabling for flagship destinations currently under evaluation, as well as having broad applicability to future Discovery and New Frontiers mission solicitations. This paper provides status of the technology development, near-term mission benefits, applicability, and availability of in-space propulsion technologies in the areas of advanced chemical thrusters, electric propulsion, aerocapture, and systems analysis tools. The current chemical propulsion investment is on the high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance for lower cost. Investments in electric propulsion technologies focused on completing NASA's Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system, and the High Voltage Hall Accelerator (HiVHAC) thruster, which is a mid-term product specifically designed for a low-cost electric propulsion option. Aerocapture investments developed a family of thermal protections system materials and structures; guidance, navigation, and control models of blunt-body rigid aeroshells; atmospheric models for Earth, Titan, Mars and Venus; and models for aerothermal effects. In 2009 ISPT started the development of propulsion technologies that would enable future sample return missions. The paper describes the ISPT project's future focus on propulsion for sample return missions. The future technology development areas for ISPT is: Planetary Ascent Vehicles (PAV), with a Mars Ascent Vehicle (MAV) being the initial development focus; multi-mission technologies for Earth Entry Vehicles (MMEEV) needed

  8. Telecommunications for Mars Rovers and Robotic Mission

    Science.gov (United States)

    Horne, W. D.; Hastrup, R.; Cesarone, R.

    1997-01-01

    The Mars exploration program of NASA and the international community will evolve from an early emphasis on orbital remote sensing toward in-situ science activity on, or just above, the Martian surface.

  9. Telecommunications for Mars Rovers and Robotic Missions

    Science.gov (United States)

    Horne, W. D.; Hastrup, R.; Cesarone, R.

    1997-01-01

    The Mars exploration program of NASA and the international community will evolve from an early emphasis on orbital remote sensing toward in situ science activity on, or just above, the Martian surface.

  10. Autonomous flying robots

    CERN Document Server

    Nonami, Kenzo; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

    2010-01-01

    Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by m

  11. Ambler - An autonomous rover for planetary exploration

    Science.gov (United States)

    Bares, John; Hebert, Martial; Kanade, Takeo; Krotkov, Eric; Mitchell, Tom

    1989-01-01

    The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.

  12. From Science Reserves to Sustainable Multiple Uses beyond Earth orbit: Evaluating Issues on the Path towards Balanced Environmental Management on Planetary Bodies

    Science.gov (United States)

    Race, Margaret

    Over the past five decades, our understanding of space beyond Earth orbit has been shaped by a succession of mainly robotic missions whose technologies have enabled scientists to answer diverse science questions about celestial bodies across the solar system. For all that time, exploration has been guided by planetary protection policies and principles promulgated by COSPAR and based on provisions in Article IX of the Outer Space Treaty of 1967. Over time, implementation of the various COSPAR planetary protection policies have sought to avoid harmful forward and backward contamination in order to ensure the integrity of science findings, guide activities on different celestial bodies, and appropriately protect Earth whenever extraterrestrial materials have been returned. The recent increased interest in extending both human missions and commercial activities beyond Earth orbit have prompted discussions in various quarters about the need for updating policies and guidelines to ensure responsible, balanced space exploration and use by all parties, regardless whether activities are undertaken by governmental or non-governmental entities. Already, numerous researchers and workgroups have suggested a range of different ways to manage activities on celestial environments (e.g, wilderness parks, exclusion zones, special regions, claims, national research bases, environmental impact assessments, etc.). While the suggestions are useful in thinking about how to manage future space activities, they are not based on any systematically applied or commonly accepted criteria (scientific or otherwise). In addition, they are borrowed from terrestrial approaches for environmental protection, which may or may not have direct applications to space environments. As noted in a recent COSPAR-PEX workshop (GWU 2012), there are no clear definitions of issues such as harmful contamination, the environment to be protected, or what are considered reasonable activity or impacts for particular

  13. Vision and Voyages: Lessons Learned from the Planetary Decadal Survey

    Science.gov (United States)

    Squyres, S. W.

    2015-12-01

    The most recent planetary decadal survey, entitled Vision and Voyages for Planetary Science in the Decade 2013-2022, provided a detailed set of priorities for solar system exploration. Those priorities drew on broad input from the U.S. and international planetary science community. Using white papers, town hall meetings, and open meetings of the decadal committees, community views were solicited and a consensus began to emerge. The final report summarized that consensus. Like many past decadal reports, the centerpiece of Vision and Voyages was a set of priorities for future space flight projects. Two things distinguished this report from some previous decadals. First, conservative and independent cost estimates were obtained for all of the projects that were considered. These independent cost estimates, rather than estimates generated by project advocates, were used to judge each project's expected science return per dollar. Second, rather than simply accepting NASA's ten-year projection of expected funding for planetary exploration, decision rules were provided to guide program adjustments if actual funding did not follow projections. To date, NASA has closely followed decadal recommendations. In particular, the two highest priority "flagship" missions, a Mars rover to collect samples for return to Earth and a mission to investigate a possible ocean on Europa, are both underway. The talk will describe the planetary decadal process in detail, and provide a more comprehensive assessment of NASA's response to it.

  14. KEPLER Mission: development and overview

    International Nuclear Information System (INIS)

    Borucki, William J

    2016-01-01

    The Kepler Mission is a space observatory launched in 2009 by NASA to monitor 170 000 stars over a period of four years to determine the frequency of Earth-size and larger planets in and near the habitable zone of Sun-like stars, the size and orbital distributions of these planets, and the types of stars they orbit. Kepler is the tenth in the series of NASA Discovery Program missions that are competitively-selected, PI-directed, medium-cost missions. The Mission concept and various instrument prototypes were developed at the Ames Research Center over a period of 18 years starting in 1983. The development of techniques to do the 10 ppm photometry required for Mission success took years of experimentation, several workshops, and the exploration of many ‘blind alleys’ before the construction of the flight instrument. Beginning in 1992 at the start of the NASA Discovery Program, the Kepler Mission concept was proposed five times before its acceptance for mission development in 2001. During that period, the concept evolved from a photometer in an L2 orbit that monitored 6000 stars in a 50 sq deg field-of-view (FOV) to one that was in a heliocentric orbit that simultaneously monitored 170 000 stars with a 105 sq deg FOV. Analysis of the data to date has detected over 4600 planetary candidates which include several hundred Earth-size planetary candidates, over a thousand confirmed planets, and Earth-size planets in the habitable zone (HZ). These discoveries provide the information required for estimates of the frequency of planets in our galaxy. The Mission results show that most stars have planets, many of these planets are similar in size to the Earth, and that systems with several planets are common. Although planets in the HZ are common, many are substantially larger than Earth. (review article)

  15. Space Robotics Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

  16. Remote radiation mapping and preliminary intervention using collaborating (European and Russian) mobile robots

    International Nuclear Information System (INIS)

    Piotrowski, L.; Trouville, B.; Halbach, M.; Sidorkin, N.

