Scalable Autonomously Configured Integrated DAQ/Control System
Scalable Autonomously Configured Integrated DAQ/Control System
Aaron Patrick Head↗
SEARCH · Engineering Papers
Results for “Autonomous Systems”
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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Tailoring the response of Autonomous Reactivity Control (ARC) systems
The Autonomous Reactivity Control (ARC) system was developed to ensure inherent safety of Generation IV reactors while having a minimal impact on reactor performance and economic viability. In this study we present the transient response of fast reactor cores to postulated accident scenarios with and without ARC systems installed. Using a combination of analytical methods and numerical simulation, the principles of ARC system design that assure stability and avoids oscillatory behavior have been identified. A comprehensive transient analysis study for ARC-equipped cores, including a series of Unprotected Loss of Flow (ULOF) and Unprotected Loss of Heat Sink (ULOHS) simulations, were performed for Argonne National Laboratory (ANL) Advanced Burner Reactor (ABR) designs. With carefully designed ARC-systems installed in the fuel assemblies, the cores exhibit a smooth non-oscillatory transition to stabilization at acceptable temperatures following all postulated transients. To avoid oscillations in power and temperature, the reactivity introduced per degree of temperature change in the ARC system needs to be kept below a certain threshold the value of which is system dependent, the temperature span of actuation needs to be as large as possible.
ARC↗
Autonomous experimentation systems for materials development: A community perspective
Solutions to many of the world's problems depend upon materials research and development. However, advanced materials can take decades to discover and decades more to fully deploy. Humans and robots have begun to partner to advance science and technology orders of magnitude faster than humans do today through the development and exploitation of closed-loop, autonomous experimentation systems. This review discusses the specific challenges and opportunities related to materials discovery and development that will emerge from this new paradigm. Our perspective incorporates input from stakeholders in academia, industry, government laboratories, and funding agencies. We outline the current status, barriers, and needed investments, culminating with a vision for the path forward. We intend the article to spark interest in this emerging research area and to motivate potential practitioners by illustrating early successes. We also aspire to encourage a creative reimagining of the next generation of materials science infrastructure. To this end, we frame future investments in materials science and technology, hardware and software infrastructure, artificial intelligence and autonomy methods, and critical workforce development for autonomous research.
36 MATERIALS SCIENCE↗
Development of Increasingly Autonomous Traffic Data Manager Using Pilot Relevancy and Ranking Data
NASA's Safe Autonomous Systems Operations (SASO) project goal is to define and safely enable all future airspace operations by justifiable and optimal autonomy for advanced air, ground, and connected capabilities. This work showcases how Increasingly Autonomous Systems (IAS) could create operational transformations beneficial to the enhancement of civil aviation safety and efficiency. One such IAS under development is the Traffic Data Manager (TDM). This concept is a prototype 'intelligent party-line' system that would declutter and parse out non-relevant air traffic, displaying only relevant air traffic to the aircrew in a digital data communications (Data Comm) environment. As an initial step, over 22,000 data points were gathered from 31 Airline Transport Pilots to train the machine learning algorithms designed to mimic human experts and expertise. The test collection used an analog of the Navigation Display. Pilots were asked to rate the relevancy of the displayed traffic using an interactive tablet application. Pilots were also asked to rank the order of importance of the information given, to better weight the variables within the algorithm. They were also asked if the information given was enough data, and more importantly the "right" data to best inform the algorithm. The paper will describe the findings and their impact to the further development of the algorithm for TDM and, in general, address the issue of how can we train supervised machine learning algorithms, critical to increasingly autonomous systems, with the knowledge and expertise of expert human pilots.
