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NASA NTRSDate not supplied

The Road from Costa Rica to the International Space Station

Astrobee is complex autonomous system comprehending components on board the International Space Station and on Earth. It aims to help scientists and engineers drive innovative research faster as well as becoming the foundation for autonomous systems operating on future un-crewed space stations. I would have not believed I was going to work with Astrobee 10 years ago, let alone when I was a growing up. Being a kid in the mid 80s-90s in Costa Rica was quite different from today. Dreaming of working in space robotics was, unsurprisingly, only a dream. During this presentation, I will talk about the events that helped me navigate through the road that took me from this small Central American country to create maps on a weekly basis for the Astrobee robots in the International Space Station.

Astrobee↗

NASA NTRS2016

Autonomous Operations System: Development and Application

Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

Autonomous Control Systems↗

NASA NTRS2007

Dryden Flight Research Center Overview

This viewgraph document presents a overview of the Dryden Flight Research Center's facilities. Dryden's mission is to advancing technology and science through flight. The mission elements are: perform flight research and technology integration to revolutionize aviation and pioneer aerospace technology, validate space exploration concepts, conduct airborne remote sensing and science observations, and support operations of the Space Shuttle and the ISS for NASA and the Nation. It reviews some of the recent research projects that Dryden has been involved in, such as autonomous aerial refueling, the"Quiet Spike" demonstration on supersonic F-15, intelligent flight controls, high angle of attack research on blended wing body configuration, and Orion launch abort tests.

Meyer, Robert R., Jr.↗

NASA NTRS2003

Working and Learning with Knowledge in the Lobes of a Humanoid's Mind

Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that has proven so successful for autonomous robots is missing one or more key elements that will be needed for humanoids to meet their full potential as autonomous human assistants. This key ingredient is knowledge. The presented work includes experiments conducted on the Robonaut system, a NASA and the Defense Advanced research Projects Agency (DARPA) joint project, and includes collaborative efforts with a DARPA Mobile Autonomous Robot Software technical program team of researchers at NASA, MIT, USC, NRL, UMass and Vanderbilt. The paper reports on results in the areas of human-robot interaction (human tracking, gesture recognition, natural language, supervised control), perception (stereo vision, object identification, object pose estimation), autonomous grasping (tactile sensing, grasp reflex, grasp stability) and learning (human instruction, task level sequences, and sensorimotor association).

Ambrose, Robert↗

NASA NTRS1987

MIT research in telerobotics

Ongoing MIT research in telerobotics (vehicles capable of some autonomous sensing and manipulating, having some remote supervisory control by people) and teleoperation (vehicles for sensing and manipulating which are fully controlled remotely by people) is discussed. The current efforts mix human and artificial intelligence/control. The idea of adjustable impedance at either end of pure master-slave teleoperation, and simultaneous coordinated control of teleoperator/telerobotic systems which have more than six degrees of freedom (e.g., a combined vehicle and arm, each with five or six DOF) are discussed. A new cable-controlled parallel link arm which offers many advantages over conventional arms for space is briefly described. Predictor displays to compensate for time delay in teleoperator loops, the use of state estimation to help human control decisions in space, and ongoing research in supervisory command language are covered. Finally, efforts to build a human flyable real-time dynamic computer-graphic telerobot simulator are described. These projects represent most, but not all, of the telerobotics research in our laboratory, supported by JPL, NASA Ames and NOAA.

Sheridan, T. B.↗

NASA NTRS1992

Lessons learned from the Autonomous Power System

The Autonomous Power System (APS) project at the NASA Lewis Research Center is designed to demonstrate the applications of integrated intelligent diagnosis, control and scheduling techniques to space power distribution systems. The project consists of three elements: the Autonomous Power Expert System (APEX) for Fault Diagnosis, Isolation, and Recovery (FDIR); the Autonomous Intelligent Power Scheduler (AIPS) to efficiently assign activities start times and resources; and power hardware (Brassboard) to emulate a space-based power system. The APS project had been through one design iteration. Each of the three elements of the APS project has been designed, tested, and integrated into a complete working system. After these three portions were completed, an evaluation period was initiated. Each piece of the system was critiqued based on individual performance as well as the ability to interact with the other portions of the APS project. These critiques were then used to determine guidelines for new and improved components of the APS system.