    1996-12-01

    The primary objective of the IMPACT project is to develop a light-weight and inexpensive mobile robot that can be used for rapid inspection missions within nuclear power plants. These interventions are to cover normal, incident and accident situations and aim at primary reconnaissance (or 'data collecting') missions. The IMPACT robot was demonstrated (April 1996) in a realistic mission at the Russian nuclear plant SMOLENSK. The demonstration, composed of 2 independent but consecutive missions, was held in a radioactive zone near turbine ≠ 4 of Unit 2: remote radiation mapping with localisation of radioactive sources by the IMPACT robot equipped with a (Russian) gamma-radiation sensor; deployment of a Russian intervention robot for the construction of a protective lead shield around one of the identified sources and verification that the ambient radiation level has been reduce. This mission was executed remotely by 2 mobile robots working in collaboration: a NIKIMT robot equipped with a manipulator arm and carrying leads bricks and the IMPACT robot of mission I (radiation measurements and 'side-observer'). This manuscript describes (a) the technical characteristics of the IMPACT reconnaissance robot (3-segmented, caterpillar-tracked body; 6 video cameras placed around the mobile platform with simultaneous presentation of up to 4 video images at the control post; ability to detach remotely one of the robot's segments (i.e. the robot can divide itself into 2 separate mobile robots)) and (b) the SMOLENSK demonstration. (author)

  17. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

  18. Robotic surgery

    Science.gov (United States)

    ... with this type of surgery give it some advantages over standard endoscopic techniques. The surgeon can make ... Elsevier Saunders; 2015:chap 87. Muller CL, Fried GM. Emerging technology in surgery: Informatics, electronics, robotics. In: ...

  19. Robotic parathyroidectomy.

    Science.gov (United States)

    Okoh, Alexis Kofi; Sound, Sara; Berber, Eren

    2015-09-01

    Robotic parathyroidectomy has recently been described. Although the procedure eliminates the neck scar, it is technically more demanding than the conventional approaches. This report is a review of the patients' selection criteria, technique, and outcomes. © 2015 Wiley Periodicals, Inc.

  20. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

    Light Robotics - Structure-Mediated Nanobiophotonics covers the latest means of sculpting of both light and matter for achieving bioprobing and manipulation at the smallest scales. The synergy between photonics, nanotechnology and biotechnology spans the rapidly growing field of nanobiophotonics...

  1. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  2. The ExtraSolar Planetary Imaging Coronagraph

    Science.gov (United States)

    Clampin, M.; Lyon, R.

    2010-10-01

    The Extrasolar Planetary Imaging Coronagraph (EPIC) is a 1.65-m telescope employing a visible nulling coronagraph (VNC) to deliver high-contrast images of extrasolar system architectures. EPIC will survey the architectures of exosolar systems, and investigate the physical nature of planets in these solar systems. EPIC will employ a Visible Nulling Coronagraph (VNC), featuring an inner working angle of ≤2λ/D, and offers the ideal balance between performance and feasibility of implementation, while not sacrificing science return. The VNC does not demand unrealistic thermal stability from its telescope optics, achieving its primary mirror surface figure requires no new technology, and pointing stability is within state of the art. The EPIC mission will be launched into a drift-away orbit with a five-year mission lifetime.

  3. Formation of planetary systems

    International Nuclear Information System (INIS)

    Brahic, A.

    1982-01-01

    It seemed appropriate to devote the 1980 School to the origin of the solar system and more particularly to the formation of planetary systems (dynamic accretion processes, small bodies, planetary rings, etc...) and to the physics and chemistry of planetary interiors, surface and atmospheres (physical and chemical constraints associated with their formation). This Summer School enabled both young researchers and hard-nosed scientists, gathered together in idyllic surroundings, to hold numerous discussions, to lay the foundations for future cooperation, to acquire an excellent basic understanding, and to make many useful contacts. This volume reflects the lectures and presentations that were delivered in this Summer School setting. It is aimed at both advanced students and research workers wishing to specialize in planetology. Every effort has been made to give an overview of the basic knowledge required in order to gain a better understanding of the origin of the solar system. Each article has been revised by one or two referees whom I would like to thank for their assistance. Between the end of the School in August 1980 and the publication of this volume in 1982, the Voyager probes have returned a wealth of useful information. Some preliminary results have been included for completeness

  4. Smart Multifunction Antenna for Lunar/Planetary Surface Network, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA is planning a series of human and robotic missions to explore the Moon and later Mars. According to NASA SBIR topic O1.10, surface networks are needed for these...

  5. Get Involved in Planetary Discoveries through New Worlds, New Discoveries

    Science.gov (United States)

    Shupla, Christine; Shipp, S. S.; Halligan, E.; Dalton, H.; Boonstra, D.; Buxner, S.; SMD Planetary Forum, NASA

    2013-01-01

    "New Worlds, New Discoveries" is a synthesis of NASA’s 50-year exploration history which provides an integrated picture of our new understanding of our solar system. As NASA spacecraft head to and arrive at key locations in our solar system, "New Worlds, New Discoveries" provides an integrated picture of our new understanding of the solar system to educators and the general public! The site combines the amazing discoveries of past NASA planetary missions with the most recent findings of ongoing missions, and connects them to the related planetary science topics. "New Worlds, New Discoveries," which includes the "Year of the Solar System" and the ongoing celebration of the "50 Years of Exploration," includes 20 topics that share thematic solar system educational resources and activities, tied to the national science standards. This online site and ongoing event offers numerous opportunities for the science community - including researchers and education and public outreach professionals - to raise awareness, build excitement, and make connections with educators, students, and the public about planetary science. Visitors to the site will find valuable hands-on science activities, resources and educational materials, as well as the latest news, to engage audiences in planetary science topics and their related mission discoveries. The topics are tied to the big questions of planetary science: how did the Sun’s family of planets and bodies originate and how have they evolved? How did life begin and evolve on Earth, and has it evolved elsewhere in our solar system? Scientists and educators are encouraged to get involved either directly or by sharing "New Worlds, New Discoveries" and its resources with educators, by conducting presentations and events, sharing their resources and events to add to the site, and adding their own public events to the site’s event calendar! Visit to find quality resources and ideas. Connect with educators, students and the public to

  6. An enhanced Planetary Radar Operating Centre (PROC)

    Science.gov (United States)

    Catallo, C.

