Competing Technologies, Increasing Returns, and Lock-In by Historical Events


Increasing Returns and Path Dependence in the Economy


Foundations of complexity economics


The Ingenuity Helicopter on the Perseverance Rover


The cost-quantity relations and the diverse patterns of learning by doing: Evidence from India


Using Autonomy Flight Software to Improve Science Return on Earth Observing One

Journal of Aerospace Computing, Information, and Communication


Monitoring active volcanism with the Autonomous Sciencecraft Experiment on EO-1


AEGIS Automated Science Targeting for the MER Opportunity Rover

ACM Transactions on Intelligent Systems and Technology


How predictable is technological progress?


AEGIS autonomous targeting for ChemCam on Mars Science Laboratory: Deployment and results of initial science team use


Autonomy for Space Robots: Past, Present, and Future


How well do experience curves predict technological progress? A method for making distributional forecasts

Technological Forecasting and Social Change


Technology readiness assessments: A retrospective


Statistical Basis for Predicting Technological Progress

B. Nagy
J. D. Farmer
Q. M. Bui
J. E. Trancik


Technology readiness levels: Shortcomings and improvement opportunities

A. L. Olechowski
S. D. Eppinger
N. Joglekar
K. Tomaschek


Technological revolutions and techno-economic paradigms


Single-variable parametric cost models for space telescopes

H. P. Stahl
T. Henrichs
A. Luedtke
M. West


The Relationship between Unit Cost and Cumulative Quantity and the Evidence for Organizational Learning-by-Doing


Autonomous robotics is driving Perseverance rover's progress on Mars


Shaping the U.S. Space Launch Market

Center for Security and Emerging Technology


Impact of Launch Cadence on the Automation and Economics of Constellation Operations


Validation and Verification of the Remote Agent for Spacecraft Autonomy


Challenges and Methods in Testing the Remote Agent Planner


Infusion of Autonomy Technology into Space Missions: DS1 Lessons Learned


Increasing Returns, Path Dependence, and the Study of Politics

Abstract: It is increasingly common for social scientists to describe political processes as “path dependent.” The concept, however, is often employed without careful elaboration. This article conceptualizes path dependence as a social process grounded in a dynamic of “increasing returns.” Reviewing recent literature in economics and suggesting extensions to the world of politics, the article demonstrates that increasing returns processes are likely to be prevalent, and that good analytical foundations exist for exploring their causes and consequences. The investigation of increasing returns can provide a more rigorous framework for developing some of the key claims of recent scholarship in historical


Review of deep learning: concepts, CNN architectures, challenges, applications, future directions

Laith Alzubaidi
Jinglan Zhang
Amjad J. Humaidi
Ayad Q. Al-Dujaili
Ye Duan
Omran Al-Shamma

Abstract: In the last few years, the deep learning (DL) computing paradigm has been deemed the Gold Standard in the machine learning (ML) community. Moreover, it has gradually become the most widely used computational approach in the field of ML, thus achieving outstanding results on several complex cognitive tasks, matching or even beating those provided by human performance. One of the benefits of DL is the ability to learn massive amounts of data. The DL field has grown fast in the last few years and it has been extensively used to successfully address a wide range of traditional applications. More importantly, DL has outperformed well-known ML techniques in many domains, e.g., cybersecurity, natur


PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains

Journal of Artificial Intelligence Research

Abstract: In recent years research in the planning community has moved increasingly toward s application of planners to realistic problems involving both time and many typ es of resources. For example, interest in planning demonstrated by the space res earch community has inspired work in observation scheduling, planetary rover ex ploration and spacecraft control domains. Other temporal and resource-intensive domains including logistics planning, plant control and manufacturing have also helped to focus the community on the modelling and reasoning issues that must be confronted to make planning technology meet the challenges of application. The International Planning Competitions have acted as an impo


Unmanned aerial vehicles (UAVs): practical aspects, applications, open challenges, security issues, and future trends

Syed Agha Hassnain Mohsan
Nawaf Qasem Hamood Othman
Yanlong Li
Mohammed H. Alsharif
Muhammad Asghar Khan


Learning rates for energy technologies


Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

De Jong Yeong
Gustavo Velasco-Hernandez
John M. Barry
J. L. Walsh

Abstract: With the significant advancement of sensor and communication technology and the reliable application of obstacle detection techniques and algorithms, automated driving is becoming a pivotal technology that can revolutionize the future of transportation and mobility. Sensors are fundamental to the perception of vehicle surroundings in an automated driving system, and the use and performance of multiple integrated sensors can directly determine the safety and feasibility of automated driving vehicles. Sensor calibration is the foundation block of any autonomous system and its constituent sensors and must be performed correctly before sensor fusion and obstacle detection processes may be implem


Two years of Visual Odometry on the Mars Exploration Rovers

Abstract: Abstract NASA's two Mars Exploration Rovers (MER) have successfully demonstrated a robotic Visual Odometry capability on another world for the first time. This provides each rover with accurate knowledge of its position, allowing it to autonomously detect and compensate for any unforeseen slip encountered during a drive. It has enabled the rovers to drive safely and more effectively in highly sloped and sandy terrains and has resulted in increased mission science return by reducing the number of days required to drive into interesting areas. The MER Visual Odometry system comprises onboard software for comparing stereo pairs taken by the pointable mast‐mounted 45 deg FOV Navigation cameras (


A review of learning rates for electricity supply technologies

Edward S. Rubin
Inês M.L. Azevedo
Paulina Jaramillo
Sonia Yeh


The ChemCam Instrument Suite on the Mars Science Laboratory (MSL) Rover: Body Unit and Combined System Tests

R. C. Wiens
S. Maurice
B. L. Barraclough
M. Saccoccio
Walter Barkley
J. F. Bell

Abstract: ou non, manant des tablissements d'enseignement et de recherche franais ou trangers, des laboratoires publics ou privs.


The missing link between the theory and empirics of path dependence: Conceptual clarification, testability issue, and methodological implications


Women's autonomy in household decision-making: a demographic study in Nepal

Dev Raj Acharya
Jacqueline Bell
Padam Simkhada
Edwin van Teijlingen
Pramod Regmi

Abstract: BACKGROUND: How socio-demographic factors influence women's autonomy in decision making on health care including purchasing goods and visiting family and relatives are very poorly studied in Nepal. This study aims to explore the links between women's household position and their autonomy in decision making. METHODS: We used Nepal Demographic Health Survey (NDHS) 2006, which provided data on ever married women aged 15-49 years (n = 8257). The data consists of women's four types of household decision making; own health care, making major household purchases, making purchase for daily household needs and visits to her family or relatives. A number of socio-demographic variables were used in mul


Sprayed to Death: Path Dependence, Lock-in and Pest Control Strategies


How learning by doing is done: problem identification in novel process equipment


Technology, autonomy, and manipulation

Daniel Susser
Beate Roessler
Helen Nissenbaum

Abstract: People are increasingly concerned that data collectors can use information about them to subtly influence their decision-making—what is often called “online manipulation”. To further efforts at combating such strategies, this paper defines “online manipulation” and explores the harms it threatens.


