Asgardians - Space Apps Challenge

      
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        		<title>Projeto NASA</title>
      
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        				   <article class="texto1">
      
        					<h1 class="h1"> Optical Measurement System based on Stereo Photogrammetry </h1>
      
        					&nbsp
      
        					  <p>By using a dual camera system, we can simulate the depth-of-sight we’re familiarized with from
      
        					  our eyes. This technology, known as stereo photogrammetry, allows us to create variety of
      
        					  perspectives we can create a 3D point cloud array. This technology is already in use in many
      
        					  factors around the world, measuring parts in production lines for statistic control. This point
      
        					  cloud array can later be converted to a 3D model of the analyzed ship.</p>
      
        					  <img src="fotos/Cameratwo.png" width="400" height="400"/>
      
        					  <p>Our project also integrates a high-resolution “ordinary” photographic camera sensor to take
      
        					  frames from the spacecraft to help the analysis and search for anomalies. Additionally, for the
      
        					  deep parts of the structure, a laser line measurement device makes measurement, creating a
      
        					  lower resolution 3D model of the parts not covered by the higher-resolution stereo cameras.</p>
      
        					  <img src="fotos/ZoomLaser.png" width="400" height="400"/>
      
        					  <p>For estimate purposes, we assumed a 28 mm. focal length coupled to a 35 mm. full frame, 50
      
        					  MP CMOS sensor, creating a horizontal field view of 65.5º. For safety reasons, we assumed that
      
        					  the robot shall remain at a minimum of 1 m. This yields a theorical resolution of up to 0.01 mm./pixel
      
        					  , suitable for deep-learning post-processing. At this distance, 6 pictures should be 
      
        					  taken for a complete revolution of the Orion. For the 41 m. length, a total of 522 photos must
      
        					  be taken (with a safety region of 10% on each photo). Assuming they are high quality RAW files,
      
        					  each weighting 65 MB, a total of about 34 GB of onboard storage must be installed.</p>
      
        					  <p>Due to the high volume of data, we choose to retain the photos onboard the robot and only 
      
        					  process them after the scanning mission ends (with the powerful computers abroad Orion).
      
        					  Although inconvenient, this small delay in the processing does not interfere with the urgency of
      
        					  operation. The total time for a complete scan should be around 1 hour, observing the
      
        					  parameters mentioned before.</p>
      
        					  <p>Because in space there is a great presence of sunlight (which emits many wavelengths at very
      
        					  high intensities), and the absence of sunlight on the opposite side of the spacecraft, we created
      
        					  a theoretical analysis logic so that the robot can analyze the structure of the spacecraft without
      
        					  restrictions. On the dark side of the spacecraft, the analysis would be from the excess reflection
      
        					  caused by a micro-meteoroid hole when exposed to a powerful light bean from our robot and
      
        					  thus, when processed, the image would have the location of the damage. On the bright side of
      
        					  the spacecraft, the analysis shall be done from the lack of reflection because theoretically the
      
        					  hole will cause a shadow when the white light of the sun is thrown directly into the profile.</p>
      
        					  <p>However, space-related devices generally use foil for thermal management, making harder to
      
        					  compare sensor data to a theorical, ideal model. For these parts, a high-resolution CMOS
      
        					  sensor captures images and, through deep-learning technics, analysis and process it, deciding
      
        					  when there is a damage in the foil/blanket.</p>
      
        					  <img src="fotos/GeralFrontal.png" width="200" height="250"/>
      
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        		</header>
      
        		<section class="section">
      
        			<article class="texto1">
      
        			   <h1> Galacticus </h1>
      
        			   &nbsp
      
        				  <p>This project uses state-of-the-art technology for scanning and analyzing micro-meteoroid and space debris impacts.</p>
      
        			</article>
      
        		</section>
      
        		<aside class="aside">
      
        				<iframe width="560" height="315" src="https://www.youtube.com/embed/JYg9YtPxs64" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
      
        		</aside>
      
        		<div id="container1">	
      
        			<div class="col3">
      
        				   <article class="texto2">
      
        					<h1> HACKATHON </h1>
      
        					&nbsp
      
        					  <p>“Hackathon is an event that brings together programmers, designers and other professionals
      
        					  connected to software development for a marathon programming, whose goal is to develop
      
        					  software that meets specific purpose or free projects that are innovative and usable.”</p>
      