    2010-12-01

    Planetary exploration by means of radar systems, mainly using GPRs is an important role of Italy and numerous scientific international space programs are carried out jointly with ESA and NASA by Italian Space Agency, the scientific community and the industry. Three experiments under Italian leadership ( designed and manufactured by the Italian industry) provided by ASI within a NASA/ESA/ASI joint venture framework are successfully operating: MARSIS on-board MEX, SHARAD on-board MRO and CASSINI Radar on-board Cassini spacecraft: the missions have been further extended . Three dedicated operational centers, namely SHOC, (Sharad Operating Centre), MOC (Marsis Operating Center) and CASSINI PAD are operating from the missions beginning to support all the scientific communities, institutional customers and experiment teams operation Each center is dedicated to a single instrument management and control, data processing and distribution and even if they had been conceived to operate autonomously and independently one from each other, synergies and overlaps have been envisaged leading to the suggestion of a unified center, the Planetary Radar Processing Center (PROC). In order to harmonize operations either from logistics point of view and from HW/SW capabilities point of view PROC is designed and developed for offering improved functionalities to increase capabilities, mainly in terms of data exchange, comparison, interpretation and exploitation. PROC is, therefore, conceived as the Italian support facility to the scientific community for on-going and future Italian planetary exploration programs, such as Europa-Jupiter System Mission (EJSM) The paper describes how the new PROC is designed and developed, to allow SHOC, MOC and CASSINI PAD to operate as before, and to offer improved functionalities to increase capabilities, mainly in terms of data exchange, comparison, interpretation and exploitation aiding scientists to increase their knowledge in the field of surface

  7. [The mission].

    Science.gov (United States)

    Ruiz Moreno, J; Blanch Mon, A

    2000-01-01

    After having made a historical review of the concept of mission statement, of evaluating its importance (See Part I), of describing the bases to create a mission statement from a strategic perspective and of analyzing the advantages of this concept, probably more important as a business policy (See Parts I and II), the authors proceed to analyze the mission statement in health organizations. Due to the fact that a mission statement is lacking in the majority of health organizations, the strategy of health organizations are not exactly favored; as a consequence, neither are its competitive advantage nor the development of its essential competencies. After presenting a series of mission statements corresponding to Anglo-Saxon health organizations, the authors highlight two mission statements corresponding to our social context. The article finishes by suggesting an adequate sequence for developing a mission statement in those health organizations having a strategic sense.

  8. Air Force construction automation/robotics

    Science.gov (United States)

    Nease, AL; Dusseault, Christopher

    1994-01-01

    The Air Force has several unique requirements that are being met through the development of construction robotic technology. The missions associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and that more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL to develop robotic teleoperation, telerobotics, robotic vehicle communications, automated damage assessment, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of robotic repair capability operating at the level of supervised autonomy. The authors of this paper will discuss current and planned efforts in construction/repair, explosive ordnance disposal, hazardous waste cleanup, fire fighting, and space construction.

  9. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

    Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

  10. Measuring planetary field parameters by scattered "SSSS" from the Husar-5 Rover

    Science.gov (United States)

    Lang, A.; Kocsis, A.; Balaskó, D.; Csóka, B.; Molnar, B.; Sztojka, A.; Bejó, M.; Joób, Z.

    2017-09-01

    HUSAR-5 Rover reloaded: 2 years ago the Hunveyor-Husar Team in our school made yet a similar project. The ground idea was, we try to keep step with the main trends in the space research, in our recent case with the so called MSSM (Micro Sized Space- Mothership) and NPSDR (Nano, Pico Space Devices and Robots). [1]Of course, we do not want to scatter the smaller probe-cubes from a mothership, but from the Husar rover, and to do it on the planetary surface after landing. We have fabricated the rover with the ejecting tower and we have shown it on the EPSC 2015.The word "reloaded" means not only a new shape of the bullets, but a new mission with a new team. There are more pupils working in this project. The new bullets "SSSS" will be printed by a 3D printer.The microcontroller in bullets can be programmed with Arduino, so the "new generation" is able to do it.

  11. The International Planetary Data Alliance (IPDA)

    Science.gov (United States)

    Stein, Thomas; Gopala Krishna, Barla; Crichton, Daniel J.

    2016-07-01

    The International Planetary Data Alliance (IPDA) is a close association of partners with the aim of improving the quality of planetary science data and services to the end users of space based instrumentation. The specific mission of the IPDA is to facilitate global access to, and exchange of, high quality scientific data products managed across international boundaries. Ensuring proper capture, accessibility and availability of the data is the task of the individual member space agencies. The IPDA is focused on developing an international standard that allows discovery, query, access, and usage of such data across international planetary data archive systems. While trends in other areas of space science are concentrating on the sharing of science data from diverse standards and collection methods, the IPDA concentrates on promoting governing data standards that drive common methods for collecting and describing planetary science data across the international community. This approach better supports the long term goal of easing data sharing across system and agency boundaries. An initial starting point for developing such a standard will be internationalization of NASA's Planetary Data System's (PDS) PDS4 standard. The IPDA was formed in 2006 with the purpose of adopting standards and developing collaborations across agencies to ensure data is captured in common formats. It has grown to a dozen member agencies represented by a number of different groups through the IPDA Steering Committee. Member agencies include: Armenian Astronomical Society, China National Space Agency (CNSA), European Space Agency (ESA), German Aerospace Center (DLR), Indian Space Research Organization (ISRO), Italian Space Agency (ASI), Japanese Aerospace Exploration Agency (JAXA), National Air and Space Administration (NASA), National Centre for Space Studies (CNES), Space Research Institute (IKI), UAE Space Agency, and UK Space Agency. The IPDA Steering Committee oversees the execution of

  12. Automatic control of a robotic vehicle

    Science.gov (United States)

    Mcreynolds, S. R.

    1976-01-01

    Over the last several years Jet Propulsion Laboratory has been engaged in a project to develop some of the technology required to build a robotic vehicle for exploring planetary surfaces. An overview of hardware and software being developed for this project is given. Particular emphasis is placed on the description of the current design for the Vehicle System required for locomotion and the path planning algorithm.

