National Aeronautics and Space Administration

Technology Maturation with NASA Flight Opportunities

Supporting Flyover Mapping and Modeling of Terrain FeaturesCarnegie Mellon Universitys sensor package analyzes large pits on the surface of the moon or Mars and is prepped for a lunar mission, thanks to support from Flight Opportunities

Pits and craters characteristic of the moons landscape have long

enticed researchers who have speculated that some of these pits (called

skylights) may be entrances to lava tubes or caves. Now, students at

Carnegie Mellon University (CMU) are developing a sensor package

as part of an effort to three-dimensionally map a lunar crater to

determine if it is such an opening. A Flight Opportunities test closely

approximated a powered-rocket descent to the lunar surface, with

researchers using shipping containers to

mimic a lunar pit. This testing

helped prepare the technology

to ride along on a robotic

mission to the moon

with Astrobotic

Technologys Google

Lunar XPRIZE

attempt.

The flight test on a reusable propulsive vehicle provided by Flight Opportunities was unprecedented for an undergraduate team and invaluable to demonstrate our research.

Neal Bhasin, student team leader, CMU Undergraduate Student Instrument Project

Test flights in 2015 on Masten Space Systems Xombie (shown

here) provided simulation in advance of a potential lunar

mission. Photo courtesy Carnegie Mellon University

www.nasa.gov

About the TechnologyCMUs sensor package shows promise to help research teams access lava tubes and caves for shelter and explorationThe CMU project encompasses a multi-modal, high-resolution mapping instrumentincluding a sensor package and associated softwareto characterize lunar caves, lava tubes, pits, and other convex surface features. Lava tubes could provide valuable clues to the moons volcanic past. Caves also offer the promise of providing shelter for future explorers from extreme temperatures, meteorites, and radiation on the moon. And, they may be among the most promising places on Mars to find life, revealing information about the planets geology, climate, and even biology.

With funding from NASAs Undergraduate Student Instrument Project (USIP), a program of NASAs Science Mission Directorate (SMD), CMU researchers set out to develop a complementary flyover and surface exploration program that could comprehensively characterize specifically sampled areas of the moons surface, and potentially that of Mars and other planets. As the lander flies over the pit, the sensor package uses a computer vision system as well as laser-scanning lidar to build a detailed 3D model of the depression. Upon landing, a CMU robot dubbed Andy more closely inspects the initial findings.

Overcoming ChallengesBecause initial missions to lunar pits and caves will approach from the sky, flyover modeling informs the approach and entry paths for rovers. Therefore, flight testing was needed to ensure CMUs technology would be able to map and model such features from above during landing.

The XA-0.1B Xombie platform from Masten Space Systems was used for testing through Flight Opportunities, offering the capability to mimic the trajectories that a lander would follow, descending at similar rates at low altitudes. In a flight of just over 1 minute, Xombie carried the CMU instrument to an altitude of 105 meters, where it scanned a 26-meter skylight analog to build a textured 3D model with 1-meter precision and over 90% coverage. This flight enabled the CMU researchers to validate that their instrument will be able to perform as expected during a lunar mission.

Looking AheadWith the successful lunar simulation flight completed, the sensor package and associated software will potentially be used for a robotic mission to the Lacus Mortis region of the moon. This will enable researchers to take a closer look at a lunar pits geometry, geology, and origin to determine whether it is an entrance to a cave.

XPRIZE is a registered trademark of XPRIZE Foundation, Inc.

Maturation Milestones

Flight Opportunities has provided CMU researchers access to important early flight research in preparation for a lunar mission:

u The sensor package was tested during a flight on the Masten Space Systems XA-0.1B Xombie platform in April 2015 at Mojave Air and Space Port in California.

u Simulations of lunar landing trajectories allowed researchers to image the terrain and validate that the instrument will be able to perform on the moon.

Benefits of Flight Opportunities

Flight Opportunities advances the operational readiness of innovative space technologies through affordable access to relevant test environments. Specific benefits for the CMU Flyover Mapping and Modeling project included:

u Lunar trajectories: The Xombie flight test closely approximated the path of a lunar landing craft.

u Technology demonstration: The flight validated that the CMU computer vision sensor package could create a 3D map of a lunar depression during a spacecraft landing.

u Educational opportunity: The program augmented support from NASA SMDs Undergraduate Student Instrument Project, which helps universities develop and fly science payloads.

CMUs Flyover Mapping and Modeling sensor package (photo courtesy CMU)

Learn MoreLearn More

For more information about CMUs Flyover Mapping and Modeling technology, visit: flightopportunities.nasa.gov/technologies/121

For more information about NASAs Flight Opportunities program, visit:nasa.gov/flightopportunities

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