Stereo vision and rover navigation software for planetary exploration

Abstract: NASA's Mars Exploration Rover (MER) missions will land twin rovers on the surface of Mars in 2004. These rovers will have the ability to navigate safely through unknown and potentially hazardous terrain, using autonomous passive stereo vision to detect potential terrain hazards before driving into them. Unfortunately, the computational power of currently available radiation hardened processors limits the amount of distance (and therefore science) that can be safely achieved by any rover in a given time frame. We present overviews of our current rover vision and navigation systems, to provide context for the types of computation that are required to navigate safely. We also present baseline t


From NASA to EU: the evolution of the TRL scale in Public Sector Innovation

SZTAKI Publication Repository (Hungarian Academy of Sciences)

Abstract: This study examines how the Technology Readiness Level (TRL) scale became, through various mutations, an innovation policy tool of the European Union (EU), and summarizes the risks and opportunities created along the way. The paper presents a comparative study about the evolution of two innovation-related policies that share a common concept. This document-centric study relies on position papers, white papers, government documents, policy documents and research program descriptions. The paper establishes that the concreteness and sophistication of the TRL scale gradually diminished as its usage spread outside its original context (space programs). A discipline-specific tailoring of the scale


Technology, entrepreneurship and path dependence: industrial clustering in Silicon Valley and Route 128

Abstract: for the electronics, computer and data communications industries in the postwar period. However, since the 1960s Silicon Valley has grown more rapidly and from approximately 1985 through 1995 Route 128 experienced retarded growth. Their success has diverged dramatically in the last decade. The most common explanations for this divergence are differing cultures, interfirm relations or/and internal organizational style organization. This paper builds upon path-dependent and dominant design explanations of technical and industrial change, arguing that the technological trajectories of the industries underlying the two regions were different and this led to their differential destinies. To expla


Planning in Time: Windows and Durations for Activities and Goals

IEEE Transactions on Pattern Analysis and Machine Intelligence

Abstract: A general purpose automated planner/scheduler is described which generates parallel plans to achieve goals with imposed time con-straints. Both durations and start time windows may be specified for sets of goal conditions. The parallel plans consist of not just actions but also of events (triggered by circumstances), inferences, and scheduled events (completely beyond the actor's control). Deterministic dura-tions of all such activities are explicitly modeled, and may be any com-putable function of the activity variables. A start time window for each activity in the plan is updated dynamically during plan generation, in order to maintain consistency with the windows and durations of adja-cen


Project portfolio selection through decision support


Cost development of future technologies for power generation—A study based on experience curves and complementary bottom-up assessments


Path dependence, its critics, and the quest for 'historical economics'

Abstract: Since the 1980s there has been a renewed interest in attempts to introduce a sense of history into economic literature. In this book, the authors argue that it is not possible to explain a state of the world without first analysing the processes that lead to that state. The contributions collected in this volume share a critical stance towards the timelessness and a historical theorizing of mainstream economics.


Critically assessing sodium-ion technology roadmaps and scenarios for techno-economic competitiveness against lithium-ion batteries

Adrian Yao
Sally M. Benson
William C. Chueh

Abstract: Sodium-ion batteries have garnered notable attention as a potentially low-cost alternative to lithium-ion batteries, which have experienced supply shortages and price volatility for key minerals. Here we assess their techno-economic competitiveness against incumbent lithium-ion batteries using a modelling framework incorporating componential learning curves constrained by minerals prices and engineering design floors. We compare projected sodium-ion and lithium-ion price trends across over 6,000 scenarios while varying Na-ion technology development roadmaps, supply chain scenarios, market penetration and learning rates. Assuming that substantial progress can be made along technology roadmaps


Technology readiness level assessment of composites recycling technologies

Justyna Rybicka
Ashutosh Tiwari
Gary A. Leeke

Abstract: Composite materials made of glass and carbon fibres have revolutionised many industries. Demand for composites is experiencing rapid growth and global demand is expected to double. As demand for composites grows it is clear that waste management will become an important issue for businesses. Technically composite materials evoke difficult recycling challenges due to the heterogeneity of their composition. As current waste management practices in composites are dominated by landfilling, governments and businesses themselves foresee that this will need to change in the future. The recycling of composites will play a vital role in the future especially for the aerospace, automotive, constructio


The SuperCam Instrument Suite on the Mars 2020 Rover: Science Objectives and Mast-Unit Description

S. Maurice
R. C. Wiens
P. Bernardi
Ph. Caïs
S. Robinson
T. Nelson

Abstract: Abstract On the NASA 2020 rover mission to Jezero crater, the remote determination of the texture, mineralogy and chemistry of rocks is essential to quickly and thoroughly characterize an area and to optimize the selection of samples for return to Earth. As part of the Perseverance payload, SuperCam is a suite of five techniques that provide critical and complementary observations via Laser-Induced Breakdown Spectroscopy (LIBS), Time-Resolved Raman and Luminescence (TRR/L), visible and near-infrared spectroscopy (VISIR), high-resolution color imaging (RMI), and acoustic recording (MIC). SuperCam operates at remote distances, primarily 2–7 m, while providing data at sub-mm to mm scales. We re


Using Iterative Repair to Improve the Responsiveness of Planning and Scheduling

Steve Chien
Russell Knight
Andre Stechert
Rob Sherwood
Gregg Rabideau

Abstract: The majority of planning and scheduling research has focused on batch-oriented models of planning. This paper discusses the use of iterative repair techniques to support a continuous planning process as is appropriate for autonomous spacecraft control. This allows the plan to incorporate execution feedback- such as early or late completion of activities, and over-use or under-use of resources. In this approach, iterative repair supports continuous modification and updating of a current working plan in light of changing operating context..


