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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

A ROS-based Simulator for Testing the Enhanced Autonomous Navigation of the Mars 2020 Rover

In order to achieve the ambitious objectives of the Mars 2020 (M2020) mission, in particular the ability to autonomously traverse more challenging terrains more efficiently, new surface mobility software was developed for Enhanced Navigation (ENav). That decision was made early in the project, before most of the new surface flight software (FSW) existed, which created a need for a separate framework where the new navigation algorithms could be quickly prototyped and tested, before more realistic FSW-based testbeds became available. The JPL robotics team chose the Robot Operating System [1] (ROS) as the environment in which to test the new ENav algorithms. This made it possible to write the algorithms in the C language required by the FSW, so they could be directly ported over to the flight module later on, while leveraging all the C++ libraries and tools provided by ROS for simulation and testing. The ENav algorithms were developed as a separate C library, and stubs were used to replace any FSW-specific code, such as Event Reporting (EVRs) and data products (DPs). A ROS simulator was developed to generate a rich set of varied 3D terrains representative of the candidate Mars landing sites and simulate the physics of the rover motion, the point cloud perceived by the rover’s stereo vision system, and the new thinking-while-driving (TWD) navigation logic which directs the rover to drive autonomously to user-specified waypoints. To simulate the rover motion and perception, a ROS node was developed that uses a software library called HyperDrive Sim (HDSim), which is a wrapper for the Rover Sequencing and Visualization Program [2] (RSVP). That library provides roverterrain settling, realistic slip modelling, and camera rendering capability based on the rover’s NavCam machine vision models. To simulate the navigation logic, a ROS node was created that initializes and runs the ENav algorithms in a way that mimics the FSW execution, while also providing the capability to load and replay data products, including re-running the recorded inputs through the ENav algorithms for testing. An engineering Graphical User Interface (GUI) was also developed to visualize various elements, such as the rover pose during the drive, the simulated and perceived terrain, the selected local and global paths to the goal, the evaluated candidate paths and the reasons why they were rejected, the keep-in and keep-out zones (KIOZs), etc. Finally, an advanced Monte Carlo (MC) framework that can run many simulations in parallel on the Cloud and automatically generate reports that capture the key ENav performance metrics was developed to evaluate the system in a statisticallymeaningful way. This paper provides an overview of the ROSbased simulator used for testing the M2020 ENav algorithms.

Toupet, Olivier↗
NASA NTRSDate not supplied

Evaluation of Novel eVTOL Aircraft Automation Concepts

As new electric propulsion technologies have matured, many new electric propulsion Vertical Takeoff and Landing (eVTOL) aircraft concepts have been proposed. These new aircraft concepts enable the creation of new aviation markets including Urban Air Mobility (UAM) but also pose new challenges in safety assurance. One early challenge is the evaluation of the diverse aircraft configurations and accompanying advanced control systems and automation designed to aid controllability. This paper describes a research activity to propose candidate means of evaluation for the aircraft concepts and automation in the context of UAM operations. The research activity proposes the adaptation of an evaluation design standard used by the military for advanced rotorcraft along with proposed descriptions and definitions to support evaluation of diverse automated concepts in the civilian eVTOL community.

AAM↗
NASA NTRSDate not supplied

Mobile LiDAR as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗
DOE OSTI2015

Humboldt bay power plant decommissioning transition to civil works - 15039

Decommissioning of the Pacific Gas and Electric (PG and E) Company Humboldt Bay Power Plant (HBPP) Unit 3 nuclear facility has now, after more than three decades of SAFSTOR, completed the Plant Systems Removal Phase by removal of all radiologically significant plant systems from the buildings in June 2014. The HBPP historical design and construction, close proximity to the bay and associated tidal interactions poses unique challenges to an effective decommissioning effort as the Site transitions to a major earthwork project - designated as Civil Works. The last significant large component removal project remaining is segmentation and disposal of the reactor pressure vessel shell and this project is now integrated and executed under Civil Works with PG and E solely in an oversight role across the site beginning 2015. The value from run-up and mock-up testing of tooling to segment the HBPP reactor vessel will be discussed. Experience obtained, especially at error prone interfaces, during start-up, systemisation and operating phases for the First of a Kind (KOAK) tooling will be discussed. Implementation of the civil scope of work commenced July 2013. Its status and experience applicable to other decommissioning efforts will be provided from an owner's perspective. Implementation of the civil work scope includes development and implementation of oversight capability including policy, procedures and deployment of skilled, experienced and trained oversight staff in the field. Challenges encountered and solutions implemented during mobilization and ramp up of the civil contractor commensurate with demobilization of the self-perform staff will be covered. Partnering with the contractor to establish a good Client/Contractor relationship and tips on where to invest owner resources will be shared. Development of a solid baseline project schedule that incorporates regulatory constraints, client expectations and contract constraints and its importance to safe, compliant project execution will be shared. (authors)

