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At least 253 records · Page 14

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NASA NTRSDate not supplied

Hardware Autonomy for Space Infrastructure

NASA prioritizes autonomous systems development with the expectation that it will continue to drive significant improvements in human and science exploration capability. Crew operations benefit from a spectrum of machine assistance to complete replacement of dangerous or highly repetitive tasks. Many science operations have a teleoperation component, and similarly benefit from a range of autonomy implementations that make long distance applications feasible. As we consider longer duration deep space missions, we also consider higher levels of autonomy in order meet emergent safety, maintenance, and logistics needs. One of the challenges within this scope is installation and maintenance of infrastructure, such as large scale instrumentation and communications equipment, crew habitats, and operational facilities. We describe how a programmable meta-material architecture may shift the paradigm of how we design, build, and operate future space infrastructure and assets. A primary objective of this strategy is to free the design space from launch vehicle constraints and fundamentally shift how a mission is designed and conducted. This integrates advances in materials (mechanical meta-materials), manufacturing (cooperative mobile robotics), and autonomy (multi-agent planning algorithms). Engineering systems that utilize a modular and reconfiguration building block approach, such as digital communication and computation systems, currently lead in terms of size and complexity scalability. NASA is extending the benefits and flexibility of digital systems to hardware systems, to optimize materials life-cycle management and expand our space exploration mission capabilities to meet long duration and deep space infrastructure needs, in accordance with long term NASA goals of "in-space reliance" and "mass-less exploration."

In space assembly↗

NASA NTRSDate not supplied

Ice Shape Analysis of an eVTOL Propeller in Forward Flight at the NASA Glenn Icing Research Tunnel

Advanced Air Mobility (AAM) introduces many novel electric vertical takeoff and landing (eVTOL) aircraft configurations for which the effect of icing is not well understood. While icing computational tools have often aided in the design and certification of conventional aircraft, experimental data is needed to support the development and validation of such tools for eVTOL applications. To investigate the icing phenomenon relevant to eVTOL aircraft, NASA Glenn Research Center developed a general-purpose propeller test stand for conducting fundamental icing research on electrically driven propellers in the Icing Research Tunnel (IRT). A 10-day test entry in the IRT was completed in March, 2023, with the goal of generating ice accretions on a non-proprietary propeller geometry under well-characterized conditions. Three carbon fiber propellers of diameters 0.610, 0.711, and 0.914 m (24, 28, and 36 in) were used during the test. Various parametric sweeps of cloud and operating conditions were performed to evaluate the sensitivity of the parameters on the resulting ice accretion characteristics such as ice thickness, mass, location (impingement limits), and type (glaze vs rime). Ice shapes were reviewed for their repeatability, correctness of trends, and sensitivity to parameter variations. The data from the test is being used to support the development of the ice accretion solver, GlennICE.

Icing↗

NASA NTRS2024

Ice Shape Analysis of an eVTOL Propeller in Forward Flight at the NASA Glenn Icing Research Tunnel

Icing↗

NASA NTRS1991

An improved pi/4-QPSK with nonredundant error correction for satellite mobile broadcasting

An improved pi/4-quadrature phase-shift keying (QPSK) receiver that incorporates a simple nonredundant error correction (NEC) structure is proposed for satellite and land-mobile digital broadcasting. The bit-error-rate (BER) performance of the pi/4-QPSK with NEC is analyzed and evaluated in a fast Rician fading and additive white Gaussian noise (AWGN) environment using computer simulation. It is demonstrated that with simple electronics the performance of a noncoherently detected pi/4-QPSK signal in both AWGN and fast Rician fading can be improved. When the K-factor (a ratio of average power of multipath signal to direct path power) of the Rician channel decreases, the improvement increases. An improvement of 1.2 dB could be obtained at a BER of 0.0001 in the AWGN channel. This performance gain is achieved without requiring any signal redundancy and additional bandwidth. Three types of noncoherent detection schemes of pi/4-QPSK with NEC structure, such as IF band differential detection, baseband differential detection, and FM discriminator, are discussed. It is concluded that the pi/4-QPSK with NEC is an attractive scheme for power-limited satellite land-mobile broadcasting systems.

Feher, Kamilo↗

NASA NTRS1989

The case for Mars III: Strategies for exploration - Technical

Papers on issues related to Mars exploration are presented, covering topics such as the social implications of manned missions to Mars, mission strategies, mission designs, the economics of a Mars mission, Space Station support for a Mars mission, a Diagnostic and Environmental Monitoring System, and a zero-g CELSS/recreation facility for an earth/Mars crew shuttle. Other topics include biomedical concerns and fitness in spaceflight, spaceflight environment habitability, the Mars Rover/Sample Return Mission, a rooitic Mars surface sampler, a Mars Orbiter, and scientific goals of Mars exploration. Additional topics include Space Station evolution, mission options, modeling advanced space systems, computer support for Mars missions, launch system options, advanced propulsion techniques, the utilization of resources on Mars, the development of a Martian base, and options for mobility on Mars.

