데이터셋 상세
미국
Autonomous Deep-Space Optical Navigation Project
<p>Every one of the future exploration architectures being considered by NASA have, at their core, the need to rendezvous and dock with other vehicles or bodies.&nbsp; Future manned vehicles need to be able to do so with both cooperative and uncooperative vehicles and objects.&nbsp; To this end, the sensors being considered are all optical-based.&nbsp; In fact, passive sensors, such as IR cameras and visual cameras, are at the heart of any exploration architecture.&nbsp; There is a need for the onboard systems to be able to use the images provided by these sensors to rendezvous and dock/capture these objects.&nbsp; Therefore, this project will develop this capability to operate around a variety of objects, without a priori knowledge of their geometry.&nbsp; In particular, a technology called &lsquo;optical flow&rsquo; or &lsquo;visual odometry&rsquo; (VO), will be harnessed to develop a robust on-board capability using passive sensors; of course, if active sensors are available, they will be used as well. In fact, we will also apply this technique to navigating around a cratered object (such as an asteroid). This project will enhance the Agency&rsquo;s ability to operate at distant locations, without the need for ground intervention.</p><p>To date, all of the on-board navigation development performed has focused on either Low Earth Orbit (LEO) or Low Lunar Orbit (LLO).&nbsp; We seek to advance deep-space navigation technology by focusing this Internal Research and Development (IRAD) upon rendezvous and navigation in a weak gravity environment, either at Lagrangian point 2 (L2) or around an asteroid.&nbsp; Of course, this will apply to any destinations that have a strong gravity field as well.&nbsp; As well, the technology developed in this Internal Research and Development will apply to rendezvousing with vehicles such as ISS.&nbsp; We choose to focus our IRAD effort on the navigation algorithms and software for the ARCM DRO Mission, thus broadening our scope, maintaining our cutting-edge capability, and advancing US manned space exploration.&nbsp; The goal is to be flexible enough to meet the needs of the NASA vision, as it applies to any destination the Agency chooses to embark upon.</p><p>&nbsp;</p>
데이터 정보
연관 데이터
Enabling Nanosat Mobility and Autonomy for Small Bodies Exploration Project
공공데이터포털

Develop control and planning algorithms for a science-driven spacecraft/rover hybrid, such that the rover is able to autonomously reach designated targets and point instruments traverse performance meets science objectives of 20-30% of traverse distance.
Embedding Temporal Constraints for Coordinated Execution in Habitat Automation
공공데이터포털
Future NASA plans call for long-duration deep space missions with human crews. Because of light-time delay and other considerations, increased autonomy will be needed. This will necessitate integration of tools in such areas as anomaly detection, diagnosis, planning, and execution. In this paper we investigate an approach that integrates planning and execution by embedding planner-derived temporal constraints in an execution procedure. To avoid the need for propagation, we convert the temporal constraints to dispatchable form. We handle some uncertainty in the durations without it affecting the execution; larger variations may cause activities to be skipped.
Human Robotic Systems (HRS): Robotic ISRU Acquisition Element
공공데이터포털

During 2014, the Robotic ISRU Resource Acquisition project element will develop two technologies:

  • Exploration Ground Data Systems (xGDS)
  • Sample Acquisition on Asteroids, Mars, Moons of Mars, and Lunar Cold Traps

A primary technology of this element is development of HRS’s Exploration Ground Data Systems (xGDS) software, a set of planning, monitoring, archiving, and search tools for dealing with data sent to or received from robotic spacecraft or crew systems.  xGDS is being matured through technology development under HRS (with STMD funds) and field-tested with funds from the Human Exploration and Operations Mission Directorate (HEOMD) and Science Mission Directorate (SMD).  The outcome of this development will be that the desired parts of the xGDS system (likely the traverse planner, real time plotting, and raster mapping tools) will be ready to be infused into the lunar Resource Prospector Mission (RPM).  The scope of FY14 xGDS work includes maturing time delayed image and video processing and archiving tools and adding support for mobile devices.  During 2014, xGDS will support the AES-funded Regolith and Environment Science and Oxygen and Lunar Volatile Extraction (RESOLVE) payload thermal vacuum chamber testing the SMD-funded Mojave Volatiles Prospector (MVP) project. 

Another technology under this element will develop regolith sampling and excavation for reduced and low gravity environments.  The objective for this work in FY14 is to acquire representative samples of target bodies in order to characterize the regolith for ISRU prospecting purposes which would also benefit science objectives and other relevant Strategic Knowledge Gaps (SKG’s). The requirements of the Advanced Exploration Systems (AES) lunar Resource Prospector (RP) are focused on a lunar South pole mission near the impact site of the recent Lunar CRater Observation and Sensing Satellite (LCROSS) mission in order to obtain ground truth on the lunar surface.  Orbital data from neutron spectrometers shows that most of the detected hydrogen on the moon is in these crater floor cold traps. The goal is to confirm the existence of volatiles such as water, hydrogen and helium in the regolith at the lunar poles.  Other target bodies such as asteroids and Mars’ moons will also need prospecting and characterization. One of the primary potential uses of the returned asteroid in the Asteroid Initiative is for ISRU demonstrations in lunar orbit.  Sampling devices will be needed to prospect the asteroid for useful resources, such as water on a carbonaceous condrite. The Mars’ moons and Mars itself are also of interest for ISRU purposes and can be sampled with robotic devices or by human crews to determine the ISRU value of their regolith.

