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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 199 records · Page 11

Robotic Assembly Activities at NASA Langley Research Center

Over the past several decades, NASA Langley Research Center (LaRC) has developed a suite of hardware and software capabilities for robotic in-space assembly. Specific robots include the Lightweight Surface Manipulation System (LSMS), Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN), NASA Intelligent Jigging and Assembly Robot (NINJAR), Strut Assembly, Manufacturing, Utility & Robotic Aid (SAMURAI), and most recently the Assemblers modular robots. Alongside the hardware, software tools such as the Autonomous Entity Operations Network (AEON) and the Baseline Environment for Autonomous Modeling (BEAM) have been developed to enable communication and simulation respectively. These tools have supported foundational research in single and multi-agent control, sensing and perception, trajectory generation, task allocation, and human-machine teaming. This talk will provide a broad overview of these capabilities and go into detail on recent developments made by the Assemblers project to create modular, reconfigurable robots for autonomous in-space assembly.

John R Cooper↗

A Rapid Target-Search Technique for KBO Exploration Trajectories

A rapid, grid-based, target-search algorithm is presented to find candidate se-quences of small-body encounters for mission design. The algorithm is especially relevant for cases with large combinatorial spaces. In this paper, the al-gorithm is used to identify candidate flyby sequences of multiple Kuiper-Belt Ob-jects (KBOs). Before reaching the first KBO in the sequence, the trajectories in this paper first use gravity assists at one or more of the giant planets to pump-uptheir orbital energy—reducing launch C3. The target-search algorithm consists offour sequential steps: (1) parameter definition, (2) fine-tuned Lambert-based gridsearch of ballistic trajectories visiting one KBO, (3) rapid, ∆V-based proximitysearch for additional KBOs using the state transition matrices (STMs), and (4) tra-jectory optimization of the most promising KBO sequences using the EvolutionaryMission Trajectory Generator (EMTG). The paper also defines an empirical-basedprocess to characterize the maximum step size for the target arrival dates in theLambert grid search. Lastly, a candidate mission to two KBOs is presented. Theresults indicate that the ∆V computed from the STM propagations is not repre-sentative of the final ∆V computed in EMTG; however, it does serve as a useful‘reachability’ metric to identify nearby KBOs.

Miguel Benayas Penas↗

A Framework for Sense and Follow Convoys for Collective Autonomous Mobility

Convoys are collections of vehicles that share similar velocity profiles. In the sense-and follow convoy construct, a vehicle can follow a member of an existing convoy resulting in convoy chaining. We prove conditions under which this can occur such that the resulting convoy chain is bounded and the velocities of all members converge to the leader velocity through locally distributed control algorithms. To assess the approach, we utilize a six degree-of-freedom rigid body vehicle dynamics model for each agent. A dynamic inversion based control law is used to track the desired trajectory generated by the convoy algorithms. To simulate the system, we utilize Unity, a cross-platform game engine, where 3-dimensional terrain, building, and vehicle data can be visualized. Numerous simulations are presented to illustrate the concept.

convoys↗

A Framework for Sense and Follow Convoys for Collective Autonomous Mobility

Convoys are collections of vehicles that share similar velocity profiles. In the sense-and follow convoy construct, a vehicle can follow a member of an existing convoy resulting in convoy chaining. We prove conditions under which this can occur such that the resulting convoy chain is bounded and the velocities of all members converge to the leader velocity through locally distributed control algorithms. To assess the approach, we utilize a six degree-of-freedom rigid body vehicle dynamics model for each agent. A dynamic inversion based control law is used to track the desired trajectory generated by the convoy algorithms. To simulate the system, we utilize Unity, a cross-platform game engine, where 3-dimensional terrain, building, and vehicle data can be visualized. Numerous simulations are presented to illustrate the concept. Link to video file below:

convoys↗

SIRIUS: Simulation Infrastructure for Research on Interoperating Unmanned Systems

This paper presents the Simulation Infrastructure for Research on Interoperating Unmanned Systems (SIRIUS), a research framework for simulation and analysis of future conceptual Urban Air Mobility (UAM) operations. SIRIUS is being developed under the auspices of the NASA Air Traffic Management eXploration project, UAM subproject (ATM-X UAM). SIRIUS provides an intuitive, highly configurable graphical user interface to design complex traffic scenarios and airspace configurations representative of conceptual UAM operations. Aircraft simulated with SIRIUS can be equipped with flight-tested capabilities for detect and avoid (DAA), geofencing, distributed merging and spacing, path conformance, and path planning while executing time-constrained, 4D trajectories generated by a UAM ground operations system. Central to the design of the SIRIUS simulation framework is the capability to evaluate the integration and interoperability of ground-based separation services (e.g., strategic separation) with extended DAA functionality (e.g., path monitoring, separation provision, merging and spacing, etc.) The simulation environment also supports modelling of wind, navigation, and sensor uncertainties, as well as communication delays. SIRIUS enables distributed simulation of large-scale scenarios. An interactive graphical analysis capability helps isolate, visualize, and compare relevant vehicle state data and widely used measures of performance metrics across multiple scenarios.

