Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115688
N. Izenberg, V. Scott, B. Fultz
After Magellan 30 years ago, US Venus exploration has relied on archived data, Earth-based and flyby observations of missions bound elsewhere, and international efforts such as Venus Express (ESA) and Akatsuki (JAXA) until the selection of NASA Discovery missions VERITAS and DAVINCI and participation in ESA's EnVision. These missions will address a significant number of major science questions about the past and present of Venus. Nevertheless, many additional and crucial questions about the history of Venus, including its similarities and differences from Earth, will remain unresolved even after the success of these new missions. Significant divergences in planetary evolution of Venus and Earth require knowledge that is not obtainable by the selected suite of upcoming missions, but can be attained by an innovative approach in the next 20 years if precursor science and technology paves the way. In the same way that the Mars Exploration Rovers, Mars Science Lab, and Perseverance have provided measurements that unravel the mysteries of Mars, the Venus In Situ Transfer and Analysis mission concept (VISTA) provides an opportunity to obtain measurements that cannot be obtained by a simple, short-term mission to Venus. VISTA would provide detailed knowledge of the surface and atmosphere to better understand the origin and evolution of Venus, its geology and former habitability, and the interaction of its surface with the atmosphere. Since the surface environment of Venus is not conducive to long-term missions, we propose a long duration, sky-borne laboratory in the Venus upper atmosphere, maintained at temperatures and pressures favorable for extended laboratory measurements that shed light on the composition and history of minerals and rocks retrieved from the surface. VISTA is a concept for a flagship mission to collect samples from multiple locations on the planet surface, and from the Venus atmosphere, and deliver them to a highly-capable, long-lived aerial laboratory for detailed analysis with modern instrumentation. Characterizing the composition, structure, and isotopic ratios of these samples will answer questions of surface composition across multiple geologic provinces. These measurements will help answer questions about the fundamental branch points in the evolution of Venus. Studies of atmospheric aerosols will support models of cloud formation. The longevity of VISTA will provide further information on atmospheric circulation, and provide a platform for detecting rare seismic and volcanic events. Any in situ Venus mission faces significant technical and operational challenges. VISTA shares some challenges with past and current in situ concepts, and presents its own unique challenges (e.g. asset rendezvous, sample processing, and long-lived laboratory platform). This paper describes the architecture and trades of the VISTA mission concept for the aerial laboratory, (multiple) sampling landers, ascent vehicles, and sample retrievers.
{"title":"VISTA: Venus in Situ Transfer and Analysis Mission Concept","authors":"N. Izenberg, V. Scott, B. Fultz","doi":"10.1109/AERO55745.2023.10115688","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115688","url":null,"abstract":"After Magellan 30 years ago, US Venus exploration has relied on archived data, Earth-based and flyby observations of missions bound elsewhere, and international efforts such as Venus Express (ESA) and Akatsuki (JAXA) until the selection of NASA Discovery missions VERITAS and DAVINCI and participation in ESA's EnVision. These missions will address a significant number of major science questions about the past and present of Venus. Nevertheless, many additional and crucial questions about the history of Venus, including its similarities and differences from Earth, will remain unresolved even after the success of these new missions. Significant divergences in planetary evolution of Venus and Earth require knowledge that is not obtainable by the selected suite of upcoming missions, but can be attained by an innovative approach in the next 20 years if precursor science and technology paves the way. In the same way that the Mars Exploration Rovers, Mars Science Lab, and Perseverance have provided measurements that unravel the mysteries of Mars, the Venus In Situ Transfer and Analysis mission concept (VISTA) provides an opportunity to obtain measurements that cannot be obtained by a simple, short-term mission to Venus. VISTA would provide detailed knowledge of the surface and atmosphere to better understand the origin and evolution of Venus, its geology and former habitability, and the interaction of its surface with the atmosphere. Since the surface environment of Venus is not conducive to long-term missions, we propose a long duration, sky-borne laboratory in the Venus upper atmosphere, maintained at temperatures and pressures favorable for extended laboratory measurements that shed light on the composition and history of minerals and rocks retrieved from the surface. VISTA is a