        					  <p>NASA, together with FATEC-OSASCO, have promoted a hackathon in São Paulo, Brazil, to
      
        					  develop solutions to real problems encountered by NASA today. We, Asgardians decided to
      
        					  participate to test our knowledge, not only in software development, but mainly in the
      
        					  development of the robotic and optical designs that the challenge “Design by Nature”
      
        					  proposes; while still meeting with new people from all over our country.</p>
      
        				   </article>	  
      
        			</div>
      
        			<div class="col4">
      
        				<article class="texto3">
      
        				   <h1> Problem Description </h1>
      
        				   &nbsp
      
        					  <p>The “Design by Nature” contest by NASA challenges us to solve the problem of 
      
        					  micro-meteoroid and orbital debris (MMOD) using nature’s solutions and as an inspiration source to
      
        					  create a robotic project capable of following an inspection routine with precision in space.</p>
      
        						<p>Expeditions like Apollo 13 or STS-107 were lost due to the lack of identification of external
      
        						 damages in the spacecraft. With the intention of going further and further into space,
      
        						 eventually arriving on Mars, the need to monitor what happens outside the structure that keeps 
      
        						 humans alive is very important.</p>
      
        						<p>The goal of this challenge is to create a reliable and autonomous monitoring system for
      
        						detecting micrometeoroids impacts on spaceships.</p>
      
        				</article>	  
      
        			</div>
      
        			<div class="col5">
      
        				<article class="texto4">
      
        				   <h1> The Project </h1>
      
        				   &nbsp
      
        					  <p>The project consists of developing a free-flyer style, autonomously operated robot with a
      
        					  camera system. Our main purpose is to scan the entire spacecraft profile and create a 3D model
      
        					  of its structure for comparison with the existing CAD model. Overlapping both data sets allows
      
        					  us to identify where micro-meteoroid impacts occurred. </p>
      
        					  <p>Taking inspiration from the marine environment, we analyzed the relationship that a cleaning
      
        					  fish (clownfish) has with the reef. According to an article from Unicamp[1] the existence of a reef
      
        					  depends directly on the cleaning that the clownfish realizes. This is a concept of symbiosis
      
        					  known as mutualism, where two different species need each other in order to survive. Another
      
        					  concept of symbiosis is commensalism, where one species is a beneficiary and the other has no
      
        					  benefits, but also has no losses. Our solution is a system inspired by commensalism, in which
      
        					  the main spacecraft is completely benefited by the sweep of our robot, and at the same time
      
        					  possess no detriment to our robot. </p>
      
        					  <p>For scanning the structure, we used optical metrology, inspired by the type of hunting done by
      
        					  eagles – with an outstanding quality of vision that, with a determined search pattern, has great
      
        					  hunting capacity to small and large species – both that can be compared to the goal of this project.</p>
      
        					  <p>For estimates, we assumed that the inspected ship would be NASA’s upcoming Orion capsule,
      
        					  fullfed with additional modules for long-range trips. We assumed a 5.0 meter diameter ship
      
        					  with 41.0 m. length.</p>
      
        					  <img class="img1" src="fotos/GeralFrontal.png" width="400" height="400"/>
      
        					  <img class="img2" src="fotos/GeralSuperior.png" width="400" height="400"/>
      
        					  <img class="img3" src="fotos/GeralInferior.png" width="400" height="400"/>
      
        					  &nbsp
      
        					  <p class="reference">[1] JORNAL DA UNICAMP. Mais que ornamentais, 'faxineiros' do mar. Available in:
      
        					  (www.unicamp.com.br/unicamp/<wbr/>unicamp_hoje/ju/outubro2002/<wbr/>unihoje_ju195pag12.html)</p>
      
        					  <p>Access in: 20 out. 2018.</p>
      
        				</article>	  
      
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        					<h1> Propulsion and Attitude Control </h1>
      
        					&nbsp
      
        					  <p>	Given the need to follow the spacecraft under analysis for long periods, a positioning and
      
        					  locomotion system with high accuracy, repeatability and low supplies needs (fuel) was required.
      