A review of uncertainties in technology experience curves


Mars Exploration Rover mission

J. A. Crisp
Mark Adler
J. Matijevic
S. W. Squyres
R. E. Arvidson
D. M. Kass

Journal of Geophysical Research Atmospheres

Abstract: In January 2004 the Mars Exploration Rover mission will land two rovers at two different landing sites that show possible evidence for past liquid‐water activity. The spacecraft design is based on the Mars Pathfinder configuration for cruise and entry, descent, and landing. Each of the identical rovers is equipped with a science payload of two remote‐sensing instruments that will view the surrounding terrain from the top of a mast, a robotic arm that can place three instruments and a rock abrasion tool on selected rock and soil samples, and several onboard magnets and calibration targets. Engineering sensors and components useful for science investigations include stereo navigation cameras,


A zero-one model for project portfolio selection and scheduling

Fereidoun Ghasemzadeh
Norm Archer
Paul Iyogun

Journal of the Operational Research Society

Abstract: A zero-one integer linear programming model is proposed for selecting and scheduling an optimal project portfolio, based on the organisation's objectives and constraints such as resource limitations and interdependence among projects. The model handles some of the issues that frequently arise in real world applications but are not addressed by previously suggested models, such as situations in which the amount of available and consumed resources varies in different periods. It also allows for interactive adjustment following the optimisation process, to provide decision makers a method for controlling portfolio selection, based on criteria that may be difficult to elicit directly. It is crit


A review of separation processes proposed for advanced fuel cycles based on technology readiness level assessments

P. Baron
S.M. Cornet
E.D. Collins
G. DeAngelis
G. D. Del Cul
Yu. S. Fedorov


Design of the Remote Agent experiment for spacecraft autonomy

Douglas E. Bernard
Gregory A. Dorais
Charles Fry
Edward B. Gamble
Bob Kanefsky
James Kurien

Abstract: This paper describes the Remote Agent flight experiment for spacecraft commanding and control. In the Remote Agent approach, the operational rules and constraints are encoded in the flight software. The software may be considered to be an autonomous "remote agent" of the spacecraft operators in the sense that the operators rely on the agent to achieve particular goals. The experiment will be executed during the flight of NASA's Deep Space One technology validation mission. During the experiment, the spacecraft will not be given the usual detailed sequence of commands to execute. Instead, the spacecraft will be given a list of goals to achieve during the experiment. In flight, the Remote Agen


Theorizing path dependence: a review of positive feedback mechanisms in technology markets, regional clusters, and organizations

Abstract: The concept of path dependence has often been criticized as vague and only narrowly applicable. Although we can find some very refined definitions of the concept, we also find a wide range of empirical phenomena being described as path-dependent. We argue that more detailed accounts of the positive feedback mechanisms that form paths can take path dependence beyond this state of being overdetermined, but under-specified. Reviewing three well-described cases of path-dependent dynamics in technology markets, regional clustering, and organizations, we define a core set of positive feedback mechanisms that constitute path dependence at different analysis levels and clarify the relationship betwe


The Rocky 7 rover: a Mars sciencecraft prototype

S. Hayati
R. Volpe
Paul Backes
J. Balaram
Richard V. Welch
R. Ivlev

Abstract: This paper describes the design and implementation at the Jet Propulsion Laboratory of a small rover for future Mars missions requiring long traverses and rover-based science experiments. The small rover prototype, called Rocky 7, is capable of long traverses, autonomous navigation, and science instrument control. This rover carries three science instruments, and can be commanded from any computer platform from any location using the World Wide Web. In this paper we describe the mobility system, the sampling system, the sensor suite, navigation and control, onboard science instruments, and the ground command and control system. We also present key accomplishments of a recent field test of Ro


Autonomous and autonomic systems: a paradigm for future space exploration missions

W. Truszkowski
Mike Hinchey
James L. Rash
Christopher Rouff

IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)

Abstract: More and more, the National Aeronautics and Space Administration (NASA) will rely on concepts from autonomous systems not only in mission control centers on the ground, but also on spacecraft and on rovers and other space assets on extraterrestrial bodies. Autonomy facilitates not only reduced operations costs, but also adaptable goal-driven functionality of mission systems. Space missions lacking autonomy will be unable to achieve the full range of advanced mission objectives, given that human control under dynamic environmental conditions will not be feasible due, in part, to the unavoidably high signal propagation latency and constrained data rates of mission communications links. While a


Techno-economic Assessment Framework for the Chemical Industry—Based on Technology Readiness Levels

Georg A. Buchner
Arno Zimmermann
Arian E. Hohgräve
Reinhard Schomäcker

Industrial & Engineering Chemistry Research

Abstract: For profit-oriented stakeholders techno-economic assessment (TEA) is the most important basis for decisions about research, development, and deployment (RD&D). Two key challenges are, first, the rating of RD&D progress which is closely linked to data availability and, second, the selection of TEA methods that adequately fit the available data in order to achieve the best possible decision basis. Technology readiness levels (TRLs) are a popular concept for rating the maturity of RD&D according to available data. Since existing TRL scales remain unspecific to technologies, an understanding of TRL in the chemical industry is presented. TRLs are subsequently used in a framework for TEA. Cost est


Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT)

Abstract: As NASA plans to send humans back to the Moon and develop a lunar outpost, technologies must be developed to place humans and cargo safely, precisely, repeatedly, on the lunar surface with the capability to avoid surface hazards. Exploration Space Architecture Study requirements include the need for global lunar surface access with safe, precise landing without lighting constraints on terrain that may have landing hazards for human scale landing vehicles. Landing accuracies of perhaps 100's of meters for sortie crew missions to 10's of meters for Outpost class missions are required. The Autonomous precision Landing Hazard Avoidance Technology (ALHAT) project will develop the new and unique d


Flood detection and monitoring with the Autonomous Sciencecraft Experiment onboard EO-1

Felipe Ip
J. M. Dohm
Victor R. Baker
T. Doggett
A. G. Davies
Rebecca Castaño


Advancement of extreme environment additively manufactured alloys for next generation space propulsion applications

Paul Gradl
Omar Mireles
Colton Katsarelis
Timothy M. Smith
Jeff Sowards
Alison Park

Abstract: The National Aeronautics and Space Administration (NASA) has been involved in the development and maturation of metal additive manufacturing (AM) for space applications since the late 2000's. Several efforts have focused on the understanding of AM processes through material characterization and testing, standards development, component fabrication, and infusion into propulsion development and flight applications. NASA matured commonly used aerospace alloys from various alloy families (Nickel, Copper, Stainless and Steel, Aluminum, and Titanium-based) through detailed AM process and heat treatment characterization, in addition to mechanical and thermophysical testing. While these alloys are a


An autonomous spacecraft agent prototype

Barney Pell
Douglas E. Bernard
Steve Chien
Erann Gat
Nicola Muscettola
P. Pandurang Nayak

Abstract: This paper describes the New Millennium Remote Agent #NMRA# architecture for autonomous spacecraft control systems. This architecture integrates traditional real-time monitoring and control with constraintbased planning and scheduling, robust multi-threaded execution, and model-based diagnosis and recon#guration.


