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NASA NTRS2006

Robonaut Mobile Autonomy: Initial Experiments

A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

NASA NTRS2015

Evaluation of the Accuracy of Astroskin as a Behavioral Health Self-Monitoring System for Spaceflight

In space, there is a need to monitor astronauts' vital signs and assess their readiness to perform specific tasks during a mission. Currently, NASA does not have the capability to noninvasively monitor crew for extended periods of time. The Canadian Space Agency is working with the Psychophysiology Lab at NASA ARC to determine if the Astroskin could be used as a solution to this problem. Astroskin, a commercially available garment with built-in biosensors, can be comfortably worn under clothing or a spacesuit and relay information to the crewman's own mobile device. Data can also be sent wirelessly to the on-board Exploration Medical System. To determine if Astroskin meets requirements for health monitoring, it must first be validated in spaceflight analog environments. In the current study Astroskin data will be compared to traditional biomedical instrument measures of electrocardiography (ECG), respiration rate, and systolic blood pressure. The data will be recorded during Autogenic Feedback Training Exercise (AFTE), which is a type of physiological self-regulation training designed for astronauts. The data will also be recorded during simulations of the Orion spacecraft re-entry. The results to date suggest that Astroskin is a suitable ambulatory monitoring system that allows astronauts to self-diagnose and self-regulate adverse autonomic nervous system responses to sustained exposure to microgravity of spaceflight.

biomedical↗

NASA NTRS2010

Operational Considerations for Oxygen Flammability Risks: Concentrated Oxygen Diffusion and Permeation Behaviors

Increased human spaceflight operations utilize oxygen concentrations that are frequently varied with use of concentrations up to 100 percent oxygen. Even after exiting a higher percentage oxygen environment, high oxygen concentrations can still be maintained due to material saturation and oxygen entrapment between barrier materials. This paper examines the material flammability concerns that arise from changing oxygen environments during spaceflight operations. We examine the time required for common spacecraft and spacesuit materials exposed to oxygen to return to reduced ignitability and flammability once removed from the increased concentration. Various common spacecraft materials were considered: spacecraft cabin environment foams, Extra Vehicular Mobility Unit materials and foams, Advanced Crew Escape Suit materials, and other materials of interest such as Cotton, Nomex^ HT90-40, and Tiburon Surgical Drape. This paper presents calculated diffusion coefficients derived from experimentally obtained oxygen transmission rates for the tested materials and the analytically derived times necessary for reduced flammability to be achieved based on NASA flammability criteria. Oxygen material saturation and entrapment scenarios are examined. Experimental verification data on oxygen diffusion in saturation scenarios are also presented and discussed. We examine how to use obtained data to address flammability concerns during operational planning to reduce the likelihood of fires while improving efficiency for procedures.

Harper, Susana↗

NASA NTRSDate not supplied

SimUAM: A Comprehensive Microsimulation Toolchain to Evaluate the Impact of Urban Air Mobility in Metropolitan Areas

Over the past several years, Urban Air Mobility (UAM) has galvanized enthusiasm from investors and researchers, marrying expertise in aircraft design, transportation, logistics, artificial intelligence, battery chemistry, and broader policymaking. However, two significant questions remain unexplored: (1) What is the value of UAM in a region’s transportation network? and (2) How can UAM be effectively deployed to realize and maximize this value to all stakeholders, including riders and local economies? To adequately understand the value proposition of UAM for metropolitan areas, the authors develop a holistic multi-modal toolchain, SimUAM, to model and simulate UAM and its impacts on travel behavior. This toolchain has several components: (1) Microsimulation Analysis for Network Traffic Assignment (MANTA): A fast, high-fidelity regional-scale traffic microsimulator, (2) VertiSim: Agranular, discrete-event vertiport and pedestrian simulator, (3) Flexible Engine for Fast-time Evaluation of Flight Environments (Fe3): A high-fidelity, trajectory-based aerial microsimulation. SimUAM, rooted in granular, GPU-based microsimulation, models millions of trips and their movements in the street network and in the air, producing interpretable and actionable performance metrics for UAM designs and deployments. Once the ground-air interface is modeled, the authors find that the market for UAM decreases across all network designs relative to models with static assumptions about transfer times. However, significant improvements can be made to balance the demand and optimize the networks for transfer time, likely increasing the number of benefited trips. The modularity, extensibility, and speed of the platform will allow for rapid scenario planning and sensitivity analysis, effectively acting as a detailed performance assessment tool.