Le Vie, Lisa R.↗
Verification and Validation of Safety-Critical Aircraft Systems Operating under Off-Nominal, Contingency, and Emergency Conditions
Verification and validation (V&V) of safety-critical technologies developed for loss of control (LOC) prevention and recovery and other aviation safety concerns pose significant challenges. Aircraft LOC can result from a wide spectrum of hazards, often occurring in combination, which cannot be fully replicated during evaluation. Technologies developed for LOC prevention and recovery must therefore be effective under a wide variety of hazardous and uncertain conditions, and the verification and validation of these technologies must provide some measure of assurance that the new vehicle safety technologies do no harm (i.e., that they themselves do not introduce new safety risks). V&V technologies must also enable the identification of system limitations and constraints, as well as enable the identification of safe and unsafe operating conditions (and their boundaries). Additionally, the V&V of complex, increasingly autonomous systems is a fundamental concern. Scalable, reproducible and cost-effective techniques for the assurance of safety critical systems during their design and operation is a key barrier to fielding new systems or updating current systems. Moreover, these techniques need to provide artifacts that enable a comprehensive evidence-based approach to certification. This briefing summarizes research performed under NASA’s Aviation Safety Program and follow-on research for the V&V of safety-critical aircraft system technologies developed for LOC prevention and recovery and increasingly autonomous systems, and for a broad assurance capability in both current and emerging aviation applications. Note that, in this briefing, the term “validation” refers to a confirmation that the system implementation (e.g., algorithms etc.) is performing the intended function(s), as well as an affirmation of effectiveness in these functions. “Verification” refers to a confirmation that the system implementation in the software and hardware meets its (hopefully validated) specifications (e.g., correctly executes algorithms as designed).
Validation↗
Suppression of Weakly-Damped Torsional Oscillations in Autonomous Power Systems
Variants are considered for suppression of weakly-damped vibration effects caused by the first critical frequency of torsional oscillations of a gas-turbine unit in the autonomous electric power system of an oil and gas field. It is shown that torsional oscillations can be suppressed with the aid both of a reactive power source installed at the field power system, consisting of a controlled shunt reactor (CSR) and a static capacitor battery, and of an auxiliary active RLC filter, when using in both cases auxiliary control loops of torsional deviation as well as its first and second derivatives. A methodology has been developed for simultaneous coordination of the settings of any regulation system based on a numerical optimization, which permits selecting the characteristics of control loops of the source of reactive power and active RLC filter that are optimal from the point of view of suppressing torsional oscillations.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Advanced data management design for autonomous telerobotic systems in space using spaceborne symbolic processors
The use of computers in autonomous telerobots is reaching the point where advanced distributed processing concepts and techniques are needed to support the functioning of Space Station era telerobotic systems. Three major issues that have impact on the design of data management functions in a telerobot are covered. It also presents a design concept that incorporates an intelligent systems manager (ISM) running on a spaceborne symbolic processor (SSP), to address these issues. The first issue is the support of a system-wide control architecture or control philosophy. Salient features of two candidates are presented that impose constraints on data management design. The second issue is the role of data management in terms of system integration. This referes to providing shared or coordinated data processing and storage resources to a variety of telerobotic components such as vision, mechanical sensing, real-time coordinated multiple limb and end effector control, and planning and reasoning. The third issue is hardware that supports symbolic processing in conjunction with standard data I/O and numeric processing. A SSP that currently is seen to be technologically feasible and is being developed is described and used as a baseline in the design concept.
Goforth, Andre↗
Baseline tests of an autonomous telerobotic system for assembly of space truss structures
Several proposed space missions include precision reflectors that are larger in diameter than any current or proposed launch vehicle. Most of these reflectors will require a truss structure to accurately position the reflector panels and these reflectors will likely require assembly in orbit. A research program has been conducted at the NASA Langley Research Center to develop the technology required for the robotic assembly of truss structures. The focus of this research has been on hardware concepts, computer software control systems, and operator interfaces necessary to perform supervised autonomous assembly. A special facility was developed and four assembly and disassembly tests of a 102-strut tetrahedral truss have been conducted. The test procedures were developed around traditional 'pick-and-place' robotic techniques that rely on positioning repeatability for successful operation. The data from two of the four tests were evaluated and are presented in this report. All operations in the tests were controlled by predefined sequences stored in a command file, and the operator intervened only when the system paused because of the failure of an actuator command. The tests were successful in identifying potential pitfalls in a telerobotic system, many of which would not have been readily anticipated or incurred through simulation studies. Addressing the total integrated task, instead of bench testing the component parts, forced all aspects of the task to be evaluated. Although the test results indicate that additional developments should be pursued, no problems were encountered that would preclude automated assembly in space as a viable construction method.