How to accelerate green technology diffusion? Directed technological change in the presence of coevolving absorptive capacity

Abstract: Abstract The time window for effective climate change mitigation is closing. Technological change needs to be accelerated to limit global warming to a manageable level. Path dependence of technological change is one explanation for sluggish diffusion of green technologies. Firms acquire capital that differs by technology type and build up type-specific technological know-how needed to use capital efficiently. Path dependence emerges from cumulative knowledge stocks manifested in the productivity of supplied capital and firms’ capabilities. Increasing returns arise from induced innovation feedbacks and learning by doing. Relatively lower endowments with technological knowledge are a barrier t


Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

Mark Maimone
Andrew Johnson
Yang Cheng
Reg G. Willson
Larry Matthies


Autonomous rovers for Mars exploration

R. Washington
Keith Golden
John Bresina
David E. Smith
C F Anderson
Trey Smith

Abstract: The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more robust rover autonomy. Future planned missions call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Ultimately, missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. Significant advances in robust autonomous operations are needed to enable these types of missions. Towards this end, we have designed an on-board ex


A thin-film microprocessor with inkjet print-programmable memory

Kris Myny
Steve Smout
Maarten Rockelé
Ajay Bhoolokam
Tung Huei Ke
Soeren Steudel

Abstract: The Internet of Things is driving extensive efforts to develop intelligent everyday objects. This requires seamless integration of relatively simple electronics, for example through 'stick-on' electronics labels. We believe the future evolution of this technology will be governed by Wright's Law, which was first proposed in 1936 and states that the cost of a product decreases with cumulative production. This implies that a generic electronic device that can be tailored for application-specific requirements during downstream integration would be a cornerstone in the development of the Internet of Things. We present an 8-bit thin-film microprocessor with a write-once, read-many (WORM) instruct


Spacecraft autonomy flight experience - The DS1 Remote Agent Experiment

al e
Douglas E. Bernard
Edward B. Gamble
Guy K. Man
Gregory A. Dorais
Bob Kanefsky

Space Technology Conference and Exposition


Forecasting renewable hydrogen production technology shares under cost uncertainty

International journal of hydrogen energy

Abstract: Abstract This analysis applies a novel learning-curve methodology with uncertainty through Monte Carlo simulation to forecast market share of competing renewable fuel production technologies from 2025 through 2050. The analysis incorporates uncertainty in technology learning rate within Wright's Law, market rate of growth, and project-specific bidding to develop build-out scenarios for renewable hydrogen production capacity to serve the global market through 2050 with California as a proxy. Two major hydrogen production technologies are included: electrolyzers (with proton exchange membrane electrolytic cells as proxies) and thermochemical devices (with gasifiers as proxies). The method prov


Using Iterative Repair to Increase the Responsiveness of Planning and Scheduling for Autonomous Spacecraft

Abstract: An autonomous spacecraft must balance long-term and short-term considerations. It must perform purposeful activities that ensure long-term science and engineering goals are achieved and ensure that it maintains positive resource margins. This requires planning in advance to avoid a series of shortsighted decisions that can lead to failure, However, it must also respond in a timely fashion to a somewhat dynamic and unpredictable environment. Thus, spacecraft plans must often be modified due to fortuitous events such as early completion of observations and setbacks such as failure to acquire a guidestar for a science observation. This paper describes the use of iterative repair to support cont


1 The EO-1 Autonomous Science Agent

Steve Chien
Rob Sherwood
Daniel Tran
Benjamin Cichy
Gregg Rabideau
Rebecca Castano

Abstract: Abstract — An Autonomous Science Agent is currently flying onboard the Earth Observing One Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and run-time robust execution. Because of the deployment to a remote spacecraft, this Autonomous Science Agent has stringent constraints of autonomy, reliability, and limited computing resources. We describe the constraints and how they were addressed in our agent design, validation, and deployment 1 1.


Safe Positively Invariant Sets for Spacecraft Obstacle Avoidance

Avishai Weiss
Christopher Petersen
Morgan Baldwin
R. Scott Erwin
Ilya Kolmanovsky

Journal of Guidance Control and Dynamics

Abstract: This paper presents an obstacle avoidance method for spacecraft relative motion control. In this approach, a connectivity graph is constructed for a set of relative frame points, which form a virtual net centered around a nominal orbital position. The connectivity between points in the virtual net is determined based on the use of safe positively invariant sets for guaranteed collision free maneuvering. A graph search algorithm is then applied to find a maneuver that avoids specified obstacles and adheres to specified thrust limits. As compared to conventional open-loop trajectory optimization, this approach enables the handling of bounded disturbances, which can represent the effects of per


Technology readiness level assessment of carbon capture and storage technologies

Renewable and Sustainable Energy Reviews


The Mars Exploration Rover instrument positioning system

Eric Baumgartner
R.G. Bonitz
Joseph Melko
Lori Shiraishi
Patrick C. Leger

Abstract: During Mars Exploration Rover (MER) surface operations, the scientific data gathered by the in situ instrument suite has been invaluable with respect to the discovery of a significant water history at Meridiani Planum and the hint of water processes at work in Gusev Crater. Specifically, the ability to perform precision manipulation from a mobile platform (i.e., mobile manipulation) has been a critical part of the successful operation of the Spirit and Opportunity rovers. As such, this paper describes the MER instrument positioning system that allows the in situ instruments to operate and collect their important science data using a robust, dexterous robotic arm combined with visual target s


Mars Rover Autonomous Navigation


Survey of cost models for space telescopes

Abstract: Parametric cost models are routinely used to plan missions, compare concepts, and justify technology investments. However, great care is required. There is a lot of confusion and wrong information for space telescopes. Cost estimating relationships based on primary mirror diameter vary by an order of magnitude. Cost estimating relationships based only on mass lack sufficient detail to support concept analysis and can lead to inaccurate conclusions by encouraging excessively complex and technologically immature solutions. Similarly, using ground-based models leads to incorrect conclusions. This work surveys current and historical published cost models for space telescopes while attempting to