urban air mobility↗

NASA NTRS2013

Characterizing Wheel-Soil Interaction Loads Using Meshfree Finite Element Methods: A Sensitivity Analysis for Design Trade Studies

A wheel experiencing sinkage and slippage events poses a high risk to planetary rover missions as evidenced by the mobility challenges endured by the Mars Exploration Rover (MER) project. Current wheel design practice utilizes loads derived from a series of events in the life cycle of the rover which do not include (1) failure metrics related to wheel sinkage and slippage and (2) performance trade-offs based on grouser placement/orientation. Wheel designs are rigorously tested experimentally through a variety of drive scenarios and simulated soil environments; however, a robust simulation capability is still in development due to myriad of complex interaction phenomena that contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree nite element approaches enable simulations that capture su cient detail of wheel-soil interaction while remaining computationally feasible. This study implements the JPL wheel-soil benchmark problem in the commercial code environment utilizing the large deformation modeling capability of Smooth Particle Hydrodynamics (SPH) meshfree methods. The nominal, benchmark wheel-soil interaction model that produces numerically stable and physically realistic results is presented and simulations are shown for both wheel traverse and wheel sinkage cases. A sensitivity analysis developing the capability and framework for future ight applications is conducted to illustrate the importance of perturbations to critical material properties and parameters. Implementation of the proposed soil-wheel interaction simulation capability and associated sensitivity framework has the potential to reduce experimentation cost and improve the early stage wheel design proce

terramechanics↗

NASA NTRS2004

Mobile Autonomous Humanoid Assistant

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

NASA NTRS2007

Finite Element Analysis of the LOLA Receiver Telescope Lens

This paper presents the finite element stress and distortion analysis completed on the Receiver Telescope lens of the Lunar Orbiter Laser Altimeter (LOLA). LOLA is one of six instruments on the Lunar Reconnaissance Orbiter (LRO), scheduled to launch in 2008. LOLA's main objective is to produce a high-resolution global lunar topographic model to aid in safe landings and enhance surface mobility in future exploration missions. The Receiver Telescope captures the laser pulses transmitted through a diffractive optical element (DOE) and reflected off the lunar surface. The largest lens of the Receiver Telescope, Lens 1, is a 150 mm diameter aspheric lens originally designed to be made of BK7 glass. The finite element model of the Receiver Telescope Lens 1 is comprised of solid elements and constrained in a manner consistent with the behavior of the mounting configuration of the Receiver Telescope tube. Twenty-one temperature load cases were mapped to the nodes based on thermal analysis completed by LOLA's lead thermal analyst, and loads were applied to simulate the preload applied from the ring flexure. The thermal environment of the baseline design (uncoated BK7 lens with no baffle) produces large radial and axial gradients in the lens. These large gradients create internal stresses that may lead to part failure, as well as significant bending that degrades optical performance. The high stresses and large distortions shown in the analysis precipitated a design change from BK7 glass to sapphire.

Matzinger, Elizabeth↗

NASA NTRS1985

Environmental Degradation of Materials: Surface Chemistry Related to Stress Corrosion Cracking

Parallel experiments have been performed in order to develop a comprehensive model for stress cracking (SCC) in structural materials. The central objective is to determine the relationship between the activity and selectivity of the microstructure of structural materials to their dissolution kinetics and experimentally measured SCC kinetics. Zinc was chosen as a prototype metal system. The SCC behavior of two oriented single-crystal disks of zinc in a chromic oxide/sodium sulfate solution (Palmerton solution) were determined. It was found that: (1) the dissolution rate is strongly (hkil)-dependent and proportional to the exposure time in the aggressive environment; and (2) a specific slip system is selectively active to dissolution under applied stress and this slip line controls crack initiation and propagation. As a precursor to potential microgrvity experiments, electrophoretic mobility measurements of zinc particles were obtained in solutions of sodium sulfate (0.0033 M) with concentrations of dissolved oxygen from 2 to 8 ppm. The equilibrium distribution of exposed oriented planes as well as their correlation will determine the particle mobility.

