Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Autonomous Design”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 343 records · Page 19
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

SLR 2000

SLR 2000 is a concept for a totally automated subcentimeter SLR system presently being studied at GSFC. If funding permits, a prototype would be installed and tested at the Goddard Geophysical and Astronomical Observatory (GCAO) in FY98 and a small number of automated stations would be fielded by the year 2000. Unlike present systems, the "SLR 2000" system is being designed to: 1) operate autonomously without the need for onsite operators; 2) present no hazards (i.e., optical, electrical, and/or chemical) to personnel in the vicinity or to overflying aircraft; and 3) have a mean time between failures (MTBF) of at least three months. It is assumed that the systems are located at "friendly" sites where some level of security is provided and where certain low level service functions (e.g. commercial power, communications, heat pump service cleaning, etc.) are available or can be contracted for locally on an as-needed basis. The main system consists of two parts - an optical head and electronics rack. The optical head contains the laser transmitter and power supply, transmit/receive switch, optical telescope, tracking angle sensor (intensified CCD camera), detector and power supply, two angular encoders, azimuth and elevation motors, and a protective dome. The optical head mounts directly to the top of a concrete pier which contains the geodetic monument and forms part of the environmental housing for the hardware and servicing personnel. It is equipped with electronic levels for leveling the mount and monitoring its stability.

Degnan, John J.↗
NASA NTRS2009

Remotely Piloted Vehicles for Experimental Flight Control Testing

A successful flight test and training campaign of the NASA Flying Controls Testbed was conducted at Naval Outlying Field, Webster Field, MD during 2008. Both the prop and jet-powered versions of the subscale, remotely piloted testbeds were used to test representative experimental flight controllers. These testbeds were developed by the Subsonic Fixed Wing Project s emphasis on new flight test techniques. The Subsonic Fixed Wing Project is under the Fundamental Aeronautics Program of NASA's Aeronautics Research Mission Directorate (ARMD). The purpose of these testbeds is to quickly and inexpensively evaluate advanced concepts and experimental flight controls, with applications to adaptive control, system identification, novel control effectors, correlation of subscale flight tests with wind tunnel results, and autonomous operations. Flight tests and operator training were conducted during four separate series of tests during April, May, June and August 2008. Experimental controllers were engaged and disengaged during fully autonomous flight in the designated test area. Flaps and landing gear were deployed by commands from the ground control station as unanticipated disturbances. The flight tests were performed NASA personnel with support from the Maritime Unmanned Development and Operations (MUDO) team of the Naval Air Warfare Center, Aircraft Division

Motter, Mark A.↗
NASA NTRS2016

CubeSub

This presentation introduces and discusses the development of the CubeSub submersible concept, an Autonomous Underwater Vehicle (AUV) designed around the CubeSat satellite form factor. The presented work is part of the author's MSc thesis in Aerospace Engineering at the Royal Institute of Technology, Stockholm, Sweden, and was performed during an internship at the Mission Design Division of the NASA Ames Research Center, Moffett Field, CA. Still in the early stages of its development, the CubeSub is to become a submersible test-bed for technology qualified for underwater and space environments. With the long-term goal of exploring the underwater environments in outer space, such as the alleged subsurface ocean of Jupiter's moon Europa, a number of technology and operational procedures must be developed and matured. To assist in this, the CubeSub platform is introduced as a tool to allow engineers and scientists to easily test qualified technology underwater. A CubeSat is a class of miniaturized satellite built to a standardized size. The base size is 1U (U for unit), corresponding to a 100 x 100 x 113.5 cu mm cube. A 1U CubeSat can in other words easily be held in one hand. Stacking units give larger satellite sizes such as the also commonly used 1.5U, 2U and 3U. The CubeSat standard is in itself already well established and hundreds of CubeSats have to date been launched into space. Compatible technology is readily available and the know-how exists in the space industry, all of which makes it a firm ground to stand on for the CubeSub. The rationale behind using the CubeSat form factor is to make use of this pre-existing foundation, making the CubeSub easy to develop, modular and readily available. It will thereby aid in the process of maturing the concept of a fully space qualified submersible headed for outer space. As a further clarification, the CubeSub is itself not meant for outer space, but to facilitate development of such a vessel. Along with its uses as a testbed, the CubeSub also holds the potential to become a useful tool for exploration and experimentation here on Earth. A highly standardized system utilizing well-known hardware can reduce the cost and required work load for researchers wishing to perform experiments and exploration. Users could design sensors and experiments to comply with the already well established CubeSat standard, which are then carried by the CubeSub to the region of interest. This in turn means that the end users can focus more on formulating the experiment itself and less about how to get it where they want it. The CubeSub is designed to be built up by modules, which can be assembled in different configurations to fulfill different needs. Each module will be powered individually and intermodular communication will be wireless, removing the need for wiring. The inside of the cylindrical hull will be flooded with ambient water to enhance the interaction between payloads and surrounding environment. The overall torpedo-like shape is similar to that of a conventional AUV, slender and smooth. This is to make for a low drag, reduce the risk of snagging on surrounding objects and make it possible to deploy through an ice sheet via a narrow borehole or navigate in tight areas. To keep costs low and further accelerate development, rapid prototyping is utilized wherever possible. Full-scale prototypes are being constructed through 3D-printing and using COTS (Commercial Off-The-Shelf) components. 3D-printing is used both for the largest hull components and the relatively small and delicate propellers. Arduino boards are used for control and internal communication