Rhodes, Marvin D.↗
Introducing The Lunar Autonomous PNT System(LAPS) Simulator
In this paper we introduce a software simulator that has been used to develop an architecture for a low-cost Lunar Autonomous Position, Navigation and Time (PNT) System, LAPS. LAPS is a conceptual architecture for providing autonomous PNT services on and around the Moon using non-dedicated low-cost orbital and ground assets. The simulation tool has been developed to be flexible and is capable of modeling and analyzing the many different capabilities and configurations that the non-dedicated assets could support. The tool models the creation of an ad hoc swarm, the localization of this swarm and the subsequent provision of PNT services from this swarm. We present results from several studies of select configurations chosen to reflect existing and future real-world needs and capabilities.
Benjamin Hagenau↗
Inertial Transfer Concept for Autonomous In-Space Assembly
Rocket payload and fairing size have placed strict mass and volume limitations on single launch in-space structures. These limitations are what motivates In-Space Assembly (ISA) and where Inertial Transfer has potential to improve or augment ISA capabilities by utilizing a multiagent autonomous system to transport untethered payloads. The Inertial Transfer concept is presented including autonomy capabilities, potential risks, and three system configurations. These configurations are based on the autonomous system’s available sensor coverage that tracks the payload’s state. Participating agents have well-defined roles, expectations, and assumptions in their physical organization and coordination of actions depending the mode of operation. The sensor information available to participating agents is considered as it affects the uncertainty in the estimated state and the actions required to capture the payload.
Multi-Agent↗
Inertial Transfer Concept for Autonomous In-Space Assembly
Rocket payload and fairing size have placed strict mass and volume limitations on single launch in-space structures. These limitations are what motivates In-Space Assembly (ISA)and where Inertial Transfer has potential to improve or augment ISA capabilities by utilizing an efficient multi-agent autonomous system to transport untethered payloads. Adoption of an inertial transfer approach significantly reduces system complexity, energy and time needed for assembly compared to conventional ISA capabilities, increasing the likelihood of early adoption for assembly. The Inertial Transfer concept is presented including autonomy capabilities, potential risks, and three system configurations. These configurations are based on the autonomous system’s available sensor coverage that tracks the payload’s state. Participating agents have well-defined roles, expectations, and assumptions in their physical organization and coordination of actions depending the mode of operation. The sensor information available to participating agents is considered as it affects the uncertainty in the estimated state and theactions required to capture the payload.
Multi-Agent↗
Digitally Optimized Autonomous Robotic System for Hanford Waste Tank Handling [Slides]
Idaho National Laboratory (INL) is developing a robotic system and digital twin to perform monitoring, inspection, and mapping of underground tank pits at the Hanford Site, operated by the U.S. Department of Energy (USDOE). The Autonomous Pit Exploration System (APES) will consist of four primary components: an electric vehicle truck with a robotic system developed by INL to deploy payloads into the tanks through small diameter preexisting risers, a robotic arm developed by Florida International University (FIU) for the purposes of deploying a variety of payloads into the tank pit environment, and a small robotic COTS crawler platform for examining the bottom of the pits.
42 - ENGINEERING↗
Situation Awareness of Onboard System Autonomy
We have developed intelligent agent software for onboard system autonomy. Our approach is to provide control agents that automate crew and vehicle systems, and operations assistants that aid humans in working with these autonomous systems. We use the 3 Tier control architecture to develop the control agent software that automates system reconfiguration and routine fault management. We use the Distributed Collaboration and Interaction (DCI) System to develop the operations assistants that provide human services, including situation summarization, event notification, activity management, and support for manual commanding of autonomous system. In this paper we describe how the operations assistants aid situation awareness of the autonomous control agents. We also describe our evaluation of the DCI System to support control engineers during a ground test at Johnson Space Center (JSC) of the Post Processing System (PPS) for regenerative water recovery.