Schwarz, J. A.↗

NASA NTRS2002

Improved performance and safety of lithium ion cells with the use of fluorinated carbonate-based electrolytes

There has been increasing interest in developing lithium-ion electrolytes that possess enhanced safety characteristics, while still able to provide the desired stability and performance. Toward this end, our efforts have been focused on the development of lithium-ion electrolytes which contain partially and fully fluorinated carbonate solvents. The advantage of using such solvents is that they possess the requisite stability demonstrated by the hydrocarbon-based carbonates, while also possessing more desirable physical properties imparted by the presence of the fluorine substituents, such as lower melting points, increased stability toward oxidation, and favorable SEI film forming Characteristics on carbon. Specifically, we have demonstrated the beneficial effect of electrolytes which contain the following fluorinated carbonate-based solvents: methyl 2,2,2-trifluoroethyl carbonate (MTFEC), ethyl-2,2,2 trifluoroethyl carbonate (ETFEC), propyl 2,2,2-trifluoroethyl carbonate (PTFEC), methyl-2,2,2,2',2',2' -hexafluoro-i-propyl carbonate (MHFPC), ethyl- 2,2,2,2',2',2' -hexafluoro-i-propyl carbonate (EHFPC), and di-2,2,2-trifluoroethyl carbonate (DTFEC). These solvents have been incorporated into multi-component ternary and quaternary carbonate-based electrolytes and evaluated in lithium-carbon and carbon-LiNio.8Coo.202 cells (equipped with lithium reference electrodes). In addition to determining the charge/discharge behavior of these cells, a number of electrochemical techniques were employed (i.e., Tafel polarization measurements, linear polarization measurements, and electrochemical impedance spectroscopy (EIS)) to further characterize the performance of these electrolytes, including the SEI formation characteristics and lithium intercalatiodde-intercalation kinetics. In addition to their evaluation in experimental cells, cyclic voltammetry (CV) and conductivity measurements were performed on select electrolyte formulations to further our understanding of the trends in stability and ionic mobility imparted by different alkyl substituents in linear carbonates.

li-ion batteries fluorinated carbonate electrolyte↗

NASA NTRS2006

Architecture for Control of the K9 Rover

Software featuring a multilevel architecture is used to control the hardware on the K9 Rover, which is a mobile robot used in research on robots for scientific exploration and autonomous operation in general. The software consists of five types of modules: Device Drivers - These modules, at the lowest level of the architecture, directly control motors, cameras, data buses, and other hardware devices. Resource Managers - Each of these modules controls several device drivers. Resource managers can be commanded by either a remote operator or the pilot or conditional-executive modules described below. Behaviors and Data Processors - These modules perform computations for such functions as planning paths, avoiding obstacles, visual tracking, and stereoscopy. These modules can be commanded only by the pilot. Pilot - The pilot receives a possibly complex command from the remote operator or the conditional executive, then decomposes the command into (1) more-specific commands to the resource managers and (2) requests for information from the behaviors and data processors. Conditional Executive - This highest-level module interprets a command plan sent by the remote operator, determines whether resources required for execution of the plan are available, monitors execution, and, if necessary, selects an alternate branch of the plan.

Bresina, John L.↗

NASA NTRS2006

Simulation and Performance of Data Communication using AMSS

This paper reports the findings of a simulation of the Aeronautical Mobile Satellite Service (AMSS) to be used in the ATN (Aeronautical Telecommunications Network). The models of the protocols used in this simulation were designed to be compliant with the International Civil Aviation Organization (ICAO) Standards and Recommended Practices (SARP). The focus of this research is on the data communication capabilities of the AMSS. The simulated performance characteristics for a region of the AMSS are presented. The results are analyzed to determine the efficiency, limitations, and behavior of this service for the foreseen data communication

Ripamonti, Claudio↗

NASA NTRS2014

Improving Sensorimotor Adaptation Following Long Duration Space Flight by Enhancing Vestibular Information Transfer