Andrew Peters↗

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

This paper presents structural models of deformable linear objects (DLOs). DLOs are a subclass of deformable objects that encompasses common outfitting elements such as cables and ropes. Models are validated through hardware experiments, and integration in a robotic autonomy architecture for space environments is discussed. A persistent human presence on the lunar surface is one of the next major milestones in space exploration. This requires the development of robust extraplanetary construction technologies including structures and materials modeling and robotic systems. Previous robotic construction technology development has primarily focused on structural assembly, with significantly less focus on robotically performed outfitting tasks to instantiate subsystems providing power, data, life support, etc. These tasks involve manipulation of highly flexible elements, which are difficult to model, such as cable harnesses, ropes, and hoses. Robotic manipulation of DLOs, especially cable harnesses, is an active area of research as cable harnesses are essential for providing power and data to space assets. DLO models that can be used for robot manipulator trajectory generation are necessary for autonomous operation of lunar infrastructure. There are many proposed methods for modeling DLOs, and they primarily fall into three types: 1) discrete model-based, 2) continuum model-based, and 3) Neural Network-based. These types each have pros and cons, and the tradeoff between model accuracy and computational speed informs which type should be used. An understanding of this trade-off is imperative for real-time control of autonomous systems. High computational requirements reduce the speed of the model, making real-time control difficult, while accuracy is critical to preventing collisions. Discrete models, such as a mass-spring multibody representation, require relatively few calculations, and accuracy is directly tied to the step size of the discretization. Continuum models, such as a B-spline representation or a Cosserat rod model (a mix of continuous and discrete), are more informed of the structural properties of the cable and are much more accurate than a rigid body mass-spring model, but at significant computational cost. A Neural Network approach can provide an online solution with very few computational steps, but properly generating training data can be difficult and validation for an in-space application is not trivial. This paper explores the trade-off between different modeling approaches and compares accuracy and computational speed/complexity of the three types mentioned above. Model accuracy is evaluated using a cable in a static configuration. True cable shape is obtained using a depth camera for RGB images and point-cloud segmentation. The purpose of this experiment is to evaluate the trade-offs of different approaches to the DLO modeling problem. Understanding the tradeoffs between different cable modeling techniques paves the way for developing robotic control and planning architectures necessary for real-time manipulation of DLOs for lunar infrastructure outfitting. Real-time control is required for robotic systems to be able to actively manipulate a cable in a harsh environment where model and sensor errors compound, and environmental conditions can cause significant disturbances. Cable routing must be performed in areas with high density of objects/obstacles: through truss structures, near solar panels or mirror arrays, next to bundles of electrical equipment. Understanding the best way to plan and manipulate a cable without disrupting the environment or damaging the cable is imperative to robotic outfitting operations on the lunar surface.

Amy M Quartaro↗

Successive Convexification for Powered Descent Guidance with Time-Varying Mass Properties

This paper extends the 6 degree-of-freedom successive convexification (SCvx) algorithm discussed in literature to account for time-varying mass properties in the representation of the attitude dynamics. Simulation results of a notional large-size lander performing the last minutes of Lunar powered descent with significant variations in the center-of-mass and moments of inertia over the duration of the trajectory are shown. Differences in the final optimal trajectories generated via SCvx are presented between the constant vs. variable mass property formulations for an in-plane and out-of-plane example.

Alex Hayes↗

Successive Convexification for Powered Descent Guidance with Time-Varying Mass Properties

This paper extends the 6 degree-of-freedom successive convexification (SCvx) algorithm discussed in literature to account for time-varying mass properties in the representation of the attitude dynamics. Simulation results of a notional large-size lander performing the last minutes of Lunar powered descent with significant variations in the center-of-mass and moments of inertia over the duration of the trajectory are shown. Differences in the final optimal trajectories generated via SCvx are presented between the constant vs. variable mass property formulations for an in-plane and out-of-plane example.

Alex Hayes↗

Hazard-Based Model of Activity Generation Using Vehicle Trajectory Data

Travel behavior modeling suffers from lack of longitudinal data due to the high cost of procurement and difficulty with ensuring data quality. In the recent years ubiquitous data intercepted from social media, cell detail record, GPS traces are increasingly being explored to analyze human mobility. However, these data lack key demographic information which limits their use for developing causal models of traveler behavior. The primary contribution of the paper lies in using vehicle trajectory data from Ann Arbor along with multiple other data sources for developing a hazard-based activity generation model. The different category of data used in the analysis include (i) vehicle trajectory data (VTD), (ii) American Census Survey (ACS), (iii) land use data, (iv) household travel survey (HTS) data, and (v) smart location data from Environmental Protection Agency (EPA). Home and work are identified as the two most frequently visited locations from the VTD and validated against land use categories of the region. Next a random utility-based model is developed using HTS data to identify other activity purposes as a function of the polynomials of distance from home, activity duration and departure time. The developed model is then applied to identify the non-home activity purposes in the VTD. Demographic and accessibility information are appended to the VTD from ACS and smart location databases respectively. The fmal database is then used to develop a hazard-based activity generation model. (C) 2020 The Authors. Published by Elsevier B.V.