Near-Earth Asteroid Scout Flight Mission

Tiffany Russell Lockett
Julie Castillo‐Rogez
Les Johnson
Joe Matus
Jack Lightholder
Anne Marinan

IEEE Aerospace and Electronic Systems Magazine

Abstract: As one of the secondary payloads on the space launch systems vehicle, the Near-Earth Asteroid (NEA) Scout will demonstrate a low-cost and innovative approach to deep space reconnaissance missions. The main objective is to image and characterize a Near-Earth asteroid. The spacecraft packages a full deep space mission into the volume of a 6U CubeSat. To enable long-term sustained propulsion to the target, a solar sail is utilized as the main propulsion system. The spacecraft bus is single string, with compact avionics. Guidance and control performance meets science requirements with margin, but limited power impacts the amount of science data that can be returned, an aspect that is in part mit


Spacecraft early design validation using formal methods

Marco Bozzano
Alessandro Cimatti
Joost-Pieter Katoen
Panagiotis Katsaros
Κωνσταντίνος Μώκος
Viet Yen Nguyen


Technology readiness level assessment of pyrolysis of trygliceride biomass to fuels and chemicals

Ramon Filipe Beims
Cândida Luiza Simonato
Vinicyus Rodolfo Wiggers


Crater Navigation System for Autonomous Precision Landing on the Moon

Bolko Maass
Svenja Woicke
Willem M. Oliveira
Bronislovas Razgus
Hans Krüger

Abstract: Interest in autonomous planetary precision landing missions has been increasing in the scientific and engineering community, and is likely to continue to do so for the foreseeable future. As an enabling technology in the context of lunar landing, DLR, German Aerospace Center has been developing a terrain absolute navigation system that matches craters detected in image data to globally available lunar crater maps. The proposed Crater Navigation (CNav) system is adaptive, comprising three different crater matching methods that are specifically tailored to different navigation conditions encountered during the vehicle descent, so that it may be used as a stand-alone navigation sensor that can


Review of hardware cost estimation methods, models and tools applied to early phases of space mission planning

Olga Trivailo
Martin Sippel
Y. Ahmet Şekercioğlu


<title>Remote agent prototype for spacecraft autonomy</title>

Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE

Abstract: NASA has recently announced the New Millennium Program (NMP) to develop 'faster, better, cheaper' spacecraft in order to establish a 'virtual presence' in space. A crucial element in achieving this vision is onboard spacecraft autonomy, requiring us to automate functions which have traditionally been achieved on ground by humans. These include planning activities, sequencing spacecraft actions, tracking spacecraft state, ensuring correct functioning, recovering in cases of failure and reconfiguring hardware. In response to these challenging requirements, we analyzed the spacecraft domain to determine its unique properties and developed an architecture which provided the required functionalit


A Particle Filtering Approach for Fault Detection and Isolation of UAV IMU Sensors: Design, Implementation and Sensitivity Analysis

Egidio D’Amato
V. Nardi
Immacolata Notaro
Valerio Scordamaglia

Abstract: Sensor fault detection and isolation (SFDI) is a fundamental topic in unmanned aerial vehicle (UAV) development, where attitude estimation plays a key role in flight control systems and its accuracy is crucial for UAV reliability. In commercial drones with low maximum take-off weights, typical redundant architectures, based on triplex, can represent a strong limitation in UAV payload capabilities. This paper proposes an FDI algorithm for low-cost multi-rotor drones equipped with duplex sensor architecture. Here, attitude estimation involves two 9-DoF inertial measurement units (IMUs) including 3-axis accelerometers, gyroscopes and magnetometers. The SFDI algorithm is based on a particle filt


Automated planning and scheduling for goal-based autonomous spacecraft

Steve Chien
Ben Smith
G. Rabideau
Nicola Muscettola
Kanna Rajan

IEEE Intelligent Systems and their Applications

Abstract: Automated planning and scheduling technology enables a new class of autonomous spacecraft. We describe our use of symbolic AI in planning systems, provide an overview of the spacecraft-operations domain, and discuss several past, ongoing, and future deployments of planning systems technology at NASA.


Autonomous Landing and Hazard Avoidance Technology (ALHAT)

Chirold D. Epp
Edward A. Robertson
Tye Brady


Attitude and articulation control for the Cassini spacecraft: a fault tolerance overview

G.M. Brown
Douglas E. Bernard
Robert Rasmussen

Abstract: This paper describes how fault tolerance has been addressed in the design of the Attitude and Articulation Control Subsystem for the Saturn-bound Cassini spacecraft. Cassini's fault tolerance objectives have strongly influenced the subsystem's level of autonomy, and have motivated some significant improvements over the autonomous capabilities of previous interplanetary spacecraft. Autonomous fault tolerant behaviors have been embedded at several points in the object-oriented flight control software, including a dedicated set of failure detection, isolation, and recovery algorithms.


Autonomous science for an ExoMars Rover–like mission

Mark Woods
Andy Shaw
Dave Barnes
D. M. Price
Derek Long
D. Pullan

Abstract: Abstract In common with other Mars exploration missions, human supervision of Europe's ExoMars Rover will be mostly indirect via orbital relay spacecraft and thus far from immediate. The gap between issuing commands and witnessing the results of the consequent rover actions will typically be on the order of several hours or even sols. In addition, it will not be possible to observe the external environment at the time of action execution. This lengthens the time required to carry out scientific exploration and limits the mission's ability to respond quickly to favorable science events. To increase potential science return for such missions, it will be necessary to deploy autonomous systems t


Cost Dynamics of Clean Energy Technologies

Gunther Glenk
Rebecca Meier
Stefan Reichelstein

Schmalenbach Journal of Business Research

Abstract: The pace of the global decarbonization process is widely believed to hinge on the rate of cost improvements for clean energy technologies, in particular renewable power and energy storage. This paper adopts the classical learning-by-doing framework of Wright (1936), which predicts that cost will fall as a function of the cumulative volume of past deployments. We first examine the learning curves for solar photovoltaic modules, wind turbines and electrolyzers. These estimates then become the basis for estimating the dynamics of the life-cycle cost of generating the corresponding clean energy, i.e., electricity from solar and wind power as well as hydrogen. Our calculations point to significan


Measuring the Pace of Technological Progress


Wright meets Markowitz: How standard portfolio theory changes when assets are technologies following experience curves

Rupert Way
F. Lafond
F. Lillo
Valentyn Panchenko
J. Farmer

Journal of Economic Dynamics and Control

Abstract: We consider how to optimally allocate investments in a portfolio of competing technologies using the standard mean-variance framework of portfolio theory. We assume that technologies follow the empirically observed relationship known as Wright's law, also called a "learning curve" or "experience curve", which postulates that costs drop as cumulative production increases. This introduces a positive feedback between cost and investment that complicates the portfolio problem, leading to multiple local optima, and causing a trade-off between concentrating investments in one project to spur rapid progress vs. diversifying over many projects to hedge against failure. We study the two-technology ca


Overview of the Phoenix Entry, Descent, and Landing System Architecture

Myron R. Grover
Benjamin Cichy
Prasun N. Desai

Abstract: Covers advancements in spacecraft and tactical and strategic missile systems, including subsystem design and application, mission design and analysis, materials and structures, developments in space sciences, space processing and manufacturing, space operations, and applications of space technologies to other fields.


