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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 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

A sustainable genetic algorithm for satellite resource allocation

A hybrid genetic algorithm is used to schedule tasks for 8 satellites, which can be modelled as a robot whose task is to retrieve objects from a two dimensional field. The objective is to find a schedule that maximizes the value of objects retrieved. Typical of the real-world tasks to which this corresponds is the scheduling of ground contacts for a communications satellite. An important feature of our application is that the amount of time available for running the scheduler is not necessarily known in advance. This requires that the scheduler produce reasonably good results after a short period but that it also continue to improve its results if allowed to run for a longer period. We satisfy this requirement by developing what we call a sustainable genetic algorithm.

Abbott, R. J.↗
NASA NTRS2009

More About Reconfigurable Exploratory Robotic Vehicles

Modular exploratory robotic vehicles that will be able to reconfigure themselves in the field are undergoing development. Proposed for use in exploration of the surfaces of Mars and other remote planets, these vehicles and others of similar design could also be useful for exploring hostile terrain on Earth.

Howard, Ayanna↗
NASA NTRS2005

Spacecraft Solar Sails Containing Electrodynamic Tethers

A report discusses a proposal to use large, lightweight solar sails embedded with electrodynamic tethers (essentially, networks of wires) to (1) propel robotic spacecraft to distant planets, then (2) exploit the planetary magnetic fields to capture the spacecraft into orbits around the planets. The purpose of the proposal is, of course, to make it possible to undertake long interplanetary missions without incurring the large cost and weight penalties of conventional rocket-type propulsion systems. Through transfer of momentum from reflected solar photons, a sail would generate thrust outward from the Sun. Upon arrival in the vicinity of a planet, the electrodynamic tethers would be put to use: Motion of the spacecraft across the planetary magnetic field would induce electric currents in the tether wires, giving rise to an electromagnetic drag force that would be exploited to brake the spacecraft for capture into orbit. The sail with embedded tethers would be made to spin to provide stability during capture. Depending upon the requirements of a particular application, it could be necessary to extend the tether to a diameter greater than that of the sail.

Johnson, Les↗
NASA NTRS2015

Mojave Volatiles Prospector (MVP): Science and Operations Results from a Lunar Polar Rover Analog Field Campaign

The Mojave Volatiles Prospector (MVP) project is a science-driven field program with the goal of producing critical knowledge for conducting robotic exploration of the Moon. MVP feeds science, payload, and operational lessons learned to the development of a real-time, short-duration lunar polar volatiles prospecting mission. MVP achieved these goals through a simulated lunar rover mission to investigate the composition and distribution of surface and subsurface volatiles in a natural and a priori unknown environment within the Mojave Desert, improving our understanding of how to find, characterize, and access volatiles on the Moon.

xGDS real-time science tools↗
NASA NTRS2014

TPSAS-NF1676L-19134-DND

Composite materials and structures are state-of-art enabling technology for modern aerospace vehicles, reducing weight and maintenance requirements, and increasing performance and reliability. Numerical-control manufacturing systems, including automated fiber placement (AFP), are widely used to fabricate these components. However, the challenging weight and performance requirements necessary for the next generation of aerospace vehicles will push the composites state-of-art even further, and require development of even more advanced materials, manufacturing, and structures technologies that are more affordable and more efficient. The Integrated Structural Assembly of Advanced Composites (ISAAC) system is intended to address many of NASA's critical research needs in the field of advanced composites. The baseline ISAAC system, combining a commercial robot with multiple degrees of freedom, a tool changer interface, and a special-purpose AFP end effector, will enable very precise and accurate additive manufacturing of composite structures. One promising area of research enabled by the ISAAC system is advanced composite tow-steered structures that have tailored structural load paths. Several examples are presented that describe these tow-steered composite structures in more detail.

Brian K Stewart↗
NASA NTRS2017

The LEMUR 3 Limbed Climbing Robot

This paper introduces a new four-limbed robot, LEMUR 3, that has demonstrated climbing on cliff faces and smooth glass. Each limb on the robot consists of seven identical actuators in a serial chain. Each limb terminates in a single axis force sensor that allows various end effectors to be mounted and connected to the robot’s power and communication system. Microspine grippers were used for climbing the rocky surface and gecko adhesive grippers were used for the glass solar panels. All other hardware and much of the software was common for the two demonstrations. The robot’s mechanical, electrical, and software systems, various gripping devices, and field demonstrations are described. Limbed mobility is of interest to JPL and NASA because of its potential to access extreme terrain, including that on Mars and in microgravity environments.