concept for a flagship mission to collect samples from multiple locations on the planet surface, and from the Venus atmosphere, and deliver them to a highly-capable, long-lived aerial laboratory for detailed analysis with modern instrumentation. Characterizing the composition, structure, and isotopic ratios of these samples will answer questions of surface composition across multiple geologic provinces. These measurements will help answer questions about the fundamental branch points in the evolution of Venus. Studies of atmospheric aerosols will support models of cloud formation. The longevity of VISTA will provide further information on atmospheric circulation, and provide a platform for detecting rare seismic and volcanic events. Any in situ Venus mission faces significant technical and operational challenges. VISTA shares some challenges with past and current in situ concepts, and presents its own unique challenges (e.g. asset rendezvous, sample processing, and long-lived laboratory platform). This paper describes the architecture and trades of the VISTA mission concept for the aerial laboratory, (multiple) sampling landers, ascent vehicles, and sample retrievers.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"452 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125786955","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115991
Audrey Winn, Aditya Jayadas, T. Chandrasekera, S. Thaxton
Biophilia is the innate love of life and utilizing this concept when designing interior environments is known as Biophilic Design. Natural materials, biomorphic forms, and the incorporation of plants and green elements are all strategies to implement biophilic design. Biophilic design can improve the cognitive and physiological health of individuals in interior environments. The purpose of this study was to assess if the integration of biophilic design in a virtual simulation of crew quarters on the International Space Station (ISS) can help improve emotions, while also improving cognitive and physiological responses in individuals. The research questions include: 1. How does the environment affect feelings experienced (calm, content, nervous, and indecisive)?, 2. How does the environment affect cognitive load (pupil dilation)?, 3. How do emotions experienced in the environment (calm, content, nervous, and indecisive) affect satisfaction and intention to spend more time in the environment?, 4. How does cognitive load (pupil dilation) affect cognitive responses including task completion time, memory retention, and visuo-spatial processing? There were 40 participants in the study (age 18–57 with a median age of 25.5 years; gender - 10 male, 19 female, and 1 non-binary). The participants responded to survey questions to assess specific measures including emotions, task load, and cognition when they experienced two different virtual reality environments: a) existing crew quarters, and b) proposed biophilic crew quarters. In addition, heart rate and pupil dilation were also measured to assess physiological and cognitive responses respectively. A paired t-test and Pearson correlation was used for the statistical analysis, with the significance level set at 0.05. The study found that there were statistically significant differences for emotions, including feelings of calm $(mathrm{p} < 0.0001)$, content $(mathrm{p} < 0.0001)$, nervousness $(mathrm{p} < 0.0001)$ and indecisiveness $(mathrm{p} < 0.0001)$, across the two environments. These measures showed weak correlation $(mathrm{r}^{2} < 0.30)$ to heart rate. However, there was a moderate correlation between nervousness $(mathrm{r}^{2}=-0.51)$ and indecisiveness $(mathrm{r}^{2}=-0.57)$, and strong correlation between calm $(mathrm{r}^{2}=0.68)$ and content $(mathrm{r}^{2} =0.72)$ to intention to spend more time in the space. For the measure satisfaction within the space, there was a moderate correlation with nervousness $(mathrm{r}^{2}=-0.47)$ and indecisiveness $(mathrm{r}^{2}= -0.50)$, and a strong correlation with calm $(mathrm{r}^{2}=0.77)$ and content $(mathrm{r}^{2}=0.78)$. There was also a statistically significant difference for pupil dilation $(mathrm{p}=0.0001)$ across the two environments. However, there was a weak correlation between pupil dilation and both task load $(mathrm{r}^{2} < 0.10)$ and cognitive responses $(mathrm{r}^{2} < 0.15)$. This study provides unique research for the design