Regolith excavation and sample acquisition in low gravity environments ( micro-G, 1/3 G, 1/6th G) is difficult due to the lack of reaction force from the weight of the excavation robot.  On Earth, excavators are typically large and heavy to take advantage of this large reaction force to counter-act the digging forces. In space, new methods of digging and sampling must be found, due to their light weight in low gravity environments.  Percussive excavation is one method for reducing digging forces, and in FY14, the HRS project will test interfaces for a large percussive excavation end effector: the Vibratory Implement for Percussive Excavation of Regolith (VIPER) which is designed to be mounted on the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot from JPL. The VIPER was designed and fabricated by HRS. A smaller percussive excavation implement called Badger, will be operated on the Centaur 2 mobility robot with a positioning mechanism. Firs

Autonomous Decision Making for Planetary Rovers Using Diagnostic and Prognostic Information
공공데이터포털
Rover missions typically involve visiting a set of predetermined waypoints to perform science functions, such as sample collection. Given the communication delay between Earth and the rover, and the possible occurrence of faults, an autonomous decision making system is essential to ensure that the rover maximizes the scientific operations performed without damaging itself further or stalling. This paper presents a modular software architecture for autonomous decision making for rover operations that uses diagnostic and prognostic information to influence mission planning and decision making to maximize the completion of mission objectives. The decision making system consists of separate modules that perform the functions of control, diagnosis, prognosis, and decision making.We demonstrate our implementation of this architecture on a simulated rover testbed.
General Purpose Data-Driven System Monitoring for Space Operations
공공데이터포털
Modern space propulsion and exploration system designs are becoming increasingly sophisticated and complex. Determining the health state of these systems using traditional methods is becoming more difficult as the number of sensors and component interactions grows. Data-driven monitoring techniques have been developed to address these issues by analyzing system operations data to automatically characterize normal system behavior. The Inductive Monitoring System is a data-driven system health monitoring software tool that has been successfully applied to several aerospace applications. Inductive Monitoring System uses a data mining technique called clustering to analyze archived system data and characterize normal interactions between parameters. This characterization, or model, of nominal operation is stored in a knowledge base that can be used for real-time system monitoring or for analysis of archived events. Ongoing and developing Inductive Monitoring System space operations applications include International Space Station flight control, spacecraft vehicle system health management, launch vehicle ground operations, and fleet supportability. As a common thread of discussion this paper will employ the evolution of the Inductive Monitoring System data-driven technique as related to several Integrated Systems Health Management elements. Thematically, the projects listed will be used as case studies. The maturation of Inductive Monitoring System via projects where it has been deployed or is currently being integrated to aid in fault detection will be described. The paper will also explain how Inductive Monitoring System can be used to complement a suite of other Integrated System Health Management tools, providing initial fault detection support for diagnosis and recovery.
Planning to Explore: Using a Coordinated Multisource Infrastructure to Overcome Present and Future Space Flight Planning Challenges
공공데이터포털
Few human endeavors present as much of a planning and scheduling challenge as space flight, particularly manned space flight. Just on the operational side of it, efforts of thousands of people across hundreds of organizations need to be coordinated. Numerous tasks of varying complexity and nature, from scientific to construction, need to be accomplished within limited mission time frames. Resources need to be carefully managed and contingencies worked out, often on a very short notice. From the beginning of the NASA space program, planning has been done by large teams of domain experts working months, sometimes years, to put together a single mission. This approach, while proven very reliable up to now, is becoming increasingly harder to sustain. Elevated levels of NASA space activities, from deployment of the new Crew Exploration Vehicle (CEV) and completion of the International Space Station (ISS), to the planned lunar missions and permanent lunar bases, will put an even greater strain on this largely manual process. While several attempts to automate it have been made in the past, none have fully succeeded. In this paper we describe the current NASA planning methods, outline their advantages and disadvantages, discuss the planning challenges of upcoming missions and propose a distributed planning/scheduling framework (CMMD) aimed at unifying and optimizing the planning effort. CMMD will not attempt to make the process completely automated, but rather serve in a decision support capacity for human managers and planners. It will help manage information gathering, creation of partial and consolidated schedules, inter-team negotiations, contingencies investigation, and rapid re-planning when the situation demands it. The first area of CMMD application will be planning for Extravehicular Activities (EVA) and associated logistics. Other potential applications, not only in the space flight domain, and future research efforts will be discussed as well.
Intelligent Systems
공공데이터포털
The autonomous systems (AS) project, led by NASA Ames, is developing software for system operation automation. AS technology will help astronauts make more decisions without the assistance of people on the ground, providing software for automatic diagnosis of failures in a spacecraft of other system, and software to automate the execution of sequences of actions at the discretion of human operators. In June, AS software increased coordination capability while decreasing workload under varying operational scenarios, time delays, and levels of crew autonomy during the autonomous mission operations experiment in the Deep Space Habitat at Johnson.
NASA 3D Models: Crawler
공공데이터포털
Originally designed to carry the towering Saturn V moon rocket from the Vehicle Assembly Building to the seaside launch site, the enormous transporters now carry the space shuttles to the launch pads for liftoff. Polygons: 146050 Vertices: 141658
NASA 3D Models: Crawler
공공데이터포털
Originally designed to carry the towering Saturn V moon rocket from the Vehicle Assembly Building to the seaside launch site, the enormous transporters now carry the space shuttles to the launch pads for liftoff. Polygons: 146050 Vertices: 141658
목록