  13. The Solar Connections Observatory for Planetary Environments

    Science.gov (United States)

    Oliversen, Ronald J.; Harris, Walter M.; Oegerle, William R. (Technical Monitor)

    2002-01-01

    The NASA Sun-Earth Connection theme roadmap calls for comparative study of how the planets, comets, and local interstellar medium (LISM) interact with the Sun and respond to solar variability. Through such a study we advance our understanding of basic physical plasma and gas dynamic processes, thus increasing our predictive capabilities for the terrestrial, planetary, and interplanetary environments where future remote and human exploration will occur. Because the other planets have lacked study initiatives comparable to the terrestrial ITM, LWS, and EOS programs, our understanding of the upper atmospheres and near space environments on these worlds is far less detailed than our knowledge of the Earth. To close this gap we propose a mission to study {\\it all) of the solar interacting bodies in our planetary system out to the heliopause with a single remote sensing space observatory, the Solar Connections Observatory for Planetary Environments (SCOPE). SCOPE consists of a binocular EUV/FUV telescope operating from a remote, driftaway orbit that provides sub-arcsecond imaging and broadband medium resolution spectro-imaging over the 55-290 nm bandpass, and high (R>10$^{5}$ resolution H Ly-$\\alpha$ emission line profile measurements of small scale planetary and wide field diffuse solar system structures. A key to the SCOPE approach is to include Earth as a primary science target. From its remote vantage point SCOPE will be able to observe auroral emission to and beyond the rotational pole. The other planets and comets will be monitored in long duration campaigns centered when possible on solar opposition when interleaved terrestrial-planet observations can be used to directly compare the response of both worlds to the same solar wind stream and UV radiation field. Using a combination of observations and MHD models, SCOPE will isolate the different controlling parameters in each planet system and gain insight into the underlying physical processes that define the

  14. 7th International Robotic Sailing Conference

    CERN Document Server

    Tynan, Dermot

    2015-01-01

    An autonomous sailboat robot is a boat that only uses the wind on its sail as the propelling force, without remote control or human assistance to achieve its mission. Robotic sailing offers the potential of long range and long term autonomous wind propelled, solar or wave-powered carbon neutral devices. Robotic sailing devices could contribute to monitoring of environmental, ecological, meteorological, hydrographic and oceanographic data. These devices can also be used in traffic monitoring, border surveillance, security, assistance and rescue. The dependency on changing winds and sea conditions presents a considerable challenge for short and long term route and stability planning, collision avoidance and boat control. Building a robust and seaworthy sailing robot presents a truly complex and multi-disciplinary challenge for boat designers, naval architects, systems/electrical engineers and computer scientists. Over the last decade, several events such as Sailbot, World Robotic Sailing Championship and the In...

  15. Automatic Modeling and Simulation of Modular Robots

    Science.gov (United States)

    Jiang, C.; Wei, H.; Zhang, Y.

    2018-03-01

    The ability of reconfiguration makes modular robots have the ability of adaptable, low-cost, self-healing and fault-tolerant. It can also be applied to a variety of mission situations. In this manuscript, a robot platform which relied on the module library was designed, based on the screw theory and module theory. Then, the configuration design method of the modular robot was proposed. And the different configurations of modular robot system have been built, including industrial mechanical arms, the mobile platform, six-legged robot and 3D exoskeleton manipulator. Finally, the simulation and verification of one system among them have been made, using the analyses of screw kinematics and polynomial planning. The results of experiments demonstrate the feasibility and superiority of this modular system.

  16. 9th International Robotic Sailing Conference

    CERN Document Server

    Cruz, Nuno

    2017-01-01

    This book contains selected papers that address a variety of topics related to the design, development and operation of unmanned and fully autonomous sailing boats. These papers were presented in the 9th International Robotic Sailing Conference, in association with the 9th World Robotic Sailing Championship that took place in Viana do Castelo, Portugal from the 5th to 10th of September 2016. The book is divided in three parts, each focusing on key aspects of robotic sailing. The first part addresses the design, construction and validation of autonomous sailboat platforms, including their rigs, appendages and control mechanisms. The second part is devoted to the development of sensors and algorithms to enhance the performance of robotic sailing boats, in terms of their speed, course control and manoeuvring ability. Finally, the papers in the last part are dedicated to the improvement of behaviours required for the accomplishment of complex autonomous missions. Robotic sailing is a relatively new multidisciplin...

  17. Overview of NASA's In Space Robotic Servicing

    Science.gov (United States)

    Reed, Benjamin B.

    2015-01-01

    The panel discussion will start with a presentation of the work of the Satellite Servicing Capabilities Office (SSCO), a team responsible for the overall management, coordination, and implementation of satellite servicing technologies and capabilities for NASA. Born from the team that executed the five Hubble servicing missions, SSCO is now maturing a core set of technologies that support both servicing goals and NASA's exploration and science objectives, including: autonomous rendezvous and docking systems; dexterous robotics; high-speed, fault-tolerant computing; advanced robotic tools, and propellant transfer systems. SSCOs proposed Restore-L mission, under development since 2009, is rapidly advancing the core capabilities the fledgling satellite-servicing industry needs to jumpstart a new national industry. Restore-L is also providing key technologies and core expertise to the Asteroid Redirect Robotic Mission (ARRM), with SSCO serving as the capture module lead for the ARRM effort. Reed will present a brief overview of SSCOs history, capabilities and technologies.

  18. Robots are stalling in Fukushima

    International Nuclear Information System (INIS)

    Anon.

    2012-01-01

    Whereas robots were expected to be the heroes of the cleaning up of radioactive zones of the Fukushima power station, they fall, lack of autonomy, or stay prisoners of debris. After having briefly described how these robots look like (the characteristics of four models are given, two Japanese and two American robots), this article outlines that they resist quite well to radioactivity, but are rather slow and are not used all at the same time: some are being maintained, some are trapped in debris. Thus, they perform a mission once a week, with finally less than hundred hours of operation for each of them. They are often trapped by debris, their movements are often difficult (notably in front of stairs or of debris), their battery lacks autonomy, and they did not significantly reduce the exposure of humans to radioactivity, but they open perspectives for new devices

  19. Hydrodynamic escape from planetary atmospheres

    Science.gov (United States)