Ringer, Mark J.↗

DOE OSTI2017

The Olympic Mountains Experiment (OLYMPEX)

The Olympic Mountains Experiment (OLYMPEX) took place during the 2015/16 fall–winter season in the vicinity of the mountainous Olympic Peninsula of Washington State. The goals of OLYMPEX were to provide physical and hydrologic ground validation for the U.S.–Japan Global Precipitation Measurement (GPM) satellite mission and, more specifically, to study how precipitation in Pacific frontal systems is modified by passage over coastal mountains. Four transportable scanning dual-polarization Doppler radars of various wavelengths were installed for this study. Surface stations were placed at various altitudes to measure precipitation rates, particle size distributions, and fall velocities. Autonomous recording cameras monitored and recorded snow accumulation. Four research aircraft supplied by NASA investigated precipitation processes and snow cover, and supplemental rawinsondes and dropsondes were deployed during precipitation events. Finally, numerous Pacific frontal systems were sampled, including several reaching “atmospheric river” status, warm- and cold-frontal systems, and postfrontal convection.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2020

Synchronverter-based Control of Multi-Port Autonomous Reconfigurable Solar Plants (MARS)

Control of integrated photovoltaic (PV) plants with energy storage systems (ESSs) has become an important research and development topic in recent times. In this context, a Multi-port Autonomous Reconfigurable Solar (MARS) plant that integrates PV and ESS to alternating current transmission grid and high-voltage direct current (HVdc) link is studied in this paper. With penetration of power electronic based resources in the grid, the grid’s capability to recover from frequency or voltage disturbances are reduced. Therefore, one of the vital objectives of any new grid integrated power electronic resource is to provide advanced control functions like voltage and frequency support to the grid during disturbances. In this research work, a detailed implementation of a synchronverter-based control algorithm of MARS is presented. The proposed control algorithm and the MARS control architecture are evaluated through simulations on PSCAD/EMTDC simulation platform to showcase the performance in different operating conditions. In addition, they are evaluated in Opal-RT offline simulation models which can also be used to perform control-hardware-in-the-loop (cHIL) tests.

Marthi, Phani Ratna Vanamali↗

NASA NTRS1991

Autonomous power system intelligent diagnosis and control

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

Ringer, Mark J.↗

NASA NTRS1991

Autonomous Power System intelligent diagnosis and control

Ringer, Mark J.↗

NASA NTRS2015

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

Tran, Loc↗

DOE OSTI2011

Critical Infrastructure for Ocean Research and Societal Needs in 2030

The United States has jurisdiction over 3.4 million square miles of ocean expanse greater than the land area of all fifty states combined. This vast marine area offers researchers opportunities to investigate the ocean's role in an integrated Earth system, but also presents challenges to society, including damaging tsunamis and hurricanes, industrial accidents, and outbreaks of waterborne diseases. The 2010 Gulf of Mexico Deepwater Horizon oil spill and 2011 Japanese earthquake and tsunami are vivid reminders that a broad range of infrastructure is needed to advance our still-incomplete understanding of the ocean. The National Research Council (NRC)'s Ocean Studies Board was asked by the National Science and Technology Council's Subcommittee on Ocean Science and Technology, comprised of 25 U.S. government agencies, to examine infrastructure needs for ocean research in the year 2030. This request reflects concern, among a myriad of marine issues, over the present state of aging and obsolete infrastructure, insufficient capacity, growing technological gaps, and declining national leadership in marine technological development; issues brought to the nation's attention in 2004 by the U.S. Commission on Ocean Policy. A 15-member committee of experts identified four themes that encompass 32 future ocean research questions enabling stewardship of the environment, protecting life and property, promoting economic vitality, and increasing fundamental scientific understanding. Many of the questions in the report (e.g., sea level rise, sustainable fisheries, the global water cycle) reflect challenging, multidisciplinary science questions that are clearly relevant today, and are likely to take decades of effort to solve. As such, U.S. ocean research will require a growing suite of ocean infrastructure for a range of activities, such as high quality, sustained time series observations or autonomous monitoring at a broad range of spatial and temporal scales. Consequently, a coordinated national plan for making future strategic investments becomes an imperative to address societal needs. Such a plan should be based upon known priorities and should be reviewed every 5-10 years to optimize the federal investment. The committee examined the past 20 years of technological advances and ocean infrastructure investments (such as the rise in use of self-propelled, uncrewed, underwater autonomous vehicles), assessed infrastructure that would be required to address future ocean research questions, and characterized ocean infrastructure trends for 2030. One conclusion was that ships will continue to be essential, especially because they provide a platform for enabling other infrastructure autonomous and remotely operated vehicles; samplers and sensors; moorings and cabled systems; and perhaps most importantly, the human assets of scientists, technical staff, and students. A comprehensive, long-term research fleet plan should be implemented in order to retain access to the sea. The current report also calls for continuing U.S. capability to access fully and partially ice-covered seas; supporting innovation, particularly the development of biogeochemical sensors; enhancing computing and modeling capacity and capability; establishing broadly accessible data management facilities; and increasing interdisciplinary education and promoting a technically-skilled workforce. The committee also provided a framework for prioritizing future investment in ocean infrastructure. They recommend that development, maintenance, or replacement of ocean research infrastructure assets should be prioritized in terms of societal benefit, with particular consideration given to usefulness for addressing important science questions; affordability, efficiency, and longevity; and ability to contribute to other missions or applications. These criteria are the foundation for prioritizing ocean research infrastructure investments by estimating the economic costs and benefits of each potential infrastructure investment, and funding those investments that collectively produce the largest expected net benefit over time. While this type of process is clearly subject to budget constraints, it could quantify the often informal evaluation of linkages between infrastructure, ocean research, the value of information produced, societal objectives, and economic benefits. Addressing the numerous complex science questions facing the entire ocean research enterprise in 2030 from government to academia, industry to nonprofits, local to global scale represents a major challenge, requiring collaboration across the breadth of the ocean sciences community and nearly seamless coordination between ocean-related federal agencies.