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2016

High-mobility BaSnO{sub 3} grown by oxide molecular beam epitaxy

High-mobility perovskite BaSnO{sub 3} films are of significant interest as new wide bandgap semiconductors for power electronics, transparent conductors, and as high mobility channels for epitaxial integration with functional perovskites. Despite promising results for single crystals, high-mobility BaSnO{sub 3} films have been challenging to grow. Here, we demonstrate a modified oxide molecular beam epitaxy (MBE) approach, which supplies pre-oxidized SnO{sub x}. This technique addresses issues in the MBE of ternary stannates related to volatile SnO formation and enables growth of epitaxial, stoichiometric BaSnO{sub 3}. We demonstrate room temperature electron mobilities of 150 cm{sup 2} V{sup −1} s{sup −1} in films grown on PrScO{sub 3}. The results open up a wide range of opportunities for future electronic devices.

36 MATERIALS SCIENCE↗
DOE OSTI2015

Development of a new ion mobility time-of-flight mass spectrometer

Complex samples require multidimensional measurements with high resolution for full characterization of biological and environmental systems. To address this challenge, we developed a drift tube-based ion mobility spectrometry-Orbitrap mass spectrometry (IMS-Orbitrap MS) platform. To circumvent the timing difference between the fast IMS separation and the slow Orbitrap MS acquisition, we utilized a dual gate and pseudorandom sequence to multiplex ions into the drift tube and Orbitrap. The instrument was designed to operate in signal averaging (SA), single multiplexing (SM) and double multiplexing (DM) IMS modes to fully optimize the signal-to-ratio of the measurements. For the SM measurements, a previously developed algorithm was used to reconstruct the IMS data, while a new algorithm was developed for the DM analyses. The new algorithm is a two-step process that first recovers the SM data from the encoded DM data and then decoded the SM data. The algorithm also performs multiple refining procedures in order to minimize the demultiplexing artifacts traditionally observed in such scheme. The new IMS-Orbitrap MS platform was demonstrated for the analysis of proteomic and petroleum samples, where the integration of IMS and high mass resolution proved essential for accurate assignment of molecular formulae.

47 OTHER INSTRUMENTATION↗
DOE OSTI2016

Development of an Ion Mobility Spectrometry-Orbitrap Mass Spectrometer Platform

Complex samples benefit from multidimensional measurements where higher resolution enables more complete characterization of biological and environmental systems. To address this challenge, we developed a drift tube-based ion mobility spectrometry-Orbitrap mass spectrometer (IMS-Orbitrap MS) platform. To circumvent the time scale disparity between the fast IMS separation and the much slower Orbitrap MS acquisition, we utilized a dual gate and pseudorandom sequences to multiplexed injection of ions and allowing operation in signal averaging (SA), single multiplexing (SM) and double multiplexing (DM) IMS modes to optimize the signal-to-noise ratio of the measurements. For the SM measurements, a previously developed algorithm was used to reconstruct the IMS data. A new algorithm was developed for the DM analyses involving a two-step process that first recovers the SM data and then decodes the SM data. The algorithm also performs multiple refining procedures in order to minimize demultiplexing artifacts. The new IMS-Orbitrap MS platform was demonstrated by the analysis of proteomic and petroleum samples, where the integration of IMS and high mass resolution proved essential for accurate assignment of molecular formulae.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS2014

