Suited astronauts currently perform visual inspections for external spacecraft damage during extravehicular activity (EVA). Small, free-flying satellites can be used to perform these visual inspection tasks to reduce crew risk by keeping astronauts inside the vehicle. One approach gives the astronaut teleoperational control of the satellite, while another approach is engaging a control system that commands the satellite to fly along an inspection path. We assembled a mockup of a space station (featuring three modules of varying geometry) and used a quadcopter fitted with a GoPro Camera to emulate visual inspection of the mockup by the small satellite. A pilot participant performed the space station inspection task by utilizing the teleoperation mode of the quadcopter. The participant had access to a line-of-sight view of the quadcopter and space station mockup from a distance, and an egocentric view of the testing area (including the mockup) from the quadcopter's onboard camera. The inspection task required the participant to actively scan for, locate, and take pictures of surface anomalies on the space station mockup. Performance was evaluated by determining percentage of anomalies detected, time taken to complete the inspection, and gaze time percentages (physical quadcopter and space station versus camera display). Observations were recorded for the teleoperated flight mode and indicate a strong user preference for an egocentric quadcopter view to support anomaly detection and navigation. In the teleoperated flight mode, the participant had difficulty with accurately and consistently locating anomalies while also navigating and controlling the quadcopter. Global situation awareness abilities and anomaly detection performance were limited, suggesting further research is needed to support human-robot teaming for spacecraft inspection. This preliminary evaluation supports continued data collection with the developed test bed for human-robot interaction with additional levels of automation. Findings from the methods proposed can lead to design recommendations regarding the usage of teleoperated and autonomous flight modes as well as the impact of available viewpoints.

Mini AERCam Inspection Robot for Human Space Missions - NASA Technical Reports Server (NTRS) ## NTRS ## NTRS - NASA Technical Reports Server Search Back to Results Mini AERCam Inspection Robot for Human Space MissionsThe Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-

## SSC19-XI-04 ### Seeker 1.0: Prototype Robotic Free Flying Inspector Mission Overview Brian Banker, Scott Askew NASA Johnson Space Center 2101 E. NASA Pkwy, Houston, TX 77058; 281.483.7907 brian.f.banker@nasa.gov ABSTRACT Seeker 1.0 is a prototype free flying robot that will one day be capable of inspecting human-rated spacecraft. Building off previous free flyer experience, this technology will eventually improve safety of human spacecraft by offering a variety of inspection capabilities for both routine and emergency scenarios providing increased capability and safety over current inspection methods. Seeker 1.0 is capable of 6 degree of freedom flight via a cold gas propulsion system and can operate up to 1 hour via a semi-autonomous guidance, navigation, and control system. The prototype spacecraft is capable of capturing still images at a variety of resolutions up to 13 MP. The initial test flight utilizes a command and data relay box called Kenobi. Kenobi is a derivative of the Seeker design and will communicate between Cygnus and Seeker and store data for post-mission downlink. Seeker and Kenobi have launched inside a NanoRacks External CubeSat Deployer (NRCSD-E) attache