A perspective on three sustainable hydrogen production technologies with a focus on technology readiness level, cost of production and life cycle environmental impacts

Yunfei Li
Richen Lin
R. O’Shea
Vaishali Thaore
D. Wall
Jerry D. Murphy

Abstract: Hydrogen will play an indispensable role as both an energy vector and as a molecule in essential products in the transition to climate neutrality. However, the optimal sustainable hydrogen production system is not definitive due to challenges in energy conversion efficiency, economic cost, and associated marginal abatement cost. This review summarises and contrasts different sustainable hydrogen production technologies including for their development, potential for improvement, barriers to large-scale industrial application, capital and operating cost, and life-cycle environmental impact. Polymer electrolyte membrane water electrolysis technology shows significant potential for large-scale a


The Tianwen-1 Guidance, Navigation, and Control for Mars Entry, Descent, and Landing

Xiang‐Yu Huang
Maodeng Li
Xiaolei Wang
Jinchang Hu
Yu Zhao
Minwen Guo

Abstract: Tianwen-1, the first mission of China’s planetary exploration program, accomplished its goals of orbiting, landing, and roving on the Mars. The entry, descent, and landing (EDL) phase directly determines the success of the entire mission, of which the guidance, navigation, and control (GNC) system is crucial. This paper outlines the Tianwen-1 EDL GNC system design by introducing the GNC requirements followed by presenting the GNC system architecture and algorithms to meet such requirements. The actual flight results for the whole EDL phase are also provided in this paper.


OPS-SAT Spacecraft Autonomy with TensorFlow Lite, Unsupervised Learning, and Online Machine Learning

Georges Labrèche
David J. Evans
Dominik Marszk
Tom Mladenov
Vasundhara Shiradhonkar
Tanguy Soto

Abstract: OPS-SAT is a 3U CubeSat launched on December 18, 2019, it is the first nanosatellite to be directly owned and operated by the European Space Agency (ESA). The spacecraft is a flying platform that is easily accessible to European industry, institutions, and individuals for rapid prototyping, testing, and validation of their software and firmware experiments in space at no cost and no bureaucracy. Equipped with a full set of sensors and actuators, it is conceived to break the “has never flown, will never fly” cycle. OPS-SAT has spearheaded many firsts with in-orbit applications of Artificial Intelligence (AI) for autonomous operations. AI is of rising interest for space-segment a


Lidar Sensors for Autonomous Landing and Hazard Avoidance

Farzin Amzajerdian
Diego F. Pierrottet
Larry B. Petway
Glenn D. Hines
Vincent E. Roback
Robert A. Reisse

AIAA SPACE 2013 Conference and Exposition

Abstract: Lidar technology will play an important role in enabling highly ambitious missions being envisioned for exploration of solar system bodies. Currently, NASA is developing a set of advanced lidar sensors, under the Autonomous Landing and Hazard Avoidance (ALHAT) project, aimed at safe landing of robotic and manned vehicles at designated sites with a high degree of precision. These lidar sensors are an Imaging Flash Lidar capable of generating high resolution three-dimensional elevation maps of the terrain, a Doppler Lidar for providing precision vehicle velocity and altitude, and a Laser Altimeter for measuring distance to the ground and ground contours from high altitudes. The capabilities of


A theory of technological progress

Technological Forecasting and Social Change


2020 NASA Technology Taxonomy

NASA STI Repository (National Aeronautics and Space Administration)

Abstract: This document is the final PDF version of the 2020 NASA Technology Taxonomy that will be available to download on the OCT Public Website. The updated 2020 NASA Technology Taxonomy, or "technology dictionary", uses a technology discipline based approach that realigns like-technologies independent of their application within the NASA mission portfolio. This tool is meant to serve as a common technology discipline-based communication tool across the agency and with its partners in other government agencies, academia, industry, and across the world.\n\n\n


Proba: ESA's Autonomy and Technology Demonstration Mission

F. Teston
Richard Creasey
Jo Bermyn
D. Bemaerts
Karim Mellab

Digital Commons - USU (Utah State University)

Abstract: Proba is an ESA mlSSlOn conceived for the purpose of demonstrating the opportunities and benefits of on-board autonomy. To this end, it offers a flight opportunity centered around the validation of the associated technological capabilities. The Proba spacecraft is equipped with a selected set of technologies providing advanced on-board functions for performing a number of mission operations functions with minimum ground involvement. The autonomy is exercised in realistic scenarios through the accommodation of four payload instruments.


An Open-Source, Extensible Spacecraft Simulation And Modeling Environment Framework

Abstract: An Open-Source, extensible spacecraft simulation and modeling (Open-SESSAME) framework was developed with the aim of providing to re-searchers the ability to quickly test satellite algorithms while allowing them the ability to view and extend the underlying code. The software is dis-tributed under the GPL (General Public License) and the package’s exten-sibility allows users to implement their own components into the libraries, investigate new algorithms, or tie in existing software or hardware com-ponents for algorithm and flight component testing. This paper presents the purpose behind the development of the framework, the software de-sign architecture and implementation, and a roadmap of


Autonomous hazard avoidance control for Chang&rsquo;E-3 soft landing

Jie Yu
Honghua Zhang
Ming Cheng
Jun Liang
Yu Zhao
Ji Li

Abstract: Chang'E-3 is the first mission of Chinese soft landing on celestial body outside Earth. Chang'E-3 firstly implements the autonomous hazard avoidance of soft landing using the onboard measured image data. For the feature of autonomous hazard avoidance mission, Chang'E-3 firstly presents the relay hazard avoidance control method including the large hazard avoidance of gray-scale-safe &amp; attitude maneuver and the fine hazard avoidance of altitude-safe &amp; position-attitude maneuver. The real flight results of Chang'E-3 show that in the powered descent process the safe landing site is acquired, the precise hazard avoidance maneuver is achieved perfectly, and the safety of touch poin


Real-Time Hazard Detection and Avoidance Demonstration for a Planetary Lander

AIAA SPACE 2014 Conference and Exposition

Abstract: The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. In addition to precision landing close to a pre-mission defined landing location, the ALHAT System must be capable of autonomously identifying and avoiding surface hazards in real-time to enable a safe landing under any lighting conditions. This paper provides an overview of the recent results of the ALHAT closed loop hazard detection and avoidance flight demonstrations on the Mor


Non-constant learning rates in retrospective experience curve analyses and their correlation to deployment programs


Cost and technology readiness level assessment of emerging technologies, new perspectives, and future research directions in H2 production

Saleem Nawaz Khan
Yang Zhu
Weiguo Dong
Ming Zhao

Abstract: This review provides a cost and technology readiness level assessment of emerging technologies in H 2 production and overview of future research directions.


