Marc Pomerantz

Realization of autonomous image-based spacecraft pointing systems : planetary flyby example

This paper summarizes our efforts towards the realizaton of an intelligent autonomous tracking and pointing system for space applications. A powerful 3D graphic software testbed has also been developed to simulate a likely scenario of autonomous tracking and pointing operations during a planetary flyby mission.

Recent Developments on a Simulator for Lunar Surface Operations

New models and capabilities in the Jet Propulsion Laboratory’s (JPL) Lunar Surface Operations Simulator (LSOS) are reported in this paper. LSOS is a simulator built to support surface operations design and planning for future lunar missions. LSOS models surface systems, their mechanical properties, and operations. In addition to simulating the dynamic interactions during operations, for example, wheel-soil interaction or component motion, LSOS also models associated environmental, and system mechanical and physical processes. These include thermal, radiation and power transients, and terrain. Lighting models are used to generate material textures, reflectance and shadows. LSOS’s integrated architecture allows use of common models and enables interactions between components operating in different domains to be easily modeled. Models used in LSOS simulations and results from the simulation of two traverses are reported. The first is a replication of a traverse conducted during a field trial of prototype systems. The second is a traverse from a lunar outpost site near Shackleton Crater to Malapert Mountain. LSOS simulations and analyses will provide data to help in the optimization of mission plans.

Surface Operations Analyses for Lunar Missions

The Jet Propulsion Laboratory is developing the Lunar Surface Operations Simulator software package to support analyses for future NASA lunar missions. The package is built on and extended from previous simulation packages developed at JPL. It simulates mechanical motion, soil interaction, environmental, and physical processes. Physical process dynamics include environmental control and life support, thermal, radiation and power transients. An integrated architecture allows use of common models and enables interactions between components operating in di erent domains to be easily modeled. We describe recent developments and analyses performed to support lunar surface missions and analog eld trials.

CARACaS multi-agent maritime autonomy for unmanned surface vehicles in the Swarm II harbor patrol demonstration

This paper describes new autonomy technology that enabled a team of unmanned surface vehicles (USVs) to execute cooperative behaviors in the USV Swarm II harbor patrol demonstration and provides a description of autonomy performance in the event. The new developments extend the NASA Jet Propulsion Laboratory’s CARACaS (Control Architecture for Robotic Agent Command and Sensing) autonomy architecture, which provides foundational software infrastructure, core executive functions, and several default robotic technology modules. In Swarm II, CARACaS demonstrated higher levels of autonomy and more complex cooperation than previous on-water exercises, using full-sized vehicles and real-world sensing and communication. The core autonomous behaviors to support the harbor patrol scenario included Patrol, Track, Inspect, and Trail, providing the capability of finding all vessels entering the patrol area, keeping track of them, inspecting them to infer intent, and trailing suspect vessels. Significantly, CARACaS assumed responsibility for not only executing tasks safely and efficiently but also recognizing what tasks needed to be accomplished, given the current state of the world. Since the heterogeneous USV teams shared world model that evolved, such as due to (dis)appearance of vessels in the area or a change in health or availability of a USV, CARACaS replanned to generate and reallocate the new task list. Thus, human intervention was never required in the loop to task USVs during mission execution, though a supervisory role was supported in the autonomy system for mission monitoring and exception handling. Finally, CARACaS also ensured the USVs avoided hazards and obeyed the applicable rules of the road, using its local motion planning modules.

Analyzing Cyber Security Threats on Cyber-Physical Systems Using Model-Based Systems Engineering

The spectre of cyber attacks on aerospace systems can can no longer be ignored, given that many of the components and vulnerabilities that have been successfully exploited by the adversary on other infrastructures are the same as those deployed and used within the aerospace environment. An important consideration with respect to the mission/safety critical infrastructure supporting space operations is that an appropriate defensive response to an attackhas the goal to preserve critical mission objectives in the presence of adversarial activity. Which invariably involves the need for high precision and accuracy, because an incorrect response can trigger unacceptable losses involving lives and/or significant financial damage. A highly precise defensive response, considering the typical complexity of aerospace environments, requires a detailed and well-founded understanding of the underlying system. To capture this detailed and rigorous understanding, a structured approach for modeling aerospace systems has been developed. The approach includes physical elements, network topology, software applications, system functions, and usage scenarios. We leverage Model-Based Systems Engineering methodology by utilizing the Object Management Group’s Systems Modeling Language to represent the system being analyzed and also utilize model transformations to provide relevant aspects of the model to specialized analyses. A novel visualization approach is utilized to visualize the entire model as a three-dimensional graph, allowing easier interaction with subject matter experts. The model provides a unifying structure for analyzing the impact of a particular attack or a particular type of attack. A graph-based propagation analysis based on edge and node labels is used to analyze the model.

Autonomous image-based pointing for planetary flyby

There is increasing emphasis on onboard autonomy in the design of future spacecraft. Image- based, closed-loop tracking and pointing, developed as part of the Autonomous Feature And Star Tracking project at the Jet Propulsion Laboratory, has emerged as one of the technology areas essential to realizing autonomous spacecraft. In this paper, we present an overview of our ongoing efforts to develop intelligent, onboard processing technology that will make it possible to realize such spacecraft. A mission scenario, a planetary small-body flyby, is used to illustrate the autonomous tracking/pointing technology addressed in the research.

Topographic/photometric model of small bodies

Developing image acquisition requirements is a major part of the Autonomous Feature and Star Tracking (AFAST) projects work in advancing sensor technologies for planetary exploration. Sensing and detecting desired planetary features also involve topographic and photometric characterization of celestial bodies. The photometric study can provide felicitous designs of optics, focal plane array, and processing pertaining to feature extraction and tracking. In this paper, we present the results based on our preliminary study and implementation of photometric modeling on the AFASTs SGI-based 3D graphics testbed. Specifically, a computer-generated topographical model of Phobos is used since the photometry of Phobos have been studied in great details. The photometric function derived is mapped onto the computer-generated topographic model. Using the photometric model and specific camera parameters, an accurate CCD pixel response to target irradiance can then be calculated. This pixel information can be used by the feature tracking algorithm, and sensitivity to signal-to-noise ratio can then be determined.