47 OTHER INSTRUMENTATION↗

NASA NTRS2000

Flight Control System Development for the BURRO Autonomous UAV

Developing autonomous flying vehicles has been a growing field in aeronautical research within the last decade and will continue into the next century. With concerns about safety, size, and cost of manned aircraft, several autonomous vehicle projects are currently being developed; uninhabited rotorcraft offer solutions to requirements for hover, vertical take-off and landing, as well as slung load transportation capabilities. The newness of the technology requires flight control engineers to question what design approaches, control law architectures, and performance criteria apply to control law development and handling quality evaluation. To help answer these questions, this paper documents the control law design process for Kaman Aerospace BURRO project. This paper will describe the approach taken to design control laws and develop math models which will be used to convert the manned K-MAX into the BURRO autonomous rotorcraft. With the ability of the K-MAX to lift its own weight (6000 lb) the load significantly affects the dynamics of the system; the paper addresses the additional design requirements for slung load autonomous flight. The approach taken in this design was to: 1) generate accurate math models of the K-MAX helicopter with and without slung loads, 2) select design specifications that would deliver good performance as well as satisfy mission criteria, and 3) develop and tune the control system architecture to meet the design specs and mission criteria. An accurate math model was desired for control system development. The Comprehensive Identification from Frequency Responses (CIFER(R)) software package was used to identify a linear math model for unloaded and loaded flight at hover, 50 kts, and 100 kts. The results of an eight degree-of-freedom CIFER(R)-identified linear model for the unloaded hover flight condition are presented herein, and the identification of the two-body slung-load configuration is in progress.

Colbourne, Jason D.↗

DOE OSTI2025

Leveraging unlabeled SEM datasets with self-supervised learning for enhanced particle segmentation

Scanning Electron Microscopes (SEMs) are widely used in experimental science laboratories, often requiring cumbersome and repetitive user analysis. Automating SEM image analysis processes is highly desirable to address this challenge. In particle sample analysis, Machine Learning (ML) has emerged as the most effective approach for particle segmentation. However, the time-intensive process of manually annotating thousands of SEM images limits the applicability of supervised learning approaches. Self-Supervised Learning (SSL) offers a promising alternative by enabling knowledge extraction from raw, unlabeled data. This study presents a framework for evaluating SSL techniques in SEM image analysis, focusing on novel methods leveraging the ConvNeXtV2 architecture for particle detection. A dataset comprising 25,000 SEM images is curated to benchmark these proposed SSL methods. The results demonstrate that ConvNeXtV2 models, with varying parameter counts, consistently outperform other techniques in particle detection across different length scales, achieving up to a 34% reduction in relative error compared to established SSL methods. Furthermore, an ablation study explores the relationship between dataset size and SSL performance, providing actionable insights for practitioners regarding model selection and resource efficiency. This research advances the integration of SSL into autonomous analysis pipelines and supports its application in accelerating materials science discovery.

Rettenberger, Luca↗

DOE OSTI2011

Final report for LDRD project 11-0783 : directed robots for increased military manpower effectiveness.