activity generation↗

Generation of NEP heliocentric trajectory data

A study, designed to generate representative nuclear electric propulsion data for rendezvous missions to the comet Encke using the variational calculus program HILTOP, is presented. Other purposes of the study include a comparison of the HILTOP data with equivalent data generated with QUICKTOP program and to propose approaches for storing and subsequently accessing the optimum trajectory and performance data in the QUICKLY program.

Horsewood, J. L.↗

CISLUNAR program manual: A low-thrust trajectory determination model

CISLUNAR is a stand-alone computer program designed to generate the trajectory of a low-thrust spacecraft travelling in Earth-Moon space. The program allows the creation of functional trajectories dependent on the supplied spacecraft characteristics. The trajectory generation is a user interactive process. The original intent was for the program user to modify the necessary control values until a staisfactory trajectory has been created.

Source record↗

Estimation, Navigation and Control of Multi-Rotor Drones in an Urban Wind Field

The paper presents an on-board estimation, navigation and control architecture for multi-rotor drones flying in urban environment. It consists of adaptive algorithms to estimate vehicle's aerodynamic drag coefficients with respect to still air and the urban wind components along the flight trajectory, with guaranteed fast and reliable convergence to the true values; navigation algorithms to generate feasible trajectories between given way-points that take into account the estimated wind; and of control algorithms to track the generated trajectories as long as the vehicle retains sufficient number of functioning rotors capable of compensating for the estimated wind. All components of this on-board system are computationally effective and are intended for a real time implementation. The algorithms were tested in simulations.

Stepanyan, Vahram↗

Generalized Newton-Raphson trajectory optimization-generator 1

Computer program constructs a sequence of optimal solutions to dynamically-approximate linear equations. Specification of the number and type of subarcs in the optimal solution allows simultaneous satisfaction of all switching criteria.

Cope, D. D.↗

Trajectory Design and Early Mission Operations for the Lunar IceCube Mission

The Lunar IceCube (LIC) mission, a Next Space Technologies for Exploration Partnerships (NSTEP) program selection, was launched as a rideshare onboard Artemis-I on November 16th 2022, and deployed into a high energy lunar flyby trajectory. The final destination of the mission was a polar elliptical lunar orbit from which it could conduct spectroscopy observations of the lunar surface; however, a near rectilinear halo orbit (NRHO) was planned to be used as a staging orbit that divided the lunar transfer and low-thrust spiral phases of the mission. This paper presents the process used to design the LIC transfer trajectory from the high-energy deployment state to a 9:2 synodic resonance NRHO. Additional analyses performed, to assess the critical deployment to lunar flyby phase of the trajectory and to generate recovery trajectories following a loss of contact with the spacecraft, are described as well. Lessons learned from working on the LIC mission are presented to inform the design of similar future CubeSat missions.

Robert E Pritchett↗

A three-step model of high harmonic generation using complex classical trajectories

Highlights: • Rigorous trajectory formulation of strong field physics and high harmonic generation. • The Coulomb ground state is represented by an ensemble of complex trajectories. • Trajectories transition seamlessly from the ground state to ionization or recollision. • The ionized wavepacket is reproduced well from the complex trajectories. • Classically allowed and forbidden processes are treated in a single framework. We present a new trajectory formulation of high harmonic generation that treats classically allowed and classically forbidden processes within a single dynamical framework. Complex trajectories orbit the nucleus, producing the stationary Coulomb ground state. When the field is turned on, these complex trajectories continue their motion in the field-dressed Coulomb potential and therefore tunnel ionization, unbound evolution and recollision are described within a single, seamless framework. The new formulation can bring mechanistic understanding to a broad range of strong field physics effects.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Virtual Trajectories for I–24 MOTION: Data and Tools

This paper introduces a toolbox for generating virtual trajectories, which we call VT-tools v1.0, to address challenges in analyzing large but imperfect trajectory datasets. VT-tools v1.0 is able to generate virtual trajectories from large raw datasets that are typically challenging to process due to their size. We also provide a set of these virtual trajectories resulting from I–24 MOTION INCEPTION v1.0 data and demonstrate the practical utility of these trajectories in as-sessing speed variability and travel times across different lanes within the INCEPTION dataset. The virtual trajectory toolbox opens future research on traffic waves and their impact on energy. The VT-tools v1.0 Python implementation and sample data are publicly available at https://i24motion.org.

42 ENGINEERING↗