Deep Space Habitat Wireless Smart Plug

NASA has been interested in technology development for deep space exploration, and one avenue of developing these technologies is via the eXploration Habitat (X-Hab) Academic Innovation Challenge. In 2013, NASA's Deep Space Habitat (DSH) project was in need of sensors that could monitor the power consumption of various devices in the habitat with added capability to control the power to these devices for load shedding in emergency situations. Texas A&M University's Electronic Systems Engineering Technology Program (ESET) in conjunction with their Mobile Integrated Solutions Laboratory (MISL) accepted this challenge, and over the course of 2013, several undergraduate students in a Capstone design course developed five wireless DC Smart Plugs for NASA. The wireless DC Smart Plugs developed by Texas A&M in conjunction with NASA's Deep Space Habitat team is a first step in developing wireless instrumentation for future flight hardware. This paper will further discuss the X-Hab challenge and requirements set out by NASA, the detailed design and testing performed by Texas A&M, challenges faced by the team and lessons learned, and potential future work on this design.

Morgan, Joseph A.↗
DOE OSTI2016

Structure and Thermochemistry of Perrhenate Sodalite and Mixed Guest Perrhenate/Pertechnetate Sodalite

Treatment and immobilization of technetium-99 ( 99 Tc) contained in reprocessed nuclear waste and present in contaminated subsurface systems represents a major environmental challenge. One potential approach to managing this highly mobile and long-lived radionuclide is immobilization into micro- and meso-porous crystalline solids, specifically sodalite. We synthesized and characterized the structure of perrhenate sodalite, Na 8 [AlSiO 4 ]6(ReO 4 ) 2 , and the structure of a mixed guest perrhenate/pertechnetate sodalite, Na 8 [AlSiO 4 ] 6 (ReO 4 ) 2-x (TcO 4 ) x . Perrhenate was used as a chemical analogue for pertechnetate. Bulk analyses of each solid confirm a cubic sodalite-type structure (P$\overline{43}$n, No. 218 space group) with rhenium and technetium in the 7+ oxidation state. High-resolution nanometer scale characterization measurements provide first-of-a-kind evidence that the ReO 4 – anions are distributed in a periodic array in the sample, nanoscale clustering is not observed, and the ReO 4 – anion occupies the center of the sodalite β-cage in Na 8 [AlSiO 4 ] 6 (ReO 4 ) 2 . We also demonstrate, for the first time, that the TcO 4 – anion can be incorporated into the sodalite structure. Lastly, thermochemistry measurements for the perrhenate sodalite were used to estimate the thermochemistry of pertechnetate sodalite based on a relationship between ionic potential and the enthalpy and Gibbs free energy of formation for previously measured oxyanion-bearing feldspathoid phases. The results collected in this study suggest that micro- and mesoporous crystalline solids maybe viable candidates for the treatment and immobilization of 99 Tc present in reprocessed nuclear waste streams and contaminated subsurface environments.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRSDate not supplied

Challenges in Securing the Future of Air Travel

Urban air mobility (UAM) is a concept that proposes to develop short-range, point-to-point transportation systems in metropolitan areas using vertical takeoff and landing (VTOL) or short takeoff and landing (STOL) aircraft to overcome increasing surface congestion. To realize the potential of UAM, an assurance of cybersecurity is critical for public acceptance. Cybersecurity has come to the forefront highlighting the need to protect these networks and systems from cyberattacks. The growth in the development of UAM systems, and the associated data exchange and service interactions will create abundant challenges due to numerous types of cybersecurity attacks. As these threats evolve, the UAM cybersecurity capabilities must adapt to these changes as well.

UAM↗
DOE OSTI2024

High-throughput screening of 2D materials identifies p-type monolayer WS2 as potential ultra-high mobility semiconductor

Abstract 2D semiconductors offer a promising pathway to replace silicon in next-generation electronics. Among their many advantages, 2D materials possess atomically-sharp surfaces and enable scaling the channel thickness down to the monolayer limit. However, these materials exhibit comparatively lower charge carrier mobility and higher contact resistance than 3D semiconductors, making it challenging to realize high-performance devices at scale. In this work, we search for high-mobility 2D materials by combining a high-throughput screening strategy with state-of-the-art calculations based on the ab initio Boltzmann transport equation. Our analysis singles out a known transition metal dichalcogenide, monolayer WS 2 , as the most promising 2D semiconductor, with the potential to reach ultra-high room-temperature hole mobilities in excess of 1300 cm 2 /Vs should Ohmic contacts and low defect densities be achieved. Our work also highlights the importance of performing full-blown ab initio transport calculations to achieve predictive accuracy, including spin–orbital couplings, quasiparticle corrections, dipole and quadrupole long-range electron–phonon interactions, as well as scattering by point defects and extended defects.