{"title":"Biophilic Interventions in Space Habitat Crew Quarters to Improve Cognitive & Physiological Health","authors":"Audrey Winn, Aditya Jayadas, T. Chandrasekera, S. Thaxton","doi":"10.1109/AERO55745.2023.10115991","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115991","url":null,"abstract":"Biophilia is the innate love of life and utilizing this concept when designing interior environments is known as Biophilic Design. Natural materials, biomorphic forms, and the incorporation of plants and green elements are all strategies to implement biophilic design. Biophilic design can improve the cognitive and physiological health of individuals in interior environments. The purpose of this study was to assess if the integration of biophilic design in a virtual simulation of crew quarters on the International Space Station (ISS) can help improve emotions, while also improving cognitive and physiological responses in individuals. The research questions include: 1. How does the environment affect feelings experienced (calm, content, nervous, and indecisive)?, 2. How does the environment affect cognitive load (pupil dilation)?, 3. How do emotions experienced in the environment (calm, content, nervous, and indecisive) affect satisfaction and intention to spend more time in the environment?, 4. How does cognitive load (pupil dilation) affect cognitive responses including task completion time, memory retention, and visuo-spatial processing? There were 40 participants in the study (age 18–57 with a median age of 25.5 years; gender - 10 male, 19 female, and 1 non-binary). The participants responded to survey questions to assess specific measures including emotions, task load, and cognition when they experienced two different virtual reality environments: a) existing crew quarters, and b) proposed biophilic crew quarters. In addition, heart rate and pupil dilation were also measured to assess physiological and cognitive responses respectively. A paired t-test and Pearson correlation was used for the statistical analysis, with the significance level set at 0.05. The study found that there were statistically significant differences for emotions, including feelings of calm $(mathrm{p} < 0.0001)$, content $(mathrm{p} < 0.0001)$, nervousness $(mathrm{p} < 0.0001)$ and indecisiveness $(mathrm{p} < 0.0001)$, across the two environments. These measures showed weak correlation $(mathrm{r}^{2} < 0.30)$ to heart rate. However, there was a moderate correlation between nervousness $(mathrm{r}^{2}=-0.51)$ and indecisiveness $(mathrm{r}^{2}=-0.57)$, and strong correlation between calm $(mathrm{r}^{2}=0.68)$ and content $(mathrm{r}^{2} =0.72)$ to intention to spend more time in the space. For the measure satisfaction within the space, there was a moderate correlation with nervousness $(mathrm{r}^{2}=-0.47)$ and indecisiveness $(mathrm{r}^{2}= -0.50)$, and a strong correlation with calm $(mathrm{r}^{2}=0.77)$ and content $(mathrm{r}^{2}=0.78)$. There was also a statistically significant difference for pupil dilation $(mathrm{p}=0.0001)$ across the two environments. However, there was a weak correlation between pupil dilation and both task load $(mathrm{r}^{2} < 0.10)$ and cognitive responses $(mathrm{r}^{2} < 0.15)$. This study provides unique research for the design ","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125864780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115797
M. Faraaz, Afreed Faizan, M. Badarinath, Kiwin Vignesh Subramaniyan, D. Harursampath, R. Gupta
Urban Air Mobility (UAM) has gained traction in the aviation industry. With the ever-increasing rate of urbanization, congested roads have become a common phenomenon in megacities across the world. Urban Air Mobility in the form of Electric Vertical Take-off and Landing (eVTOL) aircrafts presents an opportunity to revolutionize the transportation sector by providing sustainable intercity and intracity travel for the urban dwellers. Amongst the different eVTOL configurations, the tilt-rotor and hybrid lift + cruise configuration aim to combine the advantages of fixed wing and rotary wing aircrafts. The presented work aims to develop a detailed design procedure for the propellers of a tilt-rotor eVTOL aircraft to maintain low noise emission and to have high efficiency to utilize the capacity of current battery technology to the maximum extent. Multiple configurations such as coaxial tilt-rotor and hybrid lift + cruise were considered for the aircraft, and preliminary design calculations were carried out for all of these configurations to decide the number of rotors, diameter of the rotor, number of blades and the power required for take-off, hover and cruise performance of the aircraft. These calculations were performed based on the concepts of actuator disc theory/momentum theory. A propulsion configuration was selected based on the results of the above-said calculations provides such as tip Mach number, efficiency and rotor diameter to facilitate low noise and compactness. After selecting the configuration, the propeller blades were designed based on blade element theory. Since tilt-rotors are used for both hover and cruise conditions, it becomes necessary to analyze them for both conditions. Since the operating conditions such as airspeed and rpm are very different in hover and cruise conditions, the tilt-rotors were designed as controllable-pitch propellers to ensure all the sections of the blade operate at the desired angle of attack for both hover and cruise conditions. Computational Fluid Dynamics (CFD) simulations were carried out for the same to verify the results. The outcome of the current work is the theoretical dimensions and geometry of the propellers which provide the required thrust, efficiency and low noise emission for the considered eVTOL aircraft.