    Tian, Feng

    Hydrodynamic escape is an important process in the formation and evolution of planetary atmospheres. Due to the existence of a singularity point near the transonic point, it is difficult to find transonic steady state solutions by solving the time-independent hydrodynamic equations. In addition to that, most previous works assume that all energy driving the escape flow is deposited in one narrow layer. This assumption not only results in less accurate solutions to the hydrodynamic escape problem, but also makes it difficult to include other chemical and physical processes in the hydrodynamic escape models. In this work, a numerical model describing the transonic hydrodynamic escape from planetary atmospheres is developed. A robust solution technique is used to solve the time dependent hydrodynamic equations. The method has been validated in an isothermal atmosphere where an analytical solution is available. The hydrodynamic model is applied to 3 cases: hydrogen escape from small orbit extrasolar planets, hydrogen escape from a hydrogen rich early Earth's atmosphere, and nitrogen/methane escape from Pluto's atmosphere. Results of simulations on extrasolar planets are in good agreement with the observations of the transiting extrasolar planet HD209458b. Hydrodynamic escape of hydrogen from other hypothetical close-in extrasolar planets are simulated and the influence of hydrogen escape on the long-term evolution of these extrasolar planets are discussed. Simulations on early Earth suggest that hydrodynamic escape of hydrogen from a hydrogen rich early Earth's atmosphere is about two orders magnitude slower than the diffusion limited escape rate. A hydrogen rich early Earth's atmosphere could have been maintained by the balance between the hydrogen escape and the supply of hydrogen into the atmosphere by volcanic outgassing. Origin of life may have occurred in the organic soup ocean created by the efficient formation of prebiotic molecules in the hydrogen rich early

  20. Technology under Moon and Mars Analog Missions Activities (MMAMA)

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA Analog Missions research addresses the need for integrated interdisciplinary field experiments as an integral part of preparation for planned human and robotic...

  1. Preparing Graduate Students for Solar System Science and Exploration Careers: Internships and Field Training Courses led by the Lunar and Planetary Institute

    Science.gov (United States)

    Shaner, A. J.; Kring, D. A.

    2015-12-01

    To be competitive in 21st century science and exploration careers, graduate students in planetary science and related disciplines need mentorship and need to develop skills not always available at their home university, including fieldwork, mission planning, and communicating with others in the scientific and engineering communities in the U.S. and internationally. Programs offered by the Lunar and Planetary Institute (LPI) address these needs through summer internships and field training programs. From 2008-2012, LPI hosted the Lunar Exploration Summer Intern Program. This special summer intern program evaluated possible landing sites for robotic and human exploration missions to the lunar surface. By the end of the 2012 program, a series of scientifically-rich landing sites emerged, some of which had never been considered before. Beginning in 2015 and building on the success of the lunar exploration program, a new Exploration Science Summer Intern Program is being implemented with a broader scope that includes both the Moon and near-Earth asteroids. Like its predecessor, the Exploration Science Summer Intern Program offers graduate students a unique opportunity to integrate scientific input with exploration activities in a way that mission architects and spacecraft engineers can use. The program's activities may involve assessments and traverse plans for a particular destination or a more general assessment of a class of possible exploration targets. Details of the results of these programs will be discussed. Since 2010 graduate students have participated in field training and research programs at Barringer (Meteor) Crater and the Sudbury Impact Structure. Skills developed during these programs prepare students for their own thesis studies in impact-cratered terrains, whether they are on the Earth, the Moon, Mars, or other solar system planetary surface. Future field excursions will take place at these sites as well as the Zuni-Bandera Volcanic Field. Skills

  2. Nasa's Ant-Inspired Swarmie Robots

    Science.gov (United States)

    Leucht, Kurt W.

    2016-01-01

    As humans push further beyond the grasp of earth, robotic missions in advance of human missions will play an increasingly important role. These robotic systems will find and retrieve valuable resources as part of an in-situ resource utilization (ISRU) strategy. They will need to be highly autonomous while maintaining high task performance levels. NASA Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots to be used as a ground-based research platform for ISRU missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in a previously unmapped environment and return those resources to a central site. This talk will guide the audience through the Swarmie robot project from its conception by students in a New Mexico research lab to its robot trials in an outdoor parking lot at NASA. The software technologies and techniques used on the project will be discussed, as well as various challenges and solutions that were encountered by the development team along the way.

  3. It Takes a Village. Collaborative Outer Planet Missions

    Science.gov (United States)

    Rymer, A. M.; Turtle, E. P.; Hofstadter, M. D.; Simon, A. A.; Hospodarsky, G. B.

    2017-01-01

    A mission to one or both of our local Ice Giants (Uranus and Neptune) emerged as a high priority in the most recent Planetary Science Decadal Survey and was also specifically mentioned supportively in the Heliophysics Decadal Survey. In 2016, NASA convened a science definition team to study ice giant mission concepts in more detail. Uranus and Neptune represent the last remaining planetary type in our Solar System to have a dedicated orbiting mission. The case for a Uranus mission has been made eloquently in the Decadal Surveys. Here we summarize some of the major drivers that lead to enthusiastic support for an Ice Giant mission in general, and use the example of a Uranus Mission concept to illustrate opportunities such a mission might provide for cross-division collaboration and cost-sharing.

  4. Planetary LEGO, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Prior to human arrival to the Moon or Mars, a certain amount of infrastructure will be required in order to ensure success of the overall goals of the mission. Such...

  5. [Myanmar mission].

    Science.gov (United States)

    Alfandari, B; Persichetti, P; Pelissier, P; Martin, D; Baudet, J

    2004-06-01

    The authors report the accomplishment of humanitarian missions in plastic surgery performed by a small team in town practice in Yangon, about their 3 years experience in Myanmar with 300 consultations and 120 surgery cases. They underline the interest of this type of mission and provide us their reflexion about team training, the type of relation with the country where the mission is conducted and the type of right team.

  6. The Mothership Mission Architecture

    Science.gov (United States)

    Ernst, S. M.; DiCorcia, J. D.; Bonin, G.; Gump, D.; Lewis, J. S.; Foulds, C.; Faber, D.