Stoker, Carol R.↗

NASA NTRS1995

Contour Mapping

In the early 1990s, the Ohio State University Center for Mapping, a NASA Center for the Commercial Development of Space (CCDS), developed a system for mobile mapping called the GPSVan. While driving, the users can map an area from the sophisticated mapping van equipped with satellite signal receivers, video cameras and computer systems for collecting and storing mapping data. George J. Igel and Company and the Ohio State University Center for Mapping advanced the technology for use in determining the contours of a construction site. The new system reduces the time required for mapping and staking, and can monitor the amount of soil moved.

Source record↗

NASA NTRSDate not supplied

Cooperative Clustering Techniques Applied to Contact Graph Routing

Routing in the space internet has to face many unique challenges - from unplanned disconnections and interruptions to predictable intermittent connectivity due to high network mobility and long propagation delays. NASA’s current approach to such routing is Contact Graph Routing (CGR), using a graph formed of prescheduled communication contacts to compute routes through the network. While this approach manages to tackle issues of connectivity and propagation delays, it is a global approach that requires continuous knowledge of the entire network. In a potential future Solar Space Internet (SSI) such an approach on its own cannot scale to large networks with thousands of members. In this presentation we propose clustering as a solution to CGR scalability. Clustering has been used in many networking problems as a way to subdivide the network and allow for localized routing and better scalability. Using techniques from graph theory and game theory, we explore various existing clustering algorithms and adapt them to the Contact Graph Routing setting. Finally, we propose a way to combine multiple algorithms to create a Delay Tolerant Clustering Protocol.

Yael Kirkpatrick↗

NASA NTRSDate not supplied

Combined Bernstein Polynomial, Optimal Reciprocal Collision Avoidance, Differential Dynamic Programming for Trajectory Replanning and Collision Avoidance for UAM Vehicles

This paper presents an integration of Differential Dynamic Programming (DDP) with the Optimal Reciprocal Collision Avoidance (ORCA) algorithm as the basis for a new algorithm, titled Combined Bernstein Polynomial Optimal Reciprocal Collision Avoidance DDP (COBRA-DDP), for trajectory replanning and collision avoidance for Urban Air Mobility (UAM) vehicles. State-constrained variants of DDP provide the ability to plan trajectories while avoiding obstacles, but these methods require a large increase in computational time per iteration which hinders the overall speed of the algorithm. ORCA utilizes simplified dynamics to recognize potential collisions along a trajectory and provides an optimal velocity for the avoidance of multiple vehicles. These velocity commands, however, may not result in a dynamically feasible trajectory for DDP to plan around. As such, a Bernstein polynomial curve that considers the general dynamic constraints of the vehicle is generated to approximate a trajectory based on the velocity commands. COBRA-DDP optimizes this suggested trajectory via unconstrained DDP to provide a dynamically feasible trajectory that provides collision avoidance. This new trajectory can be applied to the vehicle or used to warm start the state constrained DDP algorithms to decrease computation time. Its benefits and effectiveness of the algorithm are demonstrated on a UAM Vertical Takeoff and Landing (VTOL) vehicle simulation with highly nonlinear dynamics.

Optimal Reciprocal Collision Avoidance↗

NASA NTRSDate not supplied

Cooperative Clustering Techniques For Space Network Scalability

Routing in the space internet must face many unique challenges - from unplanned disconnections and interruptions to predictable intermittent connectivity due to high network mobility and long propagation delays. NASA’s current approach to such routing is Contact Graph Routing (CGR), using a graph formed of prescheduled communication contacts to compute routes through the network. While this approach manages to tackle issues of connectivity and propagation delays, it is a global approach that requires continuous knowledge of the entire network. In a potential future Solar Space Internet (SSI) such an approach on its own cannot scale to large networks with thousands of members. In this paper we propose clustering as a solution to CGR scalability. Clustering has been used in many networking problems as a way to subdivide the network and allow for localized routing and better scalability. Using techniques from graph theory and game theory, we explore various existing clustering algorithms and adapt them to the Contact Graph Routing setting. We propose a way to combine multiple algorithms to create a Delay Tolerant Clustering Protocol (DTCP). In addition, we explore the underlying networking mechanisms such as multicast, neighbor discovery, and software defined networking that may be used to enable DTCP.