{"title":"Baseline Design of Propeller for an eVTOL Aircraft to Achieve Urban Air Mobility","authors":"M. Faraaz, Afreed Faizan, M. Badarinath, Kiwin Vignesh Subramaniyan, D. Harursampath, R. Gupta","doi":"10.1109/AERO55745.2023.10115797","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115797","url":null,"abstract":"Urban Air Mobility (UAM) has gained traction in the aviation industry. With the ever-increasing rate of urbanization, congested roads have become a common phenomenon in megacities across the world. Urban Air Mobility in the form of Electric Vertical Take-off and Landing (eVTOL) aircrafts presents an opportunity to revolutionize the transportation sector by providing sustainable intercity and intracity travel for the urban dwellers. Amongst the different eVTOL configurations, the tilt-rotor and hybrid lift + cruise configuration aim to combine the advantages of fixed wing and rotary wing aircrafts. The presented work aims to develop a detailed design procedure for the propellers of a tilt-rotor eVTOL aircraft to maintain low noise emission and to have high efficiency to utilize the capacity of current battery technology to the maximum extent. Multiple configurations such as coaxial tilt-rotor and hybrid lift + cruise were considered for the aircraft, and preliminary design calculations were carried out for all of these configurations to decide the number of rotors, diameter of the rotor, number of blades and the power required for take-off, hover and cruise performance of the aircraft. These calculations were performed based on the concepts of actuator disc theory/momentum theory. A propulsion configuration was selected based on the results of the above-said calculations provides such as tip Mach number, efficiency and rotor diameter to facilitate low noise and compactness. After selecting the configuration, the propeller blades were designed based on blade element theory. Since tilt-rotors are used for both hover and cruise conditions, it becomes necessary to analyze them for both conditions. Since the operating conditions such as airspeed and rpm are very different in hover and cruise conditions, the tilt-rotors were designed as controllable-pitch propellers to ensure all the sections of the blade operate at the desired angle of attack for both hover and cruise conditions. Computational Fluid Dynamics (CFD) simulations were carried out for the same to verify the results. The outcome of the current work is the theoretical dimensions and geometry of the propellers which provide the required thrust, efficiency and low noise emission for the considered eVTOL aircraft.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124642568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115627
Kayla Henderson, Nathan Wiatrek, Patrick Saenz
With advances in space technology steering toward the need for improved computing complexity and power requirements to support future space missions, many organizations have pushed to develop space-rated processors to meet these demands. One technological challenge then becomes selecting and implementing a fast and reliable microprocessor suitable for each specific mission that will encompass the fundamental requirements necessary for radiation-tolerant environments. A single space-qualified ARM® processor is said to have the ability to revolutionize these heavy computing requirements, providing appropriate radiation tolerance and reduced power consumption essential for various space systems. The implementation of a single microprocessor for a wide range of targeted systems provides the potential for cost reduction, and design simplification. Most importantly, a consistent architecture would greatly improve platform reusability across different space missions. The research team has investigated the use of an ARM processor design to determine the viability of using this single architecture across various spaceflight embedded systems. The performance capabilities and power consumption are evaluated for different configurations which are established based on current offerings. This paper describes the investigation, analysis, and conclusions of this research.