        					  To achieve these goals, our robot uses two technologies: micro-nozzles driven by compressed
      
        					  air and a set of reaction wheels. </p>
      
        					  <p>The four reaction wheels used in our design ensure agile turns and extra redundancy for
      
        					  malfunctions. They work by storing angular momentum by rotating a steel disk at high speed
      
        					  and, as necessary, decreasing or increasing its speed. Each disk is kept in motion by a brushless
      
        					  DC motor, ensuring high energy efficiency and service life.</p>
      
        					  <p>Micro-nozzles are used with a gaseous mixture maintained under high pressure (approximately
      
        					  4 to 6 atm. was stipulated), which can be breathable air from the spacecraft or methane – one
      
        					  of the by-products of the air treatment process (currently without use). They are controlled by
      
        					  solenoid valves and can generate up to 1 N. of thrust. Our design has eight micro-nozzles that
      
        					  along with the reaction wheels, can move and rotate the robot in any direction..</p>
      
        					  <img src="fotos/Valvula.png" width="300" height="300"/>
      
        					  <img src="fotos/propulsor.png" width="300" height="300"/>
      
        					  <img src="fotos/RodadeReaçãoone.png" width="300" height="300"/>
      
        					  <p>The use of such technologies is only possible due to the microgravity and high vacuum
      
        					  environment where the robot must operate, where there are no friction losses and where there
      
        					  is no need to fight the force of gravity.</p>
      
        					  <p>The robot’s pressurized gas tank can be easily refilled by the crew once inside the main
      
        					  spacecraft, and its simple design (no hypergolic fuels or multiple moving parts) ensures a long
      
        					  life and the confidence needed to be used near manned spacecraft.</p>
      
        					  <img src="fotos/CilindrodeAR.png" width="400" height="400"/>
      
        					  <p>The robot’s on-board computer is calibrated during launch, and after that maintains its current
      
        					  position using accelerometers and gyroscopes. Eventually, in longer duration operations, its
      
        					  position can be upgraded via radio from the spacecraft..</p>
      
        					  <p>Expected maximum speed shall be equal to or less than 1.0 meter per second for safety
      
        					  reasons. In the event of a collision with the main spaceship, the robot should be with sufficiently
      
        					  low speed in order to not damage it.</p>
      
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        					<h1 class="h1"> Optical Measurement System based on Stereo Photogrammetry </h1>
      
        					&nbsp
      
        					  <p>By using a dual camera system, we can simulate the depth-of-sight we’re familiarized with from
      
        					  our eyes. This technology, known as stereo photogrammetry, allows us to create variety of
      
        					  perspectives we can create a 3D point cloud array. This technology is already in use in many
      
        					  factors around the world, measuring parts in production lines for statistic control. This point
      
        					  cloud array can later be converted to a 3D model of the analyzed ship.</p>
      
        					  <img src="fotos/Cameratwo.png" width="400" height="400"/>
      
        					  <p>Our project also integrates a high-resolution “ordinary” photographic camera sensor to take
      
        					  frames from the spacecraft to help the analysis and search for anomalies. Additionally, for the
      
        					  deep parts of the structure, a laser line measurement device makes measurement, creating a
      
        					  lower resolution 3D model of the parts not covered by the higher-resolution stereo cameras.</p>
      
        					  <img src="fotos/ZoomLaser.png" width="400" height="400"/>
      
        					  <p>For estimate purposes, we assumed a 28 mm. focal length coupled to a 35 mm. full frame, 50
      
        					  MP CMOS sensor, creating a horizontal field view of 65.5º. For safety reasons, we assumed that
      
        					  the robot shall remain at a minimum of 1 m. This yields a theorical resolution of up to 0.01 mm./pixel
      
        					  , suitable for deep-learning post-processing. At this distance, 6 pictures should be 
      
        					  taken for a complete revolution of the Orion. For the 41 m. length, a total of 522 photos must
      
        					  be taken (with a safety region of 10% on each photo). Assuming they are high quality RAW files,
      
        					  each weighting 65 MB, a total of about 34 GB of onboard storage must be installed.</p>
      
        					  <p>Due to the high volume of data, we choose to retain the photos onboard the robot and only 
      
        					  process them after the scanning mission ends (with the powerful computers abroad Orion).
      