    2015-12-01

    The Mothership is considered to be a dedicated deep space carrier spacecraft. It is currently being developed by Deep Space Industries (DSI) as a mission concept that enables a broad participation in the scientific exploration of small bodies - the Mothership mission architecture. A Mothership shall deliver third-party nano-sats, experiments and instruments to Near Earth Asteroids (NEOs), comets or moons. The Mothership service includes delivery of nano-sats, communication to Earth and visuals of the asteroid surface and surrounding area. The Mothership is designed to carry about 10 nano-sats, based upon a variation of the Cubesat standard, with some flexibility on the specific geometry. The Deep Space Nano-Sat reference design is a 14.5 cm cube, which accommodates the same volume as a traditional 3U CubeSat. To reduce cost, Mothership is designed as a secondary payload aboard launches to GTO. DSI is offering slots for nano-sats to individual customers. This enables organizations with relatively low operating budgets to closely examine an asteroid with highly specialized sensors of their own choosing and carry out experiments in the proximity of or on the surface of an asteroid, while the nano-sats can be built or commissioned by a variety of smaller institutions, companies, or agencies. While the overall Mothership mission will have a financial volume somewhere between a European Space Agencies' (ESA) S- and M-class mission for instance, it can be funded through a number of small and individual funding sources and programs, hence avoiding the processes associated with traditional space exploration missions. DSI has been able to identify a significant interest in the planetary science and nano-satellite communities.

  7. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

  8. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. Copyright © 2013 Elsevier B.V. All rights reserved.

  9. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  10. A Lunar L2-Farside Exploration and Science Mission Concept with the ORion Multi-Purpose Crew Vehicle and a Teleoperated Lander/Rover

    Science.gov (United States)

    Burns, Jack O.; Kring, David; Norris, Scott; Hopkins, Josh; Lazio, Joseph; Kasper, Justin

    2012-01-01

    A novel concept is presented in this paper for a human mission to the lunar L2 (Lagrange) point that would be a proving ground for future exploration missions to deep space while also overseeing scientifically important investigations. In an L2 halo orbit above the lunar farside, the astronauts would travel 15% farther from Earth than did the Apollo astronauts and spend almost three times longer in deep space. Such missions would validate the Orion MPCV's life support systems, would demonstrate the high-speed re-entry capability needed for return from deep space, and would measure astronauts' radiation dose from cosmic rays and solar flares to verify that Orion would provide sufficient protection, as it is designed to do. On this proposed mission, the astronauts would teleoperate landers and rovers on the unexplored lunar farside, which would obtain samples from the geologically interesting farside and deploy a low radio frequency telescope. Sampling the South Pole-Aitkin basin (one of the oldest impact basins in the solar system) is a key science objective of the 2011 Planetary Science Decadal Survey. Observations of the Universe's first stars/galaxies at low radio frequencies are a priority of the 2010 Astronomy & Astrophysics Decadal Survey. Such telerobotic oversight would also demonstrate capability for human and robotic cooperation on future, more complex deep space missions.

  11. Topics in planetary plasmaspheres

    International Nuclear Information System (INIS)

    Chen, C.K.

    1977-01-01

    Contributions to the understanding of two distinct kinds of planetary plasmaspheres: namely the earth-type characterized by an ionospheric source and a convection limited radial extent, and the Jupiter-type characterized by a satellite source and a radial extent determined by flux tube interchange motions. In both cases the central question is the geometry of the plasma distribution in the magnetosphere as it is determined by the appropriate production and loss mechanisms. The contributions contained herein concern the explication and clarification of these production and loss mechanisms

  12. Planetary submillimeter spectroscopy

    Science.gov (United States)

    Klein, M. J.

    1988-01-01

    The aim is to develop a comprehensive observational and analytical program to study solar system physics and meterology by measuring molecular lines in the millimeter and submillimeter spectra of planets and comets. A primary objective is to conduct observations with new JPL and Caltech submillimeter receivers at the Caltech Submillimeter Observatory (CSO) on Mauna Kea, Hawaii. A secondary objective is to continue to monitor the time variable planetary phenomena (e.g., Jupiter and Uranus) at centimeter wavelength using the NASA antennas of the Deep Space Network (DSN).

  13. Robotics crosscutting program: Technology summary

    International Nuclear Information System (INIS)

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology

  14. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Weather

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Weather. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops...

  15. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, MOSE

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, MOSE. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops near...

  16. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Telemetry

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Telemetry. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops...

  17. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, AIS

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, AIS. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops near...

  18. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, CTD

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, CTD. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops near...

  19. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Phytoflash

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Phytoflash. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that...

  20. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  1. Forming Human-Robot Teams Across Time and Space

    Science.gov (United States)

    Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

    2012-01-01

    NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot

  2. To See the Unseen: A History of Planetary Radar Astronomy

    Science.gov (United States)

    Butrica, Andrew J.

    1996-01-01

    This book relates the history of planetary radar astronomy from its origins in radar to the present day and secondarily to bring to light that history as a case of 'Big Equipment but not Big Science'. Chapter One sketches the emergence of radar astronomy as an ongoing scientific activity at Jodrell Bank, where radar research revealed that meteors were part of the solar system. The chief Big Science driving early radar astronomy experiments was ionospheric research. Chapter Two links the Cold War and the Space Race to the first radar experiments attempted on planetary targets, while recounting the initial achievements of planetary radar, namely, the refinement of the astronomical unit and the rotational rate and direction of Venus. Chapter Three discusses early attempts to organize radar astronomy and the efforts at MIT's Lincoln Laboratory, in conjunction with Harvard radio astronomers, to acquire antenna time unfettered by military priorities. Here, the chief Big Science influencing the development of planetary radar astronomy was radio astronomy. Chapter Four spotlights the evolution of planetary radar astronomy at the Jet Propulsion Laboratory, a NASA facility, at Cornell University's Arecibo Observatory, and at Jodrell Bank. A congeries of funding from the military, the National Science Foundation, and finally NASA marked that evolution, which culminated in planetary radar astronomy finding a single Big Science patron, NASA. Chapter Five analyzes planetary radar astronomy as a science using the theoretical framework provided by philosopher of science Thomas Kuhn. Chapter Six explores the shift in planetary radar astronomy beginning in the 1970s that resulted from its financial and institutional relationship with NASA Big Science. Chapter Seven addresses the Magellan mission and its relation to the evolution of planetary radar astronomy from a ground-based to a space-based activity. Chapters Eight and Nine discuss the research carried out at ground

  3. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

    -scale 3D printed ceramics accompanied by prints, videos and ceramic probes, which introduce the material and design processes of the project.'Filigree Robotics' experiments with a combination of the traditional ceramic technique of ‘Overforming’ with 3d Laserscan and Robotic extrusion technique...... application of reflectivity after an initial 3d print. The consideration and integration of this material practice into a digital workflow took place in an interdisciplinary collaboration of Ceramicist Flemming Tvede Hansen from KADK Superformlab and architectural researchers from CITA (Martin Tamke, Henrik...... to the creation of the form and invites for experimentation. In Filigree Robotics we combine the crafting of the mold with a parallel running generative algorithm, which is fed by a constant laserscan of the 3d surface. This algorithm, analyses the topology of the mold, identifies high and low points and uses...