{"title":"ARMing the Next Generation of Spaceflight Embedded Platforms Through Processor Reusability","authors":"Kayla Henderson, Nathan Wiatrek, Patrick Saenz","doi":"10.1109/AERO55745.2023.10115627","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115627","url":null,"abstract":"With advances in space technology steering toward the need for improved computing complexity and power requirements to support future space missions, many organizations have pushed to develop space-rated processors to meet these demands. One technological challenge then becomes selecting and implementing a fast and reliable microprocessor suitable for each specific mission that will encompass the fundamental requirements necessary for radiation-tolerant environments. A single space-qualified ARM® processor is said to have the ability to revolutionize these heavy computing requirements, providing appropriate radiation tolerance and reduced power consumption essential for various space systems. The implementation of a single microprocessor for a wide range of targeted systems provides the potential for cost reduction, and design simplification. Most importantly, a consistent architecture would greatly improve platform reusability across different space missions. The research team has investigated the use of an ARM processor design to determine the viability of using this single architecture across various spaceflight embedded systems. The performance capabilities and power consumption are evaluated for different configurations which are established based on current offerings. This paper describes the investigation, analysis, and conclusions of this research.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124820280","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/aero55745.2023.10115543
K. Dinh, Kristen Kucko, N. Kalidasu, Nicolas Makovnik, Alan Hsu, Zichag Wang, Lucas Ribeiro, Jin S. Kang
High school CubeSat programs inherently face a unique set of challenges. Students enter high school with limited knowledge about programming, electronics, computer-aided design, and systems engineering. They work as volunteers and must balance time between the satellite team, school work, and other personal and academic commitments. Additionally, the team's most experienced members graduate after four years, creating a constant struggle to maintain club knowledge. Finally, high school labs are not set up for CubeSat development, with restricted building hours and school policies significantly slowing progress. The 2U CubeSat developed by students at Thomas Jefferson High School for Science and Technology, called the Thomas Jefferson Research and Education Vehicle for the Evaluation of Radio Broadcasts (TJREVERB), serves as a case study to explore these problems in depth and discuss their potential solutions. We found that mentors are crucial in addressing students' lack of expertise by providing guidance on technical problems and project management organization. Proper development procedures and documentation also helped alleviate the difficulty in maintaining continuity amid a four-year member turnover. Finally, a strong program culture helped increase student engagement and participation despite the time commitment challenges faced by high school students. We hope that the lessons learned on TJREVERB can provide other high school CubeSat teams with insight into navigating potential roadblocks during development to further streamline the process of educational CubeSat development.