The purpose of this LDRD is to develop technology allowing warfighters to provide high-level commands to their unmanned assets, freeing them to command a group of them or commit the bulk of their attention elsewhere. To this end, a brain-emulating cognition and control architecture (BECCA) was developed, incorporating novel and uniquely capable feature creation and reinforcement learning algorithms. BECCA was demonstrated on both a mobile manipulator platform and on a seven degree of freedom serial link robot arm. Existing military ground robots are almost universally teleoperated and occupy the complete attention of an operator. They may remove a soldier from harm's way, but they do not necessarily reduce manpower requirements. Current research efforts to solve the problem of autonomous operation in an unstructured, dynamic environment fall short of the desired performance. In order to increase the effectiveness of unmanned vehicle (UV) operators, we proposed to develop robots that can be 'directed' rather than remote-controlled. They are instructed and trained by human operators, rather than driven. The technical approach is modeled closely on psychological and neuroscientific models of human learning. Two Sandia-developed models are utilized in this effort: the Sandia Cognitive Framework (SCF), a cognitive psychology-based model of human processes, and BECCA, a psychophysical-based model of learning, motor control, and conceptualization. Together, these models span the functional space from perceptuo-motor abilities, to high-level motivational and attentional processes.

99 GENERAL AND MISCELLANEOUS↗

DOE OSTI2014

Hyperspectral Polymer Solar Cells, Integrated Power for Microsystems

The purpose of this research is to address a critical technology barrier to the deployment of next generation autonomous microsystems – the availability of efficient and reliable power sources. The vast majority of research on microsystems has been directed toward the development and miniaturization of sensors and other devices that enhance their intelligence, physical, and networking capabilities. However, the research into power generating and power storage technologies has not keep pace with this development. This research leveraged the capabilities of RIT’s NanoPower Research Laboratories (NPRL) in materials for advanced lithium ion batteries, nanostructured photovoltaics, and hybrid betavoltaics to develop reliable power sources for microsystems.

14 SOLAR ENERGY↗

DOE OSTI2021

Assimilation of Multiscale Data into Multifidelity Biogeochemical Models (Final Report)

Quantitative predictions of subsurface processes rely on computational models that capture, with different degrees of fidelity, complex interactions between hydrologic and biogeochemical processes. Molecular- and pore-scale models provide a high-fidelity representation of these processes but are impractical at the field scale. Reduced complexity (e.g., field-scale or data-driven) models sacrifice some degree of fidelity in favor of computational efficiency. Uncertainty and assimilation of data into model predictions, pose a question of model selection: Given a significant difference in computational cost, can a lower-fidelity model be preferable to its higher-fidelity counterpart? Since a predictive model must be computable in reasonable time it has to operate at the field scale, with molecular- and pore-scale data (obtained either from simulations or measurements) determining both the model's structure and parameters. Availability of such multi-resolution data raises a question hitherto undressed in hydrogeology: Can a coarse model dynamically ``learn'' its own structure (e.g., adjust the reaction pathways in its transport module) as more fine-scale data become available during simulations? Our results in multifidelity simulations, data assimilation, and machine learning led us to hypothesize that the answer to these questions is ``yes''. The overarching goal of this project was to confirm this hypothesis by developing scalable, computationally efficient tools for assimilation of data into multiscale models, in which fine-scale data and simulations dynamically inform and autonomously modify coarse-scale models. Our research led to nine manuscripts, three of which have been published and the other six are currently under review.

96 KNOWLEDGE MANAGEMENT AND PRESERVATION↗

DOE OSTI2024

Extracting Vehicle Trajectories from Partially Overlapping Roadside Radar

This work presents a methodology for extracting vehicle trajectories from six partially-overlapping roadside radars through a signalized corridor. The methodology incorporates radar calibration, transformation to the Frenet space, Kalman filtering, short-term prediction, lane-classification, trajectory association, and a covariance intersection-based approach to track fusion. The resulting dataset contains 79,000 fused radar trajectories over a 26-h period, capturing diverse driving scenarios including signalized intersections, merging behavior, and a wide range of speeds. Compared to popular trajectory datasets such as NGSIM and highD, this dataset offers extended temporal coverage, a large number of vehicles, and varied driving conditions. The filtered leader–follower pairs from the dataset provide a substantial number of trajectories suitable for car-following model calibration. The framework and dataset presented in this work has the potential to be leveraged broadly in the study of advanced traffic management systems, autonomous vehicle decision-making, and traffic research.

33 ADVANCED PROPULSION SYSTEMS↗