        					  Although inconvenient, this small delay in the processing does not interfere with the urgency of
      
        					  operation. The total time for a complete scan should be around 1 hour, observing the
      
        					  parameters mentioned before.</p>
      
        					  <p>Because in space there is a great presence of sunlight (which emits many wavelengths at very
      
        					  high intensities), and the absence of sunlight on the opposite side of the spacecraft, we created
      
        					  a theoretical analysis logic so that the robot can analyze the structure of the spacecraft without
      
        					  restrictions. On the dark side of the spacecraft, the analysis would be from the excess reflection
      
        					  caused by a micro-meteoroid hole when exposed to a powerful light bean from our robot and
      
        					  thus, when processed, the image would have the location of the damage. On the bright side of
      
        					  the spacecraft, the analysis shall be done from the lack of reflection because theoretically the
      
        					  hole will cause a shadow when the white light of the sun is thrown directly into the profile.</p>
      
        					  <p>However, space-related devices generally use foil for thermal management, making harder to
      
        					  compare sensor data to a theorical, ideal model. For these parts, a high-resolution CMOS
      
        					  sensor captures images and, through deep-learning technics, analysis and process it, deciding
      
        					  when there is a damage in the foil/blanket.</p>
      
        					  <img src="fotos/GeralFrontal.png" width="200" height="250"/>
      
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Space Apps Challenge 2018

Asgardians | Design by Nature

Team Updates

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	<h1 class="h1"> Optical Measurement System based on Stereo Photogrammetry </h1>
	&nbsp
	<p>By using a dual camera system, we can simulate the depth-of-sight we’re familiarized with from
	our eyes. This technology, known as stereo photogrammetry, allows us to create variety of
	perspectives we can create a 3D point cloud array. This technology is already in use in many
	factors around the world, measuring parts in production lines for statistic control. This point
	cloud array can later be converted to a 3D model of the analyzed ship.</p>
	<img src="fotos/Cameratwo.png" width="400" height="400"/>
	<p>Our project also integrates a high-resolution “ordinary” photographic camera sensor to take
	frames from the spacecraft to help the analysis and search for anomalies. Additionally, for the
	deep parts of the structure, a laser line measurement device makes measurement, creating a
	lower resolution 3D model of the parts not covered by the higher-resolution stereo cameras.</p>
	<img src="fotos/ZoomLaser.png" width="400" height="400"/>
	<p>For estimate purposes, we assumed a 28 mm. focal length coupled to a 35 mm. full frame, 50
	MP CMOS sensor, creating a horizontal field view of 65.5º. For safety reasons, we assumed that
	the robot shall remain at a minimum of 1 m. This yields a theorical resolution of up to 0.01 mm./pixel
	, suitable for deep-learning post-processing. At this distance, 6 pictures should be
	taken for a complete revolution of the Orion. For the 41 m. length, a total of 522 photos must
	be taken (with a safety region of 10% on each photo). Assuming they are high quality RAW files,
	each weighting 65 MB, a total of about 34 GB of onboard storage must be installed.</p>
	<p>Due to the high volume of data, we choose to retain the photos onboard the robot and only
	process them after the scanning mission ends (with the powerful computers abroad Orion).
	Although inconvenient, this small delay in the processing does not interfere with the urgency of
	operation. The total time for a complete scan should be around 1 hour, observing the
	parameters mentioned before.</p>
	<p>Because in space there is a great presence of sunlight (which emits many wavelengths at very
	high intensities), and the absence of sunlight on the opposite side of the spacecraft, we created
	a theoretical analysis logic so that the robot can analyze the structure of the spacecraft without
	restrictions. On the dark side of the spacecraft, the analysis would be from the excess reflection
	caused by a micro-meteoroid hole when exposed to a powerful light bean from our robot and
	thus, when processed, the image would have the location of the damage. On the bright side of
	the spacecraft, the analysis shall be done from the lack of reflection because theoretically the
	hole will cause a shadow when the white light of the sun is thrown directly into the profile.</p>
	<p>However, space-related devices generally use foil for thermal management, making harder to
	compare sensor data to a theorical, ideal model. For these parts, a high-resolution CMOS
	sensor captures images and, through deep-learning technics, analysis and process it, deciding
	when there is a damage in the foil/blanket.</p>
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