{"title":"TJREVERB A High School CubeSat Story","authors":"K. Dinh, Kristen Kucko, N. Kalidasu, Nicolas Makovnik, Alan Hsu, Zichag Wang, Lucas Ribeiro, Jin S. Kang","doi":"10.1109/aero55745.2023.10115543","DOIUrl":"https://doi.org/10.1109/aero55745.2023.10115543","url":null,"abstract":"High school CubeSat programs inherently face a unique set of challenges. Students enter high school with limited knowledge about programming, electronics, computer-aided design, and systems engineering. They work as volunteers and must balance time between the satellite team, school work, and other personal and academic commitments. Additionally, the team's most experienced members graduate after four years, creating a constant struggle to maintain club knowledge. Finally, high school labs are not set up for CubeSat development, with restricted building hours and school policies significantly slowing progress. The 2U CubeSat developed by students at Thomas Jefferson High School for Science and Technology, called the Thomas Jefferson Research and Education Vehicle for the Evaluation of Radio Broadcasts (TJREVERB), serves as a case study to explore these problems in depth and discuss their potential solutions. We found that mentors are crucial in addressing students' lack of expertise by providing guidance on technical problems and project management organization. Proper development procedures and documentation also helped alleviate the difficulty in maintaining continuity amid a four-year member turnover. Finally, a strong program culture helped increase student engagement and participation despite the time commitment challenges faced by high school students. We hope that the lessons learned on TJREVERB can provide other high school CubeSat teams with insight into navigating potential roadblocks during development to further streamline the process of educational CubeSat development.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129440386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115796
Cyndia Cao, A. Rogg, Antoine Tardy
NASA's Volatiles Investigating Polar Exploration Rover (VIPER) possesses a unique suspension configuration that has not yet flown in previous missions. Its mobility system must go through rigorous evaluation to build confidence in its performance. VIPER's actuated suspension is commanded by an attitude tracking controller followed by a down-force thresholder (DFT) to maintain wheel-to-ground contact. This paper provides an overview of the initial characterization of the sensitivity of the rover's terrain traversability to its wheel normal load threshold tuning. The long-term objective is to understand how suspension tuning will impact the mobility of the flight vehicle during the mission in the lunar environment. The rover traversed a series of nominal case and bounding case roving scenarios while the tuning parameters were varied, and its mobility was evaluated with respect to slip, power, and stability. The data confirm that the DFT increases wheel-to-ground contact and balances load between wheels, and the improvements scale with high load thresholds and suspension response speeds. However, load cell noise and low control-loop-frequency can cause the suspension to oscillate, especially when combined with poorly tuned parameters and with high suspension response speeds. In the experiments, the DFT maintained or improved mobility relative to using only the attitude tracker, but variation in the DFT tuning did not significantly impact slip or power consumption. Chassis stability was the most sensitive metric to tuning; fast and responsive tuning reduced body rotation rates while traversing large rocks but caused suspension oscillation in nominal maneuvers on slopes. Hence, DFT activation should be concentrated on large obstacles rather than nominal maneuvers. Low load thresholds combined with a moderate suspension speed provide a good balance between vehicle stability in rough terrain and internal control stability. This tuning allows motor actuation requirements, power consumption, and controller instability risk to be reduced without impacting traversability requirements. Future testing in higher-fidelity lunar simulant can expand on these results, since softer regolith may provide more challenge to the rover's traction performance and produce stronger dependencies between slip and load distribution. Thus far, this testing has narrowed tuning parameters down to a robust window and reduced mission risk by characterizing mobility behavior across a wide spectrum of potential parameters.
{"title":"Actuated Suspension Tuning Characterization of the VIPER Lunar Rover","authors":"Cyndia Cao, A. Rogg, Antoine Tardy","doi":"10.1109/AERO55745.2023.10115796","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115796","url":null,"abstract":"NASA's Volatiles Investigating Polar Exploration Rover (VIPER) possesses a unique suspension configuration that has not yet flown in previous missions. Its mobility system must go through rigorous evaluation to build confidence in its performance. VIPER's actuated suspension is commanded by an attitude tracking controller followed by a down-force thresholder (DFT) to maintain wheel-to-ground contact. This paper provides an overview of the initial characterization of the sensitivity of the rover's terrain traversability to its wheel normal load threshold tuning. The long-term objective is to understand how suspension tuning will impact the mobility of the flight vehicle during the mission in the lunar environment. The rover traversed a series of nominal case and bounding case roving scenarios while the tuning parameters were varied, and its mobility was evaluated with respect to slip, power, and stability. The data confirm that the DFT increases wheel-to-ground contact and balances load between wheels, and the improvements scale with high load thresholds and suspension response speeds. However, load cell noise and low control-loop-frequency can cause the suspension to oscillate, especially when combined with