Kennedy, Brett↗
NASA NTRSDate not supplied

NASA Efforts to Explore Additively Manufactured Thermal Protection Systems

Development of the thermal protection system (TPS) needed to protect external and internal surfaces during launch, ascent, cruise, and reentry, is a very specialized field with expertise developed over seven decades and has enabled successful robotic as well as human exploration. Well known examples are: 1) the ablative heatshield that protected Apollo Astronauts during reentry in 1960’s, 2) reusable TPS used on the Space Shuttle Orbiter, which is now sought after by commercial space industry, and 3) hot structures, such as Carbon-Carbon and other high temperature materials needed to operate control surfaces and sharp leading edges during hypervelocity flight. TPS function demands fail-safe design to ensure mission success. One TPS does not fit all, and each application requires a unique material along with manufacturing and integration approach. TPS mass is a key metric. A robust but inefficient TPS reduces payload mass. Mission- and domain-unique TPS development and flight certification efforts have been expensive with long lead times. As a result, there are limited TPS choices with high cost. For future commercial efforts to be successful, the ability to rapidly develop TPS, based on specific needs and at a lower cost, without compromising either mass efficiency or functionality is necessary. NASA is looking into this. Additive manufacturing (AM) techniques have shown their utility in making complex parts and, through automation, the potential to reduce cost and schedule in some applications. The promise of additive manufacturing to TPS, while exciting, is unexplored. In the past several years, NASA has made exploratory investments in internal development as well as in small business and universities through SBIR and STTR programs. In addition, NASA is bringing together the TPS as well as Additive Manufacturing communities to explore approaches to prioritize focus areas for broad benefits. The very first “Additively Manufactured Thermal Protection System Workshop,” to be held at NASA Johnson Space Center in Houston at the end of March of this year, is the culmination of a year-long effort to engage the research, development, and user communities involved in both TPS as well as additive manufacturing. The workshop participants include representatives from large and small commercial space industry, DoD, Federally Funded Research and Development Centers, University Researchers and NASA personnel. The proposed talk will highlight future TPS needs of both emerging commercial and Government interests, NASA’s development efforts in additively manufactured TPS, and the findings and recommendations from the first AM TPS Workshop.

Ethiraj Venkatapathy↗
NASA NTRS2016

FINESSE Spaceward Bound - Teacher Engagement in NASA Science and Exploration Field Research

The FINESSE (Field Investigations to Enable Solar System Science and Exploration) team of NASA's Solar System Exploration Research Virtual Institute (SSERVI) is focused on a science and exploration field-based research program aimed at generating strategic knowledge in preparation for the human and robotic exploration of the Moon, Near Earth Asteroids, and the moons of Mars. The FINESSE science program is infused with leading edge exploration concepts since "science enables exploration and exploration enables science." The FINESSE education and public outreach program leverages the team's field investigations and educational partnerships to share the excitement of lunar, Near Earth Asteroid, and martian moon science and exploration locally, nationally, and internationally. The FINESSE education plan is in line with all of NASA's Science Mission Directorate science education objectives, particularly to enable STEM (science, technology, engineering, and mathematics) education and leverage efforts through partnerships.

Moon↗
NASA NTRSDate not supplied

Field and Lab Testing With Trident Drill to Help Prepare for Future Missions

Field work with instrumentation and technologies that are planned for flight missions is an important means to gain understanding that improves mission performance. This paper reports on results from field workin lunar analog volcanic terrain using an engineering model of the Honeybee Robotics TRIDENT (The Regolith and Ice Drill for Exploration of New Terrains)drill[1]. TRIDENT is a rotary percussive 1-meter class drill that is carried on the PRIME-1and VIPER (Volatiles Investigating Polar Exploration Rover)[2] missions to the moon scheduled to launch in 2024. A similar drilling system was planned for the proposed IcebreakerDiscovery class mission to Mars[3]and the Mars Life Explorer mission recommended by the 2020 Decadal Survey of planetary science[4].The field work objectives were (1) to use data collected by the drill for operational purposes as a probe of subsurface material properties in formations that are analogous to those that may be encountered on planetary surfaces; (2) to correlate subsurface structures deduced by drilling with those inferred from interpretations ofGround Penetrating Radar (GPR)data

C R Stoker↗
NASA NTRS1980

Automated construction of lightweight, simple, field-erected structures

The feasibility of automation of construction processes which could result in mobile construction robots is examined. The construction of a large photovoltaic power plant with a peak power output of 100 MW is demonstrated. The reasons to automate the construction process, a conventional construction scenario as the reference for evaluation, and a list of potential cost benefits using robots are presented. The technical feasibility of using robots to construct SPS ground stations is addressed.

Leonard, R. S.↗
NASA NTRS2016

Pre-Mission Input Requirements to Enable Successful Sample Collection by A Remote Field/EVA Team

The FINESSE (Field Investigations to Enable Solar System Science and Exploration) team, part of the Solar System Exploration Virtual Institute (SSERVI), is a field-based research program aimed at generating strategic knowledge in preparation for human and robotic exploration of the Moon, near-Earth asteroids, Phobos and Deimos, and beyond. In contract to other technology-driven NASA analog studies, The FINESSE WCIS activity is science-focused and, moreover, is sampling-focused with the explicit intent to return the best samples for geochronology studies in the laboratory. We used the FINESSE field excursion to the West Clearwater Lake Impact structure (WCIS) as an opportunity to test factors related to sampling decisions. We examined the in situ sample characterization and real-time decision-making process of the astronauts, with a guiding hypothesis that pre-mission training that included detailed background information on the analytical fate of a sample would better enable future astronauts to select samples that would best meet science requirements. We conducted three tests of this hypothesis over several days in the field. Our investigation was designed to document processes, tools and procedures for crew sampling of planetary targets. This was not meant to be a blind, controlled test of crew efficacy, but rather an effort to explicitly recognize the relevant variables that enter into sampling protocol and to be able to develop recommendations for crew and backroom training in future endeavors.