Crewmember adapted to the microgravity state may need to egress the vehicle within a few minutes for safety and operational reasons after gravitational transitions. The transition from one sensorimotor state to another consists of two main mechanisms: strategic and plastic-adaptive and have been demonstrated in astronauts returning after long duration space flight. Strategic modifications represent "early adaptation" - immediate and transitory changes in control that are employed to deal with short-term changes in the environment. If these modifications are prolonged then plastic-adaptive changes are evoked that modify central nervous system function, automating new behavioral responses. More importantly, this longer term adaptive recovery mechanism was significantly associated with their strategic ability to recover on the first day after return to Earth G. We are developing a method based on stochastic resonance to enhance information transfer by improving the brain's ability to detect vestibular signals (Vestibular Stochastic Resonance, VSR) especially when combined with balance training exercises such as sensorimotor adaptability (SA) training for rapid improvement in functional skill, for standing and mobility. This countermeasure to improve detection of vestibular signals is a stimulus delivery system that is wearable/portable providing low imperceptible levels of white noise based binaural bipolar electrical stimulation of the vestibular system (stochastic vestibular stimulation). To determine efficacy of vestibular stimulation on physiological and perceptual responses during otolith-canal conflicts and dynamic perturbations we have conducted a series of studies: We have shown that imperceptible binaural bipolar electrical stimulation of the vestibular system across the mastoids enhances balance performance in the mediolateral (ML) plane while standing on an unstable surface. We have followed up on the previous study showing VSR stimulation improved balance performance in both ML and anteroposterior planes while stimulating in the ML axis only. We have shown the efficacy of VSR stimulations on enhancing physiological and perceptual responses of whole-body orientation during low frequency perturbations (0.1 Hz) on the ocular motor system using a variable radius centrifuge on both physiological (using eye movements) and perceptual responses (using a joystick) to track imposed oscillations. The variable radius centrifuge provides a selective tilting sensation that is detectable only by the otolith organs providing conflicting information from the canal organs of the vestibular system (intra-vestibular conflict). These results indicate that VSR can improve performance in sensory conflict scenarios like that experienced during space flight. We have showed the efficacy of VSR stimulation to improve balance and locomotor control on subjects exposed to continuous, sinusoidal lateral motion of the support surface while walking on a treadmill while viewing perceptually matched linear optic flow. We have shown the safety of short term continuous use of up to 4 hours of VSR stimulation and its efficacy in improving balance and locomotor function in Parkinson's Disease patients. This technique for improving vestibular signal detection may thus provide additional information to improve strategic abilities. We hypothesize that VSR stimulation will act synergistically with SA training to improve adaptability by increased utilization of vestibular information and therefore serve to optimize and personalize the SA countermeasure prescription. This forms the basis of its usefulness both as a training modality and further help in significantly reducing the number of days required to recover functional performance to preflight levels after long duration space flight.

Mulavara, A. P.↗

NASA NTRS1992

Using qualitative maps to direct reactive robots

The principal advantage of mobile robots is that they are able to go to specific locations to perform useful tasks rather than have the tasks brought to them. It is important therefore that the robot be used to reach desired locations efficiently and reliably. A mobile robot whose environment extends significantly beyond its sensory horizon must maintain a representation of the environment, a map, in order to attain these efficiency and reliability requirements. We believe that qualitative mapping methods provide useful and robust representation schemes and that such maps may be used to direct the actions of a reactively controlled robot. In this paper we describe our experience in employing qualitative maps to direct, through the selection of desired control strategies, a reactive-behavior based robot. This mapping capability represents the development of one aspect of a successful deliberative/reactive hybrid control architecture.

Bertin, Randolph↗

NASA NTRS2010

Highly Siderophile Elements as Tracers for the Subcontinental Mantle Evolution Beneath the Southwestern USA: The San Carlos and Kilbourne Hole Peridotite Xenoliths Revisited

Peridotite xenoliths from San Carlos, Arizona, and Kilbourne Hole, New Mexico, have been studied since the 1970 s to give insights into melting and metasomatism in the subcontinental mantle beneath the southwestern USA. More recently, the highly siderophile elements (HSE; Os, Ir, Ru, Rh, Pt, Pd, and Re) and the included Re-Os isotope system have been established as powerful tools for the study of mantle processes because of their range in compatibility during mantle melting and their siderophile and chalcophile geochemical behavior. Model aluminachron Re-Os ages for San Carlos and Kilbourne Hole, as well as for the nearby Dish Hill and Vulcan's Throne sites, give consistent depletion ages of around 2.2 Ga. This age can be interpreted as a single large scale mantle melting event linked to crustal formation and continental growth under the southwestern USA. Highly siderophile elements, however, may be added to depleted peridotites via melt-rock interaction, especially the more incompatible and hence mobile Pt, Pd, and Re. This may result in overprinting of the signature of melt extraction, thus abating the usefulness of Re-Os mantle extraction model ages. A comprehensive characterization of the suite of mantle xenoliths from the SW USA in terms of HSE concentrations is thus necessary to re-assess the Re-Os system for dating purposes. San Carlos peridotites are depleted to moderately fertile, as indicated by their bulk Al2O3 contents between 0.66 wt% and 3.13 wt%. Bulk Os-187/Os-188 in San Carlos peridotites range from 0.1206 to 0.1357. In contrast, Kilbourne Hole peridotites tend to be more fertile with Al2O3 between 2.11 and 3.78 wt%, excluding one extremely depleted sample with 0.30 wt% Al2O3, and have Os-187/Os-188 between 0.1156 and 0.1272, typical for mantle peridotites. No large fractionation between the more compatible HSE Os, Ir, and Ru are observed. The more incompatible HSE Re, Pd, and to a minor extent, Pt, however, are depleted in a number of samples by factors of up to 4 for Pt, 6 for Pd, and 20 for Re, compared to primitive mantle estimates. This is in agreement with previous studies from the same locales, which demonstrated the presence of different populations of mantle xenoliths having undergone various degrees of melt extraction. The depletion of the more incompatible elements (Re, Pd, and Pt) also suggests that the HSE budgets of the SW USA peridotites were primarily established by extraction of basaltic melt, and reflect only minor influence from later episodes of metasomatism. Model Re-Os ages obtained from San Carlos and Kilbourne Hole xenoliths may thus reflect ages of crustal formation and mantle depletion in the SW USA region.