poorly tuned parameters and with high suspension response speeds. In the experiments, the DFT maintained or improved mobility relative to using only the attitude tracker, but variation in the DFT tuning did not significantly impact slip or power consumption. Chassis stability was the most sensitive metric to tuning; fast and responsive tuning reduced body rotation rates while traversing large rocks but caused suspension oscillation in nominal maneuvers on slopes. Hence, DFT activation should be concentrated on large obstacles rather than nominal maneuvers. Low load thresholds combined with a moderate suspension speed provide a good balance between vehicle stability in rough terrain and internal control stability. This tuning allows motor actuation requirements, power consumption, and controller instability risk to be reduced without impacting traversability requirements. Future testing in higher-fidelity lunar simulant can expand on these results, since softer regolith may provide more challenge to the rover's traction performance and produce stronger dependencies between slip and load distribution. Thus far, this testing has narrowed tuning parameters down to a robust window and reduced mission risk by characterizing mobility behavior across a wide spectrum of potential parameters.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129788728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115791
Juliane Skibbe, E. Aitier, Stefan Barthelmes, Markus Bihler, Gabriel Brusq, F. Hacker, Hans-Juergen Sedlmayr
In any mechatronic system, faults can occur. Likewise also in the MMX rover, which is a wheeled rover mutually developed by CNES (Centre national d'études spatiales) and DLR (German Aerospace Center), intended to land on Phobos. An essential part of the MMX rover is the locomotion subsystem which includes several sensors and eight motors actuating the four legs and the four wheels. In each of these components and their interfaces, there is a possibility that faults arise and lead to subsystem failures, which would mean that the rover cannot move anymore. To reduce this risk, the possible faults of the MMX locomotion subsystem were identified in a FMECA study and their criticality was classified, which is presented in here. During this examination, the criticality was graded depending on different mission phases. With the help of this study, the hardware, firmware and software design were enhanced. Further, certain fault detection, isolation and recovery strategies were implemented in the locomotion firmware and software as well as in the full rover software.
{"title":"Fault Detection, Isolation and Recovery in the MMX Rover Locomotion Subsystem","authors":"Juliane Skibbe, E. Aitier, Stefan Barthelmes, Markus Bihler, Gabriel Brusq, F. Hacker, Hans-Juergen Sedlmayr","doi":"10.1109/AERO55745.2023.10115791","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115791","url":null,"abstract":"In any mechatronic system, faults can occur. Likewise also in the MMX rover, which is a wheeled rover mutually developed by CNES (Centre national d'études spatiales) and DLR (German Aerospace Center), intended to land on Phobos. An essential part of the MMX rover is the locomotion subsystem which includes several sensors and eight motors actuating the four legs and the four wheels. In each of these components and their interfaces, there is a possibility that faults arise and lead to subsystem failures, which would mean that the rover cannot move anymore. To reduce this risk, the possible faults of the MMX locomotion subsystem were identified in a FMECA study and their criticality was classified, which is presented in here. During this examination, the criticality was graded depending on different mission phases. With the help of this study, the hardware, firmware and software design were enhanced. Further, certain fault detection, isolation and recovery strategies were implemented in the locomotion firmware and software as well as in the full rover software.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128533357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115740
Laura L. Jones-Wilson, Vantana Seth, A. Ralph, A. Marinan
NASA's Europa Clipper mission is designed to investigate the habitability of the Jovian moon Europa with a suite of 10 science instruments. The project is now past its project system integration review and in the middle of instrument deliveries to Assembly, Test, and Launch Operations (ATLO). The payload verification and validation (V&V) program is thus in the process of receiving and auditing instrument-provided verification evidence, executing the payload-level software interface testing campaign, and beginning a series of checkouts on the flight instruments in ATLO. Previous work described the set of planned verification activities that we developed to ensure consistent V&V coverage across all of the instruments, and at the instrument, payload, and ATLO levels. This paper describes the implementation of that plan, including statistics on scope of the work and its execution, adjustments/additions to the original plans, how the team managed priorities with limited resources, and other lessons learned. We first describe the payload V&V oversight of instrument-level verification item closures. We describe the assessments performed to determine V&V status at instrument deliveries, and how we managed shortfalls and workload. We then describe the software interface V&V campaigns that the payload team is executing, summarizing the verification work and resources required to perform it. Finally, we describe the V&V role in post-delivery activities for the instruments including a summary of pre-ATLO (PATLO) testing and early ATLO activities. We conclude the paper by reflecting on how the executed V&V program compared to the planned program, and what strengths and challenges the program as designed offered in the execution phase. We then briefly summarize the work remaining as the payload V&V program enters its final phases prior to launch.
