Marco B. Quadrelli

Guidance, Navigation, and Control Technology Assessment for Future Planetary Science Missions

Future planetary explorations envisioned by the National Research Councils (NRCs) report titled Vision and Voyages for Planetary Science in the Decade 2013-2022, developed for NASA Science Mission Directorate (SMD) Planetary Science Division (PSD), seek to reach targets of broad scientific interest across the solar system. This goal requires new capabilities such as innovative interplanetary trajectories, precision landing, operation in close proximity to targets, precision pointing, multiple collaborating spacecraft, multiple target tours, and advanced robotic surface exploration. Advancements in Guidance, Navigation, and Control (GN&C) and Mission Design in the areas of software, algorithm development and sensors will be necessary to accomplish these future missions. This paper summarizes the key GN&C and mission design capabilities and technologies needed for future missions pursuing SMD PSDs scientific goals.

Modeling and simulation of asteroid retrieval using a flexible capture mechanism

The National Aeronautics and Space Administration is currently considering an Asteroid Redirect Mission (ARM), the goal of which is to bring a near-Earth asteroid into lunar orbit for inspection by a team of human astronauts. In this paper we present the results of a simulation study that focuses on the challenge of capturing a target asteroid using a robotic spacecraft. This simulation study was conducted in parallel with an ongoing mechanical design process, with the goal of providing feedback on specific design concepts, deriving high-level design targets via optimization, and exploring the trade space of the capture problem independently. We present and discuss several simulation models, the results of which have influenced the evolution of the ARM project to date.

Multibody Dynamics of Parachute and Balloon Flight Systems for Planetary Exploration

Some of the models and simulation capabilities developed for analyzing parachute and balloon-assisted deployment of sensor packages within the Mars Aerobot Validation Program at Jet Propulsion Laboratory, California Institute of Technology, are described. Different events occurring during the deployment of the system are considered. First, the effect of the detachment of the top parachute and the inflation of the balloon on the system stability are analyzed. Second, constitutive models of the ripstitch (shock alleviation device) are developed that compare well with experimental data. Third, the balloon is assumed to have reached a floating altitude, and the system response when a hinged camera is commanded to track an inertially fixed point on the surface of the planet is observed while perturbations in the form of wind gusts act on the system. These models and simulations have been motivated by the need to predict and validate flight-train stability behavior on deployment in support of flight tests.

Dynamics and controls of a conceptual Jovian Moon Tour Spacecraft

The dynamics and control challenges presented by a conceptual Jovian Moon Tour spacecraft are summarized in this paper. Attitude and orbital dynamics interactions are present due to the designed low-thrust trajectory, and controls structure interactions are also present due to the non-collocated sensor-actuator pairs on board the flexible spacecraft. A finite-element based simulation model is described which is capable of handling the complex orbital and attitude dynamics arising during the low-thrust spiraling maneuvers of the spacecraft. A few numerical simulations demonstrate that some of the challenges hitherto identified can be faced via integrated dynamics and control analysis, and that reasonable assessmelits of the pointing performance can be made. Introduction NASA is developing plans for an ambitious mission to orbit three planet sized moons of Jupiter Callisto, Ganymede and Europa which may harbor vast liquid oceans beneath their icy surfaces. These plans had their genesis in a study conducted in 2002 of a Jovian Icy Moon Tour (JIMT) mission**. This objective of the JIMT mission study was to design a spacecraft to explore the three icy moons and investigate their makeup, their history and their potential for sustaining life. To do so, NASA looked at how a nuclear reactor could enable long-duration deep space exploration. It was found that a nuclear fission reactor could produce unprecedented amounts of electrical energy to significantly improve scientific measurements, mission design options, and telecommunications capabilities. The proposed JIMT mission would incorporate a form of electric propulsion called ion propulsion, which would be powered using a nuclear fission reactor and a system for converting the reactor’s heat to electricity. Figure 1 depicts a conceptual spacecraft configuration developed as part of the JIMT study. For such a mission, attitude and orbital dynamics interactions are present due to the low-thrust trajectory design, and controls structure interactions are also involved due to the non-collocated sensor-actuator pairs. These are significant challenges to the dynamicist. We outline these interactions, as they were understood at the time of the 2002 study, in * This research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautic and Space Administration, and was concluded prior to establishment of the NASA’s Project Prometheus, the Nuclear Systems Program, in 2003. + Senior Engineer, Mail Stop 198-326, Guidance and Control Analysis Group, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91 109-8099, Marco.B.Ouadrelli@j.ipl.nasa.gov Senior Engineer, Mail Stop 198-138, Guidance and Control Analysis Group, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91 109-8099 Senior Staff Engineer, Mail Stop 198-105, Avionics Systems and Technology Division, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91 109-8099 Within Project Prometheus, the Jovian Moon Tours study has evolved into what is now referred to as the “Jupiter Icy Moons Orbiter”, or JIMO, mission. The work in this paper is not reflective of studies and designs more recent activities within the JIMO Project Office, which was established shortly after completion of the Jovian Moon Tour Study. **

Flexible Electronics-Based Transformers for Extreme Environments

This paper provides a survey of the use of modular multifunctional systems, called Flexible Transformers, to facilitate the exploration of extreme and previously inaccessible environments. A novel dynamics and control model of a modular algorithm for assembly, folding, and unfolding of these innovative structural systems is also described, together with the control model and the simulation results.

Modeling, simulation, and control of parachute/balloon flight systems for Mars Exploration

In this paper, we report some models devel- oped for analyzing Parachute/Balloon-assisted deployment of sensor packages within the Mars Aerobot Validation Pro- gram (MABVAP) at JPL. Two different scenarios are de- scribed: pointing dynamics and control of an articulated payload mounted on a superpressure balloon-supported gon- dola, and the dynamics of various flight train configurations with parachute and superpressure balloons in different ge- ometries and oscillatory regimes originated upon deploy- ment. These scenarios have been motivated by the need to predict and validate flight-train stability behavior upon deployment before and after tests have been made.

Smart Fluid Systems: The Advent of Autonomous Liquid Robotics

Organic, inorganic or hybrid devices in the liquid state, kept in a fixed volume by surface tension or by a confining membrane that protects them from a harsh environment, could be used as biologically inspired autonomous robotic systems with unique capabilities. They could change shape according to a specific exogenous command or by means of a fully integrated adaptive system, and provide an innovative solution for many future applications, such as space exploration in extreme or otherwise challenging environments, post‐disaster search and rescue in ground applications, compliant wearable devices, and even in the medical field for in vivo applications. This perspective provides an initial assessment of existing capabilities that could be leveraged to pursue the topic of “Smart Fluid Systems” or “Liquid Engineered Systems”.

Optics of a granular imaging system (i.e. “orbiting rainbows”)

In this paper, we present some ideas regarding the optics and imaging aspects of granular spacecraft. Granular spacecraft are complex systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of grains in orbit. An example of this application is a spaceborne observatory for exoplanet imaging, where the primary collecting aperture is a cloud of small particles instead of a monolithic aperture.

Modeling and Testing of Phase Transition-Based Deployable Systems for Small Body Sample Capture

This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and return. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing equilibrium phases is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan.

System architecture for guided herd of robots exploring Titan

This paper describes a system architecture for an aerobot blimp guiding and controlling a herd of sondes on Titans surface. Options for inertial navigation are proposed that make use of a direct communication link to Earth. A potential field controller is used for autonomous tracking of terrain features on the surface, and hazard avoidance. The result of distributed simulation studies demonstrate that the method used for control is feasible even if significant uncertainty exists in the dynamics and environmental models.