  4. New vision solar system exploration missions study: Analysis of the use of biomodal space nuclear power systems to support outer solar system exploration missions. Final report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-08

    This report presents the results of an analysis of the capability of nuclear bimodal systems to perform outer solar system exploration missions. Missions of interest include orbiter mission s to Mars, Jupiter, Saturn, Uranus, Neptune, and Pluto. An initial technology baseline consisting of a NEBA 10 kWe, 1000 N thrust, 850 s, 1500 kg bimodal system was selected, and its performance examined against a data base for trajectories to outer solar system planetary destinations to select optimal direct and gravity assisted trajectories for study. A conceptual design for a common bimodal spacecraft capable of performing missions to all the planetary destinations was developed and made the basis of end to end mission designs for orbiter missions to Jupiter, Saturn, and Neptune. Concepts for microspacecraft capable of probing Jupiter`s atmosphere and exploring Titan were also developed. All mission designs considered use the Atlas 2AS for launch. It is shown that the bimodal nuclear power and propulsion system offers many attractive option for planetary missions, including both conventional planetary missions in which all instruments are carried by a single primary orbiting spacecraft, and unconventional missions in which the primary spacecraft acts as a carrier, relay, and mother ship for a fleet of micro spacecraft deployed at the planetary destination.

  5. Cost estimation model for advanced planetary programs, fourth edition

    Science.gov (United States)

    Spadoni, D. J.

    1983-01-01

    The development of the planetary program cost model is discussed. The Model was updated to incorporate cost data from the most recent US planetary flight projects and extensively revised to more accurately capture the information in the historical cost data base. This data base is comprised of the historical cost data for 13 unmanned lunar and planetary flight programs. The revision was made with a two fold objective: to increase the flexibility of the model in its ability to deal with the broad scope of scenarios under consideration for future missions, and to maintain and possibly improve upon the confidence in the model's capabilities with an expected accuracy of 20%. The Model development included a labor/cost proxy analysis, selection of the functional forms of the estimating relationships, and test statistics. An analysis of the Model is discussed and two sample applications of the cost model are presented.

  6. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  7. Dust Dynamics Near Planetary Surfaces

    Science.gov (United States)

    Colwell, Joshua; Hughes, Anna; Grund, Chris

    Observations of a lunar "horizon glow" by several Surveyor spacecraft in the 1960s opened the study of the dynamics of charged dust particles near planetary surfaces. The surfaces of the Moon and other airless planetary bodies in the solar system (asteroids, and other moons) are directly exposed to the solar wind and ionizing solar ultraviolet radiation, resulting in a time-dependent electric surface potential. Because these same objects are also exposed to bombardment by micrometeoroids, the surfaces are usually characterized by a power-law size distribution of dust that extends to sub-micron-sized particles. Individual particles can acquire a charge different from their surroundings leading to electrostatic levitation. Once levitated, particles may simply return to the surface on nearly ballistic trajectories, escape entirely from the moon or asteroid if the initial velocity is large, or in some cases be stably levitated for extended periods of time. All three outcomes have observable consequences. Furthermore, the behavior of charged dust near the surface has practical implications for planned future manned and unmanned activities on the lunar surface. Charged dust particles also act as sensitive probes of the near-surface plasma environment. Recent numerical modeling of dust levitation and transport show that charged micron-sized dust is likely to accumulate in topographic lows such as craters, providing a mechanism for the creation of dust "ponds" observed on the asteroid 433 Eros. Such deposition can occur when particles are supported by the photoelectron sheath above the dayside and drift over shadowed regions of craters where the surface potential is much smaller. Earlier studies of the lunar horizon glow are consistent with those particles being on simple ballistic trajectories following electrostatic launching from the surface. Smaller particles may be accelerated from the lunar surface to high altitudes consistent with observations of high altitude

  8. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

    In this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and

  9. Service Robots

    DEFF Research Database (Denmark)

    Clemmensen, Torkil; Nielsen, Jeppe Agger; Andersen, Kim Normann

    The position presented in this paper is that in order to understand how service robots shape, and are being shaped by, the physical and social contexts in which they are used, we need to consider both work/organizational analysis and interaction design. We illustrate this with qualitative data...... and personal experiences to generate discussion about how to link these two traditions. This paper presents selected results from a case study that investigated the implementation and use of robot vacuum cleaners in Danish eldercare. The study demonstrates interpretive flexibility with variation...

  10. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

    We propose a robust framework for combining performance paradigms with human robot interaction (HRI) research. Following an analysis of several case studies that combine the performing arts with HRI experiments, we propose a methodology and “best practices” for implementing choreography and other...... performance paradigms in HRI experiments. Case studies include experiments conducted in laboratory settings, “in the wild”, and live performance settings. We consider the technical and artistic challenges of designing and staging robots alongside humans in these various settings, and discuss how to combine...

  11. Structure of planetary nebulae

    International Nuclear Information System (INIS)

    Goad, L.E.

    1975-01-01

    Image-tube photographs of planetary nebulae taken through narrow-band interference filters are used to map the surface brightness of these nebulae in their most prominent emission lines. These observations are best understood in terms of a two-component model consisting of a tenuous diffuse nebular medium and a network of dense knots and filaments with neutral cores. The observations of the diffuse component indicate that the inner regions of these nebulae are hollow shells. This suggests that steady stellar winds are the dominant factor in determining the structure of the central regions of planetary nebulae. The observations of the filamentary components of NGC 40 and NGC 6720 show that the observed nebular features can result from the illumination of the inner edges of dense fragmentary neutral filaments by the central stars of these nebulae. From the analysis of the observations of the low-excitation lines in NGC 2392, it is concluded that the rate constant for the N + --H charge transfer reaction is less than 10 -12 cm 3 sec -1

  12. 10th FSR (Field and Service Robotics)

    CERN Document Server

    Barfoot, Timothy

    2016-01-01

    This book contains the proceedings of the 10th FSR, (Field and Service Robotics) which is the leading single-track conference on applications of robotics in challenging environments. The 10th FSR was held in Toronto, Canada from 23-26 June 2015. The book contains 42 full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial, Underground, and Systems. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling...