An Overview of Technology Investments in the NASA Entry Systems Modeling Project

Michael Wright
Monica F. Hughes
Michael Barnhardt
Anthony M. Calomino

Abstract: ESM was created with two primary technical areas: Aerosciences and Materials. One of the first project deliverables, in both technology areas, was the development of Key Performance Parameters (KPPs), which are used to gauge the rate of progress in technology maturation, and to inform eventual technology downselects. In addition, the project was tasked to identify stakeholders or customers for proposed technology investments. While pull technologies are permitted within STMD, those capabilities that have strong customer support and a clear infusion plan are given higher priority. The current investment portfolio and achievements will be summarized in this paper.


Model-based off-nominal state isolation and detection system for autonomous fault management

Abstract: This paper presents a model-based fault management (FM) system designed to provide off-nominal state detection and isolation capabilities that are key components to assessing spacecraft state awareness. The ability to autonomously isolate spacecraft failures to component levels will enable faster and more targeted responses and recovery thereby reducing down time. The use of model-based systems and practices is being explored by the FM community as a viable approach to developing more capable, autonomous systems in order to meet mission objectives. Model-based systems can provide better fault identification than traditional methods of fault detection such as limit-checking. They also lend th


A ROS-based Simulator for Testing the Enhanced Autonomous Navigation of the Mars 2020 Rover

Olivier Toupet
Tyler Del Sesto
Masahiro Ono
Steven Myint
Joshua Vander Hook
Michael McHenry

Abstract: In order to achieve the ambitious objectives of the Mars 2020 (M2020) mission, in particular the ability to autonomously traverse more challenging terrains more efficiently, new surface mobility software was developed for Enhanced Navigation (ENav). That decision was made early in the project, before most of the new surface flight software (FSW) existed, which created a need for a separate framework where the new navigation algorithms could be quickly prototyped and tested, before more realistic FSW-based testbeds became available. The JPL robotics team chose the Robot Operating System [1] (ROS) as the environment in which to test the new ENav algorithms. This made it possible to write the a


An Architecture-Tracking Approach to Evaluate a Modular and Extensible Flight Software for CubeSat Nanosatellites

Carlos E. Gonzalez
Camilo Rojas
Alexandre Bergel
Marcos Díaz

Abstract: Delivering better flight software is an important concern to improve CubeSat missions success. It has been identified as a key element to enhance team collaboration, increase reusability, reduce the mission risk, and facilitate the development and operation of new mission concepts, such as satellite mega-constellations. An appropriated fight software architecture represents the functional and non-functional requirements and guides the development. Therefore, to achieve the expected software quality, the architecture should be closely monitored during the entire software life cycle. However, ensuring that a flight software for a spacecraft embedded system closely follows the proposed architec


Nuclear Power Plant to Support Indonesia’s Net Zero Emissions: A Case Study of Small Modular Reactor Technology Selection Using Technology Readiness Level and Levelized Cost of Electricity Comparing Method

M. A. Rahmanta
A. W. Harto
Alexander Agung
M. K. Ridwan

Abstract: Most power plants, particularly those that burn fossil fuels such as coal, oil, and gas, create CO2, a greenhouse gas that contributes to climate change. By 2060, the Indonesian government has committed to reach net zero emissions. With the lowest CO2 emissions, nuclear power plants are dependable sources of energy. Small modular reactors (SMRs) are a particular kind of nuclear power plant that has the potential to be Indonesia’s first commercial nuclear power plant because of their small size, low capacity, uncomplicated design, and modular characteristics. The purpose of this study is to examine the economics and technological feasibility of SMRs. In this analysis, the levelized cost of el


A Decade of Lead Halide Perovskites for Direct‐Conversion X‐ray and Gamma Detection: Technology Readiness Level and Challenges

Kostiantyn Sakhatskyi
Aditya Bhardwaj
Gebhard J. Matt
S. Yakunin
M. Kovalenko

Abstract: Over the past decade, lead halide perovskites (LHPs) have become a vibrant thrust in the field of direct conversion X‐ray and gamma‐ray radiation detectors, offering promising cost‐effective and robust alternatives to traditional semiconductors. This review article chronicles the significant strides made since the inception of this field, emphasizing the material, structural, and functional advancements. It begins with an overview of the fundamental properties of perovskites that render them suitable for high‐energy radiation detection, such as their high atomic number, prominent charge carriers’ mobility and lifetime, and high resistivity. The review highlights key developments in material


A multilayer perceptron hazard detector for vision-based autonomous planetary landing

Paolo Lunghi
Marco Ciarambino
Michèle Lavagna


Innovative fault detection, isolation and recovery on-board spacecraft: Study and implementation using cognitive automation

Abstract: Fault detection and diagnosis is a crucial aspect in spacecraft operations and on-board software with respect to safety, reliability and performance. The success of a space mission depends on the adequate and timely system reaction to unexpected environmental changes and fault or failure of components or subsystems. Within this paper, case studies of current spacecraft applications are categorized with respect to the level of autonomy that is reached. The potential of further concepts that were not yet studied in the context of spacecraft fault detection, isolation and recovery (FDIR), but in industrial and aerospace applications are examined. As a result, the cognitive automation approach,


NASA/GSFC's Flight Software Core Flight System


Implications of Responsive Space on the Flight Software Architecture

Abstract: The Responsive Space initiative has several implications for flight software that need to be addressed not only within the run-time element, but the development infrastructure and software life-cycle process elements as well. The runtime element must at a minimum support Plug & Play, while the development and process elements need to incorporate methods to quickly generate the needed documentation, code, tests, and all of the artifacts required of flight quality software. Very rapid response times go even further, and imply little or no new software development, requiring instead, using only predeveloped and certified software modules that can be integrated and tested through automated m


