We propose to implement two new sensing modalities comprising the multimodal agile ranging and velocimetry instrument (marvin) using a novel acousto-optic structured light imaging module (slim)…

This federal contract was awarded by the National Aeronautics and Space Administration (NASA) Shared Services Center to Lambda Metrics LLC, a small business manufacturer, for the development of the Multimodal Agile Ranging and Velocimetry Instrument (MARVIN). MARVIN utilizes a novel Acousto-Optic Structured Light Imaging Module (SLIM) to enable wide-field active 3D imaging and long-range Doppler velocimetry, providing high-precision ranging data for planetary exploration. The $717,871 Phase II SBIR contract aims to advance MARVIN from Technology Readiness Level 3 to Level 4, including prototyping and testing on a JPL rover. This contract has a total small business set-aside designation.

We propose to implement two new sensing modalities comprising the multimodal agile ranging and velocimetry instrument (marvin) using a novel acousto-optic structured light imaging module (slim) previously developed under the NASA piddp program for planetary rover navigation and geomorphology. Based on an acousto-optic illumination engine, slim consumes only 10-20W of power, weighs less than a kilogram, could fit in a shirt pocket, and uses space-proven components without moving parts to rapidly generate and precisely control laser illumination patterns. Through modifications of slim hardware and algorithms, marvin enables triangulation-based wide-field active 3D imaging of nearby scenes with MM-scale resolution at distances up to 10M even in the presence of full sunlight, as well as multi-beam time-of-flight (TOF) CM-resolution ranging and doppler velocimetry at distances of hundreds of meters, or potentially even further. Marvin can switch between the two modes simply by moving a lens. Marvin computes each range point in parallel and independently, is robust across a wide range of ambient lighting, textures, and albedos, and is computationally simple, increasing rover autonomy, even in low light, and reducing traverse and science operation down-times. Marvin s low-swap and agility also benefit EDL, station keeping, terrain mapping, and proximity operations. Marvin could be used as a faster, more robust, high-precision primary range sensor for exploration of the solar system, including mars, the moon, ocean worlds, and asteroids. The phase i effort included feasibility and benefit studies, simulations and algorithm development, noise and performance analysis, a proof-of-concept lab demonstration of many-beam marvin ranging, and an optomechanical design, bringing marvin to TRL3. The phase II effort aims to advance this design, develop requisite electronics, implement a marvin prototype, and test IT on the mast of a JPL rover, advancing marvin from TRL3 to TRL4.