THIS STATEMENT OF WORK (SOW) DESCRIBES TWO ELEMENTS OF THE COOPERATIVE AGREEMENT TASKING BETWEEN NASA‐JSC AND TEXAS A&M UNIVERSITY FOR ACTIVE DEBRIS REMOVAL (ADR) SUPPORT DURING FY12‐FY14. THE FIRST ELEMENT OF THE FY12 SUPPORT WILL TO DEVELOP A GUIDANCE, NAVIGATION AND CONTROL (GNC) PACKAGE INTENDED FOR GROUND TESTING. THE SECOND PRINCIPLE ELEMENT IS DESIGN AND ALGORITHM SUPPORT FOR AN AIR BEARING VEHICLE EMULATOR DEVELOPMENT LEAD BY JSC. THE SECOND ELEMENT WILL BE INITIATED DURING FY12 AND COMPLETED DURING FY 13‐FY14. LEVERAGING ITS PRIOR EFFORTS TO THE GREATEST REASONABLE DEGREE, TEXAS A&M WILL DEVELOP A PROXIMITY OPERATIONS GNC PACKAGE TAILORED TO ENABLE GROUND EXPERIMENTS OF AUTONOMOUS DEBRIS REMOVAL (ADR) ON THE AIR BEARING FLOOR AT JSC. THIS GNC PACKAGE, INDEPENDENT OF A FLIGHT GNC PACKAGE BEING DEVELOPED AT JSC, IS INTENDED TO PROVIDE NASA WITH AN EARLY DYNAMIC TEST ENVIRONMENT FOR SENSOR TESTING WHILE THE NASA SYSTEM PROCEEDS UNDER DEVELOPMENT. THE HARDWARE ELEMENTS OF THIS PACKAGE WILL CONSIST OF AN OPTICAL SENSING SYSTEM THAT GENERATES 3D POINT CLOUDS IN REAL TIME, ALONG WITH RGB TEXTURE OF A TARGET VEHICLE IMAGED BY A CHASE VEHICLE, AND A MICROPROCESSOR TO PROCESS THE MEASURED DATA IN REAL TIME. THE DATA FROM THE OPTICAL SYSTEM WILL BE OPERATED ON, IN NEAR REAL TIME, BY ALGORITHMS THAT STITCH DATA TOGETHER OVER TIME BY TRACKING BOTH RESIDENT FEATURES ON THE TARGET AND IR PROJECTED FEATURES. IN ADDITION TO ESTABLISHING THE TARGET VEHICLE GEOMETRY, THE ALGORITHMS WILL ESTABLISH BEST ESTIMATES FOR THE 6DOF RELATIVE POSE OF THE SENSOR FRAME TO THE TARGET VEHICLE. INCLUDED IN THIS EFFORT, TEXAS A&M WILL DEVELOP ALGORITHMS TO GENERATE LINEAR AND ANGULAR VELOCITY COMMANDS WHICH WILL BE MAPPED INTO THRUSTER FIRINGS TO DRIVE THE SYSTEM TOWARD CAPTURE. THE HARDWARE/SOFTWARE OF THE GNC SYSTEM WILL BE REALIZED AS A PHYSICAL ENGINEERING MODEL AND A MECHANICAL INTERFACE TO A BASE VEHICLE ("THE SLED") UNDER PARALLEL DEVELOPMENT AT JSC. IN ADDITION THIS SYSTEM WILL ALSO HAVE A SEPARATE MECHANICAL AND DATA INTERFACE DEVELOPED TO DRIVE THE HOMER ROBOT AT LASR LABORATORY. THE ELECTRICAL/DATA INTERFACE WITH THE SLED WILL BE DEVELOPED BY JSC PERSONNEL IN COORDINATION WITH THE TAMU INVESTIGATORS. THE SECOND SUPPORT ELEMENT AREA, SLED DEVELOPMENT SUPPORT, SHALL INCLUDE THE FOLLOWING SPECIFIC DESIGN AND DEVELOPMENT AREAS, BUT CAN BE EXTENDED TO INCLUDE OTHER AREAS BY MUTUAL AGREEMENT OF BOTH PARTIES: 1. SUPPORT HARDWARE AND SOFTWARE INTERFACE DEFINITIONS 2. SUPPORT LAYOUT AND SELECTION OF HARDWARE COMPONENT PARTS 3. SUPPORT DEVELOPMENT OF SLED OPERATING SOFTWARE ALGORITHMS 4. SUPPORT DESIGN OF A TIME SYNCHRONIZATION SYSTEM FOR THE SLED COMPONENTS 5. SUPPORT DEVELOPMENT OF THE SLED DATA BUS AND EXTERNAL COMMUNICATIONS SYSTEM 6. LEAD DEVELOPMENT OF A SLED FLOOR POSITION SENSOR 7. LEAD DEVELOPMENT OF REMOTE CONSOLE COMMAND AND DATA HANDLING SOFTWARE/DISPLAYS