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Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115920
Lewis J. Simms, Dillon Colt Hall, B. Dunbar, R. Ambrose
NASA awarded the Exploration Extravehicular Activity Services (xEVAS) contract to develop the next generation of EVA suits to be used in Low Earth Orbit (LEO) and on the Artemis Lunar missions. These new EVA suits must protect the astronauts in the extreme environments of LEO and the Moon, while also providing the mobility to support EVA operations, such as surface exploration or spacecraft maintenance. Current testing of spacesuits to ensure sufficient mobility and comfort for the astronauts during EVA is performed with the crewmember in the suit, either in 1 g or in a neutral buoyancy environment. An alternative method of evaluating the mobility and comfort of EVA suits would be to use robotic systems to measure various fit and performance metrics. Robotic testing of spacesuits has historically been limited to either measuring the torque about a joint or measuring the contact pressure between a limb and the suit, but never both simultaneously. Merging the two measurements into a single test would provide essential data for predicting the performance of spacesuits. In this research, the Robotic Arm for Evaluating Spacesuit Torque and Contact (RAESTAC) was developed to simultaneously capture joint torque at the elbow and contact pressure at the anterior forearm, anterior bicep, and olecranon of the ulna. The system incorporates a 3D printed arm into an inflated lower arm pressure garment assembly, modeled after the Extravehicular Mobility Unit (EMU) used on the International Space Station (ISS). Driven by cables attached to a servo motor and gear train assembly, the RAESTAC system rotates the 3D printed arm at the elbow through a 120-degree arc, simulating the elbow angle that an astronaut might require to reach their Display and Control Module (DCM). To evaluate the effect of individual arm anthropometrics on “performance”, a 3dMD photogrammetric scanner was used to capture a digital scan of a subject's arm from the acromioclavicular joint to the tip of the distal phalanx of the third digit. This scan was then separated at the elbow joint and manipulated to incorporate a one degree of freedom (DOF) pin joint with ball bearings. Steel wire cables were routed through the arm and connected to S-type load cells and the servo motor/gear train. The torque about the elbow joint was calculated using the moment arm and the tension in the cable. Three Tekscan I-scan pressure mapping sensors were used to measure contact pressure between the 3D printed arm and the pressurized garment at the three locations. The RAESTAC system was also used to test how torque and contact pressure were affected by varying the arm geometries in a single suit arm design. Two subject's arms were scanned and tested using the same simulated EMU lower arm. It is concluded that RAESTAC may be used to evaluate the effects of arm suit design on specific subjects and can therefore be used to iterate and inform the design of future EVA suits.
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Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115964
M. Ozimek, Jackson L. Shannon, Rolfe J. Power, D. Edell, Donald H. Ellison, R. Mitch, A. Diaz-Calderon
In this work, we adapt low-thrust guidance laws for embedded use on a space processor to demonstrate the feasibil-ity of control autonomy for satellite transfer trajectories. The guidance approach is converted to a discrete-time formulation and implemented in software that conforms to APL's flight processor suite standards. Two representative trial problems are tuned for a feasible sampling frequency and profiled for memory and processing on representative CPU's. The initial findings are favorable for potential flight implementation.
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