Chemistry↗
NASA NTRS1988

MSAT-X: A technical introduction and status report

A technical introduction and status report for the Mobile Satellite Experiment (MSAT-X) program is presented. The concepts of a Mobile Satellite System (MSS) and its unique challenges are introduced. MSAT-X's role and objectives are delineated with focus on its achievements. An outline of MSS design philosophy is followed by a presentation and analysis of the MSAT-X results, which are cast in a broader context of an MSS. The current phase of MSAT-X has focused notably on the ground segment of MSS. The accomplishments in the four critical technology areas of vehicle antennas, modem and mobile terminal design, speech coding, and networking are presented. A concise evolutionary trace is incorporated in each area to elucidate the rationale leading to the current design choices. The findings in the area of propagation channel modeling are also summarized and their impact on system design discussed. To facilitate the assessment of the MSAT-X results, technology and subsystem recommendations are also included and integrated with a quantitative first-generation MSS design.

Dessouky, Khaled↗
NASA NTRSDate not supplied

Multidisciplinary Dynamic Testing Challenges in Validating the NASA Artemis Architecture

NASA is in the midst of bold and exciting next steps in human exploration and spaceflight. The designs of the new Space Launch System (SLS), the Orion spacecraft and the Exploration Ground Systems (EGS) for vehicle processing and launch are essentially complete and there has been significant progress in manufacturing and assembly of specific hardware for the Artemis I and Artemis II missions. Equally as important, the program level and integrated system level testing and analyses are also well underway to support integrated verification, validation, and certificate of flight readiness (CoFR) for the first Artemis mission. Testing and analysis are key to addressing technical challenges that the Artemis missions offer. Building block approaches are required that provide the right balance between component, system, and/or element level testing that satisfies verification and validation objectives and where, uncertainties are quantified and minimized. Artemis I is a system of systems that requires a fusion of test and analysis that adeptly characterizes critical interfaces between major program elements. NASA is implementing new in-situ testing that fuse traditional aerospace structures with civil structures, such as the Integrated Modal Test for the Artemis I vehicle where the Mobile Launcher and Crawler Transporter serve as a support structure whose dynamics couple with that of the Artemis I vehicle. This new paradigm requires a closer inspection of structural behavior of the Crawler Transporter and the Mobile Launcher as they now serve multiple purposes. This requires a paradigm shift to look beyond experimental modal techniques and incorporates operational modal analysis techniques to validate dynamic models from data collected during rollout to the launch pad. A further complicating factor is the Crawler Transporter generated ground forces have numerous harmonics making extracting dynamic responses of the Artemis I, Mobile Launcher, and Crawler Transporter coupled system challenging. This discussion explores all these challenges with and attempts to understand how we best build confidence in systems and system-of-systems performance capabilities and margins and understand uncertainties.

Joel W Sills↗
NASA NTRSDate not supplied

A Structurally-Adaptive Framework for Distributed Airborne Sensing over Real-time Collaborative Information Sharing Networks

The emergence and maturation of wireless communication technologies continue to transform the aviation industry and are enabling new solutions to challenges faced by NASA’s Advanced Air Mobility (AAM) initiative. AAM is leading towards high-density autonomous aircraft operations in areas underserved by traditional aviation, such as over densely populated urban centers. In this paper, we build on concepts from Smart Spaces - where sensing, processing, and communication are embedded in an environment, and agents are operating within the space can exploit these capabilities in real-time through collaborative information sharing networks. Building from these concepts, we propose a framework to enable a dynamic, topologically-adaptive, and distributed estimation system for man-rated aviation to address challenges faced by autonomous AAM operations. This paper presents the initial concept of operations and system design for this framework, presents a mathematical formulation for abstraction of the problem, identifies requirements and constraints for operation, and presents algorithmic constructs and mathematical formalisms to demonstrate operation. The proposed framework will be evaluated on a regional AAM flight scenario and will focus on two initial applications: (1) GPS-free navigation supporting precision approach and landing (PAL), and (2) surveillance and conformance monitoring of aircraft in vertiport airspaces. Such approaches show promise in addressing gaps in current technologies needed to enable future AAM concepts, while promising greater capabilities, performance, robustness, and safety over current aviation systems and operations.