vanAcken, D.↗

NASA NTRS2014

Evaluation of the First Transport Rotorcraft Airframe Crash Testbed (TRACT 1) Full-Scale Crash Test

In 2012, the NASA Rotary Wing Crashworthiness Program initiated the Transport Rotorcraft Airframe Crash Testbed (TRACT) research program by obtaining two CH-46E helicopters from the Navy CH-46E Program Office (PMA-226) at the Navy Flight Readiness Center in Cherry Point, North Carolina. Full-scale crash tests were planned to assess dynamic responses of transport-category rotorcraft under combined horizontal and vertical impact loading. The first crash test (TRACT 1) was performed at NASA Langley Research Center's Landing and Impact Research Facility (LandIR), which enables the study of critical interactions between the airframe, seat, and occupant during a controlled crash environment. The CH-46E fuselage is categorized as a medium-lift rotorcraft with fuselage dimensions comparable to a regional jet or business jet. The first TRACT test (TRACT 1) was conducted in August 2013. The primary objectives for TRACT 1 were to: (1) assess improvements to occupant loads and displacement with the use of crashworthy features such as pre-tensioning active restraints and energy absorbing seats, (2) develop novel techniques for photogrammetric data acquisition to measure occupant and airframe kinematics, and (3) provide baseline data for future comparison with a retrofitted airframe configuration. Crash test conditions for TRACT 1 were 33-ft/s forward and 25-ft/s vertical combined velocity onto soft soil, which represent a severe, but potentially survivable impact scenario. The extraordinary value of the TRACT 1 test was reflected by the breadth of meaningful experiments. A total of 8 unique experiments were conducted to evaluate ATD responses, seat and restraint performance, cargo restraint effectiveness, patient litter behavior, and photogrammetric techniques. A combination of Hybrid II, Hybrid III, and ES-2 Anthropomorphic Test Devices (ATDs) were placed in forward and side facing seats and occupant results were compared against injury criteria. Loads from ATDs in energy absorbing seats and restraints were within injury limits. Severe injury was likely for ATDs in forward facing passenger seats, legacy troop bench seats, and a three-tiered patient litter. In addition, two standing ATDs were used to evaluate the benefit of Mobile Aircrew Restraint Systems (MARS) versus a standard gunner's belt. The ATD with the MARS survived the impact, while fatal head blunt trauma occurred for the standing ATD held by the legacy gunner's belt. In addition to occupant loading, the structural response of the airframe was assessed based on accelerometers located throughout the airframe and using three-dimensional photogrammetric techniques. Analysis of the photogrammetric data indicated regions of maximum deflection and permanent deformation.

Annett, Martin S.↗

NASA NTRSDate not supplied

Finite Element Modeling of Extravehicular Mobility Units for Use With Human Body Models – Motivation, Major Challenges, Use Cases and Preliminary Work

Finite element modeling of pressurized spacesuits and implementation with human body models offers many advantages over physical experimentation, but also presents significant challenges. A model of pressurized spacesuit softgoods was developed, integrated with an existing hardgoods model, and fitted to a human body model. Two representative loading scenarios were simulated: dynamic external suit loading and internal occupant-driven loading, to serve as proof-of-concept for the modeling techniques employed. The modeled interactions behaved as intended and illustrate that finite element models of pressurized spacesuits can be used in conjunction with human body models to assess the biomechanical behavior. Further model development and experimental validation are needed.

Finite Element↗

NASA NTRS2024

Finite Element Modeling of Extravehicular Mobility Units for Use With Human Body Models – Motivation, Major Challenges, Use Cases and Preliminary Work

Finite Element↗

NASA NTRS1994

Task-level control for autonomous robots

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

Simmons, Reid↗