The technological progress function: A new technique for forecasting


Extended Mission Technology Demonstrations Using the ASTERIA Spacecraft

Lorraine Fesq
P. Beauchamp
Amanda Donner
Rob Bocchino
Brian Kennedy
Faiz Mirza

Abstract: ASTERIA (Arcsecond Space Telescope Enabling Research In Astrophysics) is a CubeSat space telescope currently operating in low-Earth orbit. It is expected to remain in orbit at least through October 2019. Developed as a technology demonstration mission under the Jet Propulsion Laboratory Phaeton Program for training early-career engineers, ASTERIA has achieved sub-arcsecond pointing stability and milliKelvin thermal stability over 20-minute observations. These capabilities-unprecedented in a CubeSat platform-have enabled photometric precision better than 1000 parts per million per minute (0.1%/min) while observing nearby bright stars (apparent visual magnitude magv <; 6). Following the second


Calibrating the Technology Readiness Level (TRL) scale using NASA mission data

R. J. Terrile
Fred G. Doumani
Gary Y. Ho
Byron Jackson

Abstract: This paper seeks to assess the qualitative and quantitative aspects of the Technology Readiness Level (TRL) scale in order to understand its ability to provide estimates of the forward costs of developing a new technology to a state of flight readiness. TRLs are in common use throughout NASA, industry and military organizations and are characterized by being easy to determine using a set of well-defined parameters. However, the TRL scale is not calibrated to any consistent unit and the relative size of TRL steps are not linear and can vary for different technologies. We use archived cost data from a variety of recent NASA flight missions and from several technology-heavy instrument suites on


Decentralized, Decomposition-Based Observation Scheduling for a Large-Scale Satellite Constellation

Itai Zilberstein
Ananya Rao
M. Salis
Steve A. Chien

International Conference on Automated Planning and Scheduling

Abstract: Deploying multi-satellite constellations for Earth observation requires coordinating potentially hundreds of spacecraft. With increasing on-board capability for autonomy, we can view the constellation as a multi-agent system (MAS) and employ decentralized scheduling solutions. We formulate the problem as a distributed constraint optimization problem (DCOP) and desire scalable inter-agent communication. The problem consists of millions of variables which, coupled with the structure, make existing DCOP algorithms inadequate for this application. We develop a scheduling approach that employs a well-coordinated heuristic, referred to as the Geometric Neighborhood Decomposition (GND) heuristic, t


Reusable and Reliable Flight-Control Software for a Fail-Safe and Cost-Efficient Cubesat Mission: Design and Implementation

Ibtissam Latachi
Tajjeeddine Rachidi
Mohammed Karim
Ahmed Hanafi

Abstract: While there is no rigorous framework to develop nanosatellites flight software, this manuscript aimed to explore and establish processes to design a reliable and reusable flight software architecture for cost-efficient student Cubesat missions such as Masat-1. Masat-1 is a 1Unit CubeSat, developed using a systems engineering approach, off-the-shelf components and open-source software tools. It was our aim to use it as a test-bed platform and as an initial reference for Cubesat flight software development in Morocco. The command and data handling system chosen for Masat-1 is a system-on-module-embedded computer running freeRTOS. A real-time operating system was used in order to simplify the r


A Survey of Cost Estimating Methodologies for Distributed Spacecraft Missions

Veronica Foreman
Jacqueline Le Moigne
Olivier de Weck

Abstract: Satellite constellations and Distributed Spacecraft Mission (DSM) architectures offer unique benefits to Earth observation scientists and unique challenges to cost estimators. The Cost and Risk (CR) module of the Tradespace Analysis Tool for Constellations (TAT-C) being developed by NASA Goddard seeks to address some of these challenges by providing a new approach to cost modeling, which aggregates existing Cost Estimating Relationships (CER) from respected sources, cost estimating best practices, and data from existing and proposed satellite designs. Cost estimation through this tool is approached from two perspectives: parametric cost estimating relationships and analogous cost estimation


Onboard Planning and Scheduling Autonomy withinthe Scope of the FireBird Mission

C. Lenzen
M. Wörle
T. Göttfert
Falk Mrowka
M. Wickler


Technological Progress


Review of NASA In-Space Propulsion Technology Program Inflatable Decelerator Investments

E. H. Richardson
Michelle Munk
Bonnie James
Steven A. Moon

Abstract: The NASA In-Space Propulsion Technology (ISPT) Program is managed by the NASA Headquarters Science Mission Directorate and is implemented by the Marshall Space Flight Center in Huntsville, Alabama. The ISPT objective is to fund development of promising in-space propulsion technologies that can decrease flight times, decrease cost, or increase delivered payload mass for future science missions. Before ISPT will invest in a technology, the Technology Readiness Level (TRL) of the concept must be estimated to be at TRL 3. A TRL 3 signifies that the technical community agrees that the feasibility of the concept has been proven through experiment or analysis. One of the highest priority technology


Model-Based Fault Detection and Isolation System for Increased Autonomy


A high-accuracy autonomous navigation scheme for the Mars rover

Yunan Zhao
Xinlong Wang
Qunsheng Li
Dun Wang
Yuanwen Cai

Abstract: Abstract High-accuracy, autonomous and reliable navigation systems are important foundations for Mars rovers to achieve exploration missions successfully. Based on the motion characteristics and working environment of the rover, the paper shows a high-accuracy strapdown inertial navigation system/visual navigation system/celestial navigation system (SINS/VNS/CNS) integrated navigation scheme suitable for the rover with long-time and long-distance motion. According to the feature point positions in the camera frame at adjacent time obtained by the binocular visual odometry, its velocity in the camera frame and the attitude are calculated, then a subsystem model of SINS/VNS integrated navigati


NASA instrument cost/schedule model Hamid Habib-Agahi


A Core Plug and Play Architecture for Reusable Flight Software Systems

Abstract: The Flight Software Branch, at Goddard Space Flight Center (GSFC), has been working on a run-time approach to facilitate a formal software reuse process. The reuse process is designed to enable rapid development and integration of high-quality software systems and to more accurately predict development costs and schedule. Previous reuse practices have been somewhat successful when the same teams are moved from project to project. But this typically requires taking the software system in an all-or-nothing approach where useful components cannot be easily extracted from the whole. As a result, the system is less flexible and scalable with limited applicability to new projects. This paper will


Biologically Inspired Autonomous Rover Control