Structurally-Adaptive↗
NASA NTRSDate not supplied

A Structurally-Adaptive Framework for Distributed Airborne Sensing over Real-time Collaborative Information Sharing Networks

The emergence and maturation of wireless communication technologies continue to transform the aviation industry and are enabling new solutions to challenges faced by NASA’s Advanced Air Mobility (AAM) initiative. AAM is leading towards high-density autonomous aircraft operations in areas underserved by traditional aviation, such as over densely populated urban centers. In this paper, we build on concepts from distributed sensing and smart spaces - where sensing, processing, and communication are embedded in an environment, and agents are operating within the space can exploit these capabilities in real-time through collaborative information sharing networks. Building from these concepts, we propose a framework to enable a dynamic, topologically-adaptive, and distributed estimation system for man-rated aviation to address challenges faced by autonomous AAM operations. This paper presents the initial concept of operations and system design for this framework, presents a mathematical formulation for abstraction of the problem, identifies requirements and constraints for operation, and presents algorithmic constructs to demonstrate operation. The initial framework design will focus on supporting precision navigation and independent surveillance supporting conformance monitoring of aircraft in airspace corridors and vertiport airspaces. Preliminary results from this framework shows promise in addressing gaps in current technologies needed to enable future AAM concepts, while promising greater capabilities, performance, robustness, and safety over current aviation systems and operations.

Distributed sensing↗
NASA NTRS2010

Mars Science Laboratory Drill

The Drill for the Mars Science Laboratory mission is a rotary-percussive sample acquisition device with an emphasis on toughness and robustness to handle the harsh environment on Mars. The unique challenges associated with autonomous drilling from a mobile robot are addressed. A highly compressed development schedule dictated a modular design architecture that satisfies the functional and load requirements while allowing independent development and testing of the Drill subassemblies. The Drill consists of four actuated mechanisms: a spindle that rotates the bit, a chuck that releases and engages bits, a novel voice-coil-based percussion mechanism that hammers the bit, and a linear translation mechanism. The Drill has three passive mechanisms: a replaceable bit assembly that acquires and collects sample, a contact sensor / stabilizer mechanism, and, lastly a flex harness service loop. This paper describes the various mechanisms that makeup the Drill and discusses the solutions to their unique design and development challenges.

Okon, Avi B.↗
DOE OSTI2025

A Scalable Multi-Modal Framework for High-Fidelity Distributed Human Mobility Simulations

The development of data-driven models for human mobility in urban settings requires access to substantial and diverse real-world data. However, existing historical data often presents challenges such as limited volume, variety, and veracity, as well as missing data and privacy preservation concerns. Also, urban mobility modeling is inherently time-variant, complex, and multi-modal, encompassing everything from individual walking and running to private road travel and large-scale public transportation. These challenges call for innovative solutions to overcome data limitations and compute needs to model mobility behaviors accurately. To address these challenges, we propose a distributed, co-simulation-based architecture DURMOSim that integrates real-world data with scalable, high-fidelity simulations, demonstrating distributed co-simulation feasibility with existing mobility models. DURMOSim underpins a modular integration that would enable using any available mobility simulators for greater extensibility and scalability in performing various urban scenarios. In this paper, we present the design, implementation, and performance evaluation of DURMOSim, highlighting its capability to model population-scale mobility patterns. Our initial results show its ability to dynamically synchronize multiple simulation models at runtime with negligible computational overhead. We believe DURMOSim could be a robust tool for advancing urban mobility research and intelligent transportation systems.

Yoginath, Srikanth [ORNL] (ORCID:0000000184236050)↗