Fast Approximate Clearance Evaluation for Rovers with Articulated Suspension Systems

We present a light-weight body-terrain clearance evaluation algorithm for the automated path planning of NASA's Mars 2020 rover. Extraterrestrial path planning is challenging due to the combination of terrain roughness and severe limitation in computational resources. Path planning on cluttered and/or uneven terrains requires repeated safety checks on all the candidate paths at a small interval. Predicting the future rover state requires simulating the vehicle settling on the terrain, which involves an inverse-kinematics problem with iterative nonlinear optimization under geometric constraints. However, such expensive computation is intractable for slow spacecraft computers, such as RAD750, which is used by the Curiosity Mars rover and upcoming Mars 2020 rover. We propose the Approximate Clearance Evaluation (ACE) algorithm, which obtains conservative bounds on vehicle clearance, attitude, and suspension angles without iterative computation. It obtains those bounds by estimating the lowest and highest heights that each wheel may reach given the underlying terrain, and calculating the worst-case vehicle configuration associated with those extreme wheel heights. The bounds are guaranteed to be conservative, hence ensuring vehicle safety during autonomous navigation. ACE is planned to be used as part of the new onboard path planner of the Mars 2020 rover. This paper describes the algorithm in detail and validates our claim of conservatism and fast computation through experiments

Distributed architectures for Mars surface exploration

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2001.Includes bibliographical references (p. [361]-370).by Christopher E. Carr.S.M

Marshall Space Flight Center Faculty Fellowship Program

The 2017 Marshall Faculty Fellowship Program involved 21 faculty in the laboratories and departments at Marshall Space Flight Center. These faculty engineers and scientists worked with NASA collaborators on NASA projects, bringing new perspectives and solutions to bear. This Technical Memorandum is a compilation of the research reports of the 2017 Marshall Faculty Fellowship program, along with the Program Announcement (Appendix A) and the Program Description (Appendix B). The research affected the following six areas: (1) Materials (2) Propulsion (3) Instrumentation (4) Spacecraft systems (5) Vehicle systems (6) Space science The materials investigations included composite structures, printing electronic circuits, degradation of materials by energetic particles, friction stir welding, Martian and Lunar regolith for in-situ construction, and polymers for additive manufacturing. Propulsion studies were completed on electric sails and low-power arcjets for use with green propellants. Instrumentation research involved heat pipes, neutrino detectors, and remote sensing. Spacecraft systems research was conducted on wireless technologies, layered pressure vessels, and two-phase flow. Vehicle systems studies were performed on life support-biofilm buildup and landing systems. In the space science area, the excitation of electromagnetic ion-cyclotron waves observed by the Magnetospheric Multiscale Mission provided insight regarding the propagation of these waves. Our goal is to continue the Marshall Faculty Fellowship Program funded by Center internal project offices. Faculty Fellows in this 2017 program represented the following minority-serving institutions: Alabama A&M University and Oglala Lakota College

NASA thesaurus. Volume 1: Hierarchical Listing

There are over 17,000 postable terms and nearly 4,000 nonpostable terms approved for use in the NASA scientific and technical information system in the Hierarchical Listing of the NASA Thesaurus. The generic structure is presented for many terms. The broader term and narrower term relationships are shown in an indented fashion that illustrates the generic structure better than the more widely used BT and NT listings. Related terms are generously applied, thus enhancing the usefulness of the Hierarchical Listing. Greater access to the Hierarchical Listing may be achieved with the collateral use of Volume 2 - Access Vocabulary and Volume 3 - Definitions

NASA Thesaurus. Volume 1: Hierarchical listing

There are 16,713 postable terms and 3,716 nonpostable terms approved for use in the NASA scientific and technical information system in the Hierarchical Listing of the NASA Thesaurus. The generic structure is presented for many terms. The broader term and narrower term relationships are shown in an indented fashion that illustrates the generic structure better than the more widely used BT and NT listings. Related terms are generously applied, thus enhancing the usefulness of the Hierarchical Listing. Greater access to the Hierarchical Listing may be achieved with the collateral use of Volume 2 - Access Vocabulary

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Roving vehicle motion control Final report

Roving vehicle motion control for unmanned planetary and lunar exploratio

Design of an unmanned Martian polar exploration system

The design of an unmanned Martian polar exploration system is presented. The system elements include subsystems for transportation of material from earth to Mars, study of the Martian north pole, power generation, and communications. Early next century, three Atlas 2AS launch vehicles will be used to insert three Earth-Mars transfer vehicles, or buses, into a low-energy transfer orbit. Capture at Mars will be accomplished by aerobraking into a circular orbit. Each bus contains four landers and a communications satellite. Six of the twelve total landers will be deployed at 60 deg intervals along 80 deg N, and the remaining six landers at 5 deg intervals along 30 deg E from 65 deg N to 90 deg N by a combination of retrorockets and parachutes. The three communications satellites will be deployed at altitudes of 500 km in circular polar orbits that are 120 deg out of phase. These placements maximize the polar coverage of the science and communications subsystems. Each lander contains scientific equipment, two microrovers, power supplies, communications equipment, and a science computer. The lander scientific equipment includes a microweather station, seismometer, thermal probe, x-ray spectrometer, camera, and sounding rockets. One rover, designed for short-range (less than 2 km) excursions from the lander, includes a mass spectrometer for mineral analysis, an auger/borescope system for depth profiling, a deployable thermal probe, and charge coupled device cameras for terrain visualization/navigation. The second rover, designed for longer-range (2-5 km) excursions from the lander, includes radar sounding/mapping equipment, a seismometer, and laser ranging devices. Power for all subsystems is supplied by a combination of solar cells, Ni-H batteries, and radioisotope thermoelectric generators. Communications are sequenced from rovers, sounding rockets, and remote sensors to the lander, then to the satellites, through the Deep Space Network to and from earth

Publications of the Jet Propulsion Laboratory - July through December 1970

Bibliography of technical literature resulting from aerospace research and development at Jet Propulsion Laboratorie