FINESSE↗
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 NTRS1993

A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER)

An approach for a robotic control system which implements so called 'behavioral' control within a realtime multitasking architecture is proposed. The proposed system would attempt to ameliorate some of the problems noted by some researchers when implementing subsumptive or behavioral control systems, particularly with regard to multiple processor systems and realtime operations. The architecture is designed to allow synchronous operations between various behavior modules by taking advantage of a realtime multitasking system's intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development and is briefly described.

Klarer, Paul↗
NASA NTRS2003

Experiments with an EVA Assistant Robot

Human missions to the Moon or Mars will likely be accompanied by many useful robots that will assist in all aspects of the mission, from construction to maintenance to surface exploration. Such robots might scout terrain, carry tools, take pictures, curate samples, or provide status information during a traverse. At NASA/JSC, the EVA Robotic Assistant (ERA) project has developed a robot testbed for exploring the issues of astronaut-robot interaction. Together with JSC's Advanced Spacesuit Lab, the ERA team has been developing robot capabilities and testing them with space-suited test subjects at planetary surface analog sites. In this paper, we describe the current state of the ERA testbed and two weeks of remote field tests in Arizona in September 2002. A number of teams with a broad range of interests participated in these experiments to explore different aspects of what must be done to develop a program for robotic assistance to surface EVA. Technologies explored in the field experiments included a fuel cell, new mobility platform and manipulator, novel software and communications infrastructure for multi-agent modeling and planning, a mobile science lab, an "InfoPak" for monitoring the spacesuit, and delayed satellite communication to a remote operations team. In this paper, we will describe this latest round of field tests in detail.

Burridge, Robert R.↗
NASA NTRS2020

Is a Linear or a Walkabout Protocol More Efficient When Using a Rover to Choose Biologically Relevant Samples in a Small Region of Interest?

We conducted a field test at a potential Mars analog site to provide insight into planning for future robotic missions such as Mars 2020, where science operations must facilitate efficient choice of biologically relevant sampling locations. We compared two data acquisition and decision-making protocols currently used by Mars Science Laboratory: (1) a linear approach, where sites are examined as they are encountered and (2) a walkabout approach, in which the field site is first examined with remote rover instruments to gain an understanding of regional context followed by deployment of time- and power-intensive contact and sampling instruments on a smaller subset of locations. The walkabout method was advantageous in terms of both the time required to execute and a greater confidence in results and interpretations, leading to enhanced ability to tailor follow-on observations to better address key science and sampling goals. This advantage is directly linked to the walkabout method's ability to provide broad geological context earlier in the science analysis process. For Mars 2020, and specifically for small regions to be explored (e.g., <1 sq. km), we recommend that the walkabout approach be considered where possible, to provide early context and time for the science team to develop a coherent suite of hypotheses and robust ways to test them.

R. Aileen Yingst↗
NASA NTRS2011

Development and Demonstration of Sustainable Surface Infrastructure for Moon/Mars Exploration

For long-term human exploration of the Moon and Mars to be practical, affordable, and sustainable, future missions must be able to identify and utilize resources at the site of exploration. The ability to characterize, extract, processes, and separate products from local material, known as In-Situ Resource Utilization (ISRU), can provide significant reductions in launch mass, logistics, and development costs while reducing risk through increased mission flexibility and protection as well as increased mission capabilities in the areas of power and transportation. Making mission critical consumables like propellants, fuel cell reagents and life support gases, as well as in-situ crew/hardware protection and energy storage capabilities can significantly enhance robotic and human science and exploration missions, however other mission systems need to be designed to interface with and utilize these in-situ developed products and services from the start or the benefits will be minimized or eliminated. This requires a level of surface and transportation system development coordination not typically utilized during early technology and system development activities. An approach being utilized by the US National Aeronautics and Space Administration and the Canadian Space Agency has been to utilize joint analogue field demonstrations to focus technology development activities to demonstrate and integrate new and potentially game changing. mission critical capabilities that would enable an affordable and sustainable surface infrastructure for lunar and Mars robotic and human exploration. Two analogue field tests performed in November 2008 and February 2010 demonstrated first generation capabilities for lunar resource prospecting, exploration site preparation, and oxygen extraction from regolith while initiating integration with mobility, science, fuel cell power, and propulsion disciplines. A third analogue field test currently planned for June 2012 will continue and expand the fidelity and integration of these surface exploration and infrastructure capabilities while adding Mars exploration technologies, improving remote operations and control of hardware, and promoting the use of common software, interfaces, & standards for control and operation for surface exploration and science. The next field test will also attempt to include greater involvement by industry, academia, and other countries/space agencies. This paper will provide an overview of the development and demonstration approach utilized to date, the results of the previous two ISRU-focused field analogue tests in Hawaii, and the current objectives and plans for the 3rd international Hawaii analogue field test.

Sanders, Gerald B.↗