Schreckenghost, Debra↗
Overview of the Carnegie Mellon University Robotics Institute DOE Trainee-ship in Environmental Management - 17493
The Robotics Institute of Carnegie Mellon University (CMU), through support from the Department of Energy (DOE), is offering an Environmental Management (EM) Trainee-ship program that is shaped by the inherent challenges in EM-related missions and seeks to cultivate the technical foundation and practical skills required to address these challenges. The trainee-ship program includes multiple new fellows per year of support (MS and/or PhD students) and builds on the existing core robotics curricula while introducing specialized topics that ensure a thorough understanding of EM-relevant concerns. The trainee-ship incorporates supervised research opportunities with CMU faculty advisors and through collaborations with DOE national labs (Pacific Northwest National Laboratory and Savannah River National Laboratory). These research opportunities aim to produce specialists who have the skills required to envision, develop, and deploy autonomous and semi-autonomous systems that directly address DOE-EM needs. Specifically, the Robotics Institute identifies two specializations in addition to the three core areas that students must master in order to develop these kinds of systems: (1) a theory perspective of how to develop autonomous systems for applications in constrained environments, and (2) a practicum that challenges students to build systems that can operate in constrained EM-relevant environments. The DOE Trainee-ship in Robotics is formulated to provide a course of study that balances theory and practice with opportunities for field evaluation in collaboration with domain partners toward addressing relevant DOE-EM challenges through robotics. (authors)
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
A Thinking System and Thinking Autonomy
There are many definitions of what a “Thinking System” (TS) is. The literature primarily addresses what is called “Systems Thinking.” Dr. Marie Morganelli from Southern New Hampshire University states that “Systems thinking is a holistic way to investigate factors and interactions that could contribute to a possible outcome. A mindset more than a prescribed practice, systems thinking provides an understanding of how individuals can work together in different types of teams and through that understanding, create the best possible processes to accomplish just about anything.” So, a TS is a system that is capable of “systems thinking,” as it should be able to “ … create [utilize] the best possible processes [and intelligence] to accomplish just about anything.” To achieve this capability, human-like thinking is required. A truly autonomous system must be one that is capable of human-like thinking. This paper will address “Thinking Autonomy” (TA) enabled by a “Thinking System.” It will describe an architecture with the elements required to achieve the “thinking” behavior: understanding, intellect, reason, decision, will. The paper will further describe the contents and functionality of these elements and how to implement them, including software capabilities needed. Finally, the paper will provide details of a software platform that enables TA, the NASA Platform for Autonomous Systems (NPAS), and describe implementations of thinking systems. Thinking systems will enable a fundamental change how AI and autonomy are implemented. It will change from a “brute force” approach that results in one-time implementations that are minimally intelligent or autonomous to a “thinking” approach where implementations evolve continuously and enable powerful intelligence and autonomy on systems of high complexity as well as on systems-of-systems.
Thinking systems↗
Proceedings of the First NASA Formal Methods Symposium
Topics covered include: Model Checking - My 27-Year Quest to Overcome the State Explosion Problem; Applying Formal Methods to NASA Projects: Transition from Research to Practice; TLA+: Whence, Wherefore, and Whither; Formal Methods Applications in Air Transportation; Theorem Proving in Intel Hardware Design; Building a Formal Model of a Human-Interactive System: Insights into the Integration of Formal Methods and Human Factors Engineering; Model Checking for Autonomic Systems Specified with ASSL; A Game-Theoretic Approach to Branching Time Abstract-Check-Refine Process; Software Model Checking Without Source Code; Generalized Abstract Symbolic Summaries; A Comparative Study of Randomized Constraint Solvers for Random-Symbolic Testing; Component-Oriented Behavior Extraction for Autonomic System Design; Automated Verification of Design Patterns with LePUS3; A Module Language for Typing by Contracts; From Goal-Oriented Requirements to Event-B Specifications; Introduction of Virtualization Technology to Multi-Process Model Checking; Comparing Techniques for Certified Static Analysis; Towards a Framework for Generating Tests to Satisfy Complex Code Coverage in Java Pathfinder; jFuzz: A Concolic Whitebox Fuzzer for Java; Machine-Checkable Timed CSP; Stochastic Formal Correctness of Numerical Algorithms; Deductive Verification of Cryptographic Software; Coloured Petri Net Refinement Specification and Correctness Proof with Coq; Modeling Guidelines for Code Generation in the Railway Signaling Context; Tactical Synthesis Of Efficient Global Search Algorithms; Towards Co-Engineering Communicating Autonomous Cyber-Physical Systems; and Formal Methods for Automated Diagnosis of Autosub 6000.
Denney, Ewen↗
Autonomous navigation system for the Marsokhod rover project
This paper presents a general overview of the Marsokhod rover mission. The autonomous navigation for a Mars exploration rover is controlled by a vision system which has been developed on the basis of two CCD cameras, stereovision and path planning algorithms. Its performances have been tested on a Mars-like experimentation site.
Proy, C.↗