  13. Discovery Mondays: "Robots: At your service!"

    CERN Multimedia

    2005-01-01

    Two of the ISOLDE robots. Robots at CERN? Yes, because their presence is essential for replacing human beings when some tasks are too difficult for them, for example when materials are too fragile or too risky to work with. Come and discover the ISOLDE robots. You will also be able to meet "the Crab", in charge of carrying the LHC magnets in its claws. EPFL engineers from Autonomous Systems Lab and the Laboratory of Intelligent Systems will introduce you to some of their creations, including a robot built for planetary exploration, an indoor flying robot and a microrobot as tiny as a lump of sugar. At the next Discovery Monday, you will have the opportunity to meet robots of many sizes and forms. You will be amazed by their diversity and their personalities. Join us at the Microcosm (Reception Building 33, Meyrin site) on Monday 4 April from 7.30 p.m. to 9.00 p.m. Entrance Free http://www.cern.ch/microcosm http://intranet.cern.ch/Microcosm/LundisDecouverte/

  14. Discovery Mondays: "Robots: At your service!"

    CERN Multimedia

    2005-01-01

    Two of the ISOLDE robots. Robots at CERN? Yes, because their presence is essential for replacing human beings when some tasks are too difficult for them, for example when materials are too fragile or too risky to work with. Come and discover the ISOLDE robots. You will also be able to meet "the Crab", in charge of carrying the LHC magnets in its claws. EPFL engineers from Autonomous Systems Lab and the Laboratory of Intelligent Systems will introduce you to some of their creations, including a robot built for planetary exploration, an indoor flying robot and a microrobot as tiny as a lump of sugar. At the next Discovery Monday, you will have the opportunity to meet robots of many sizes and forms. You will be amazed by their diversity and their personalities. Join us at the Microcosm (Reception Building 33, Meyrin site) on Monday 4 April from 7.30 p.m. to 9.00 p.m. Entrance Free http://www.cern.ch/microcosm http://cern.ch/lundisdecouverte

  15. Scientific field training for human planetary exploration

    Science.gov (United States)

    Lim, D. S. S.; Warman, G. L.; Gernhardt, M. L.; McKay, C. P.; Fong, T.; Marinova, M. M.; Davila, A. F.; Andersen, D.; Brady, A. L.; Cardman, Z.; Cowie, B.; Delaney, M. D.; Fairén, A. G.; Forrest, A. L.; Heaton, J.; Laval, B. E.; Arnold, R.; Nuytten, P.; Osinski, G.; Reay, M.; Reid, D.; Schulze-Makuch, D.; Shepard, R.; Slater, G. F.; Williams, D.

    2010-05-01

    Forthcoming human planetary exploration will require increased scientific return (both in real time and post-mission), longer surface stays, greater geographical coverage, longer and more frequent EVAs, and more operational complexities than during the Apollo missions. As such, there is a need to shift the nature of astronauts' scientific capabilities to something akin to an experienced terrestrial field scientist. To achieve this aim, the authors present a case that astronaut training should include an Apollo-style curriculum based on traditional field school experiences, as well as full immersion in field science programs. Herein we propose four Learning Design Principles (LDPs) focused on optimizing astronaut learning in field science settings. The LDPs are as follows: LDP#1: Provide multiple experiences: varied field science activities will hone astronauts' abilities to adapt to novel scientific opportunities LDP#2: Focus on the learner: fostering intrinsic motivation will orient astronauts towards continuous informal learning and a quest for mastery LDP#3: Provide a relevant experience - the field site: field sites that share features with future planetary missions will increase the likelihood that astronauts will successfully transfer learning LDP#4: Provide a social learning experience - the field science team and their activities: ensuring the field team includes members of varying levels of experience engaged in opportunities for discourse and joint problem solving will facilitate astronauts' abilities to think and perform like a field scientist. The proposed training program focuses on the intellectual and technical aspects of field science, as well as the cognitive manner in which field scientists experience, observe and synthesize their environment. The goal of the latter is to help astronauts develop the thought patterns and mechanics of an effective field scientist, thereby providing a broader base of experience and expertise than could be achieved

  16. Summary and abstracts of the Planetary Data Workshop, June 2012

    Science.gov (United States)

    Gaddis, Lisa R.; Hare, Trent; Beyer, Ross

    2014-01-01

    The recent boom in the volume of digital data returned by international planetary science missions continues to both delight and confound users of those data. In just the past decade, the Planetary Data System (PDS), NASA’s official archive of scientific results from U.S. planetary missions, has seen a nearly 50-fold increase in the amount of data and now serves nearly half a petabyte. In only a handful of years, this volume is expected to approach 1 petabyte (1,000 terabytes or 1 quadrillion bytes). Although data providers, archivists, users, and developers have done a creditable job of providing search functions, download capabilities, and analysis and visualization tools, the new wealth of data necessitates more frequent and extensive discussion among users and developers about their current capabilities and their needs for improved and new tools. A workshop to address these and other topics, “Planetary Data: A Workshop for Users and Planetary Software Developers,” was held June 25–29, 2012, at Northern Arizona University (NAU) in Flagstaff, Arizona. A goal of the workshop was to present a summary of currently available tools, along with hands-on training and how-to guides, for acquiring, processing and working with a variety of digital planetary data. The meeting emphasized presentations by data users and mission providers during days 1 and 2, and developers had the floor on days 4 and 5 using an “unconference” format for day 5. Day 3 featured keynote talks by Laurence Soderblom (U.S. Geological Survey, USGS) and Dan Crichton (Jet Propulsion Laboratory, JPL) followed by a panel discussion, and then research and technical discussions about tools and capabilities under recent or current development. Software and tool demonstrations were held in break-out sessions in parallel with the oral session. Nearly 150 data users and developers from across the globe attended, and 22 National Aeronautics and space Administration (NASA) and non-NASA data providers

  17. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

  18. Scientific Value of a Saturn Atmospheric Probe Mission

    Science.gov (United States)

    Simon-Miller, A. A.; Lunine, J. I.; Atreya, S. K.; Spilker, T. R.; Coustenis, A.; Atkinson, D. H.

    2012-01-01

    Atmospheric entry probe mISSions to the giant planets can uniquely discriminate between competing theories of solar system formation and the origin and evolution of the giant planets and their atmospheres. This provides for important comparative studies of the gas and ice giants, and to provide a laboratory for studying the atmospheric chemistries, dynamics, and interiors of all the planets including Earth. The giant planets also represent a valuable link to extrasolar planetary systems. As outlined in the recent Planetary Decadal Survey, a Saturn Probe mission - with a shallow probe - ranks as a high priority for a New Frontiers class mission [1].

  19. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  20. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)