Delay Tolerant Networking↗

NASA NTRS1985

Investigations of radiation-induced and carrier-enhanced conductivity

A steady-state carrier computer code, PECK (Parker Enhanced Carrier Kinetics), that predicts the radiation-induced conductivity (RIC) produced in a dielectric by an electron beam was developed. The model, which assumes instantly-trapped holes, was then applied to experimental measurements on thin Kapton samples penetrated by an electron beam. Measurements at high bias were matched in the model by an appropriate choice for the trap-modulated electron mobility. A fractional split between front and rear currents measured at zone bias is explained on the basis of beam-scattering. The effects of carrier-enhanced conductivity (CEC) on data obtained for thick, free-surface Kapton samples is described by using an analytical model that incorporates field injection of carriers from the RIC region. The computer code, LWPCHARGE, modified for carrier transport, is also used to predict partial penetration effects associated with CEC in the unirradiated region. Experimental currents and surface voltages, when incorporated in the appropriate models, provide a value for the trap modulated mobility that is in essential agreement with the RIC results.

Meulenberg, A., Jr.↗

NASA NTRSDate not supplied

Second-Generation UAM Community Noise Assessment Using the FAA Aviation Environmental Design Tool

Vehicles serving the urban air mobility (UAM) market are anticipated to operate in communities close to the public at large. The approved model for assessing environmental impact of air traffic actions in the United States, the Federal Aviation Administration’s Aviation Environmental Design Tool (AEDT), does not support analysis of such operations due to a combined lack of a UAM aircraft performance model and aircraft noise data. This paper discusses second-generation developments to assess the acoustic impact of UAM fleet operations on the community using AEDT and demonstrates its use for representative UAM operations. In particular, methods were developed to add broadband self noise into computed noise-power-distance data, and vertiport-centric operations were evaluated for two concept vehicles.

urban air mobility↗

NASA NTRS1986

Dislocation dynamics during the growth of silicon ribbon

The thermal viscoplastic stresses and the dislocation densities in silicon ribbon are computed for an axially changing thermal profile by using an iterative finite difference method. A material constitutive equation (Haasen-Sumino model) which involves an internal variable (mobile dislocation density) is used. The results are interpreted as showing that there is a maximum width of silicon ribbon that can be grown when viscoplasticity and dislocations are considered. This maximum width limitation does not exist if the material behavior is elastic.

Dillon, O. W., Jr.↗

NASA NTRS1989

The development of the Canadian Mobile Servicing System Kinematic Simulation Facility

Canada will develop a Mobile Servicing System (MSS) as its contribution to the U.S./International Space Station Freedom. Components of the MSS will include a remote manipulator (SSRMS), a Special Purpose Dexterous Manipulator (SPDM), and a mobile base (MRS). In order to support requirements analysis and the evaluation of operational concepts related to the use of the MSS, a graphics based kinematic simulation/human-computer interface facility has been created. The facility consists of the following elements: (1) A two-dimensional graphics editor allowing the rapid development of virtual control stations; (2) Kinematic simulations of the space station remote manipulators (SSRMS and SPDM), and mobile base; and (3) A three-dimensional graphics model of the space station, MSS, orbiter, and payloads. These software elements combined with state of the art computer graphics hardware provide the capability to prototype MSS workstations, evaluate MSS operational capabilities, and investigate the human-computer interface in an interactive simulation environment. The graphics technology involved in the development and use of this facility is described.

Beyer, G.↗

NASA NTRS1998

Autonomous Mobile Platform for Research in Cooperative Robotics

This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

Daemi, Ali↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS2004

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

moving object detection↗

NASA NTRS2009

Effects of Tantalum on the Temporal Evolution of a Model Ni-Al-Cr Superalloy During Phase Decomposition

The effects of a 2.0 at.% addition of Ta to a model Ni-10.0Al-8.5Cr (at.%) superalloy aged at 1073 K are assessed using scanning electron microscopy and atom-probe tomography. The gamma'(Ll2)-precipitate morphology that develops as a result of gamma-(fcc)matrix phase decomposition is found to evolve from a bimodal distribution of spheroidal precipitates, to {001}-faceted cuboids and parallelepipeds aligned along the elastically soft {001}-type directions. The phase compositions and the widths of the gamma'-precipitate/gamma-matrix heterophase interfaces evolve temporally as the Ni-Al-Cr-Ta alloy undergoes quasi-stationary state coarsening after 1 h of aging. Tantalum is observed to partition preferentially to the gamma'-precipitate phase, and suppresses the mobility of Ni in the gamma-matrix sufficiently to cause an accumulation of Ni on the gamma-matrix side of the gamma'/gamma interface. Additionally, computational modeling, employing Thermo-Calc, Dictra and PrecipiCalc, is employed to elucidate the kinetic pathways that lead to phase decomposition in this concentrated Ni-Al-Cr-Ta alloy.

Booth, Morrison, Christopher↗