AUV↗
NASA NTRS2016

GN and C Subsystem Concept for Safe Precision Landing of the Proposed Lunar MARE Robotic Science Mission

The Lunar MARE (Moon Age and Regolith Explorer) Discovery Mission concept targets delivery of a science payload to the lunar surface for sample collection and dating. The mission science is within a 100-meter radius region of smooth lunar maria terrain near Aristarchus crater. The location has several small, sharp craters and rocks that present landing hazards to the spacecraft. For successful delivery of the science payload to the surface, the vehicle Guidance, Navigation and Control (GN&C) subsystem requires safe and precise landing capability, so design infuses the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) and a gimbaled, throttleable LOX/LCH4 main engine. The ALHAT system implemented for Lunar MARE is a specialization of prototype technologies in work within NASA for the past two decades, including a passive optical Terrain Relative Navigation (TRN) sensor, a Navigation Doppler Lidar (NDL) velocity and range sensor, and a Lidar-based Hazard Detection (HD) sensor. The landing descent profile is from a retrograde orbit over lighted terrain with landing near lunar dawn. The GN&C subsystem with ALHAT capabilities will deliver the science payload to the lunar surface within a 20-meter landing ellipse of the target location and at a site having greater than 99% safety probability, which minimizes risk to safe landing and delivery of the MARE science payload to the intended terrain region.

MARE (Moon Age and Regolith Explorer)↗
NASA NTRS2018

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Stone, William C.↗
NASA NTRS2020

Androgynous Fasteners for Robotic Structural Assembly

We describe the design and analysis of an androgynous fastener for autonomous robotic assembly of high performance structures. The design of these fasteners aims to prioritize ease of assembly through simple actuation with large driver positioning tolerance requirements, while producing a reversible mechanical connection with high strength and stiffness per mass. This can be applied to high strength to weight ratio structural systems, such as discrete building block based systems that offer reconfigurability, scalability, and system lifecycle efficiency. Such periodic structures are suitable for navigation and manipulation by relatively small mobile robots. The integration of fasteners, which are lightweight and can be robotically installed, into a high performance robotically managed structural system is of interest to reduce launch energy requirements, enable higher mission adaptivity, and decrease system life-cycle costs.

Formoso, Olivia↗
NASA NTRSDate not supplied

Formal Specification and Parametric Verification of the ICAROUS Distributed Merging Protocol for Autonomous Aircraft Systems

ICAROUS is a software architecture that provides highly assured core software modules for building safety-centric autonomous unmanned aircraft applications. One of its core components is the ICAROUS distributed merging (IDM) protocol, which allows for decentralized merging of autonomous aircrafts through a designated intersection. This report presents initial results on formal specification and parametric verification of the IDM protocol. We present the development of a formal, discrete-time specification of the ICAROUS distributed merging protocol in TLA+. The developed TLA+ specification includes an abstracted model of the physical aircraft dynamics, the consensus machinery for leader election and coordination, and the computation of merging schedules. In addition, we present details on a command line tool we developed verimerge, that utilizes the TLC model checker for doing bounded, parametric verification and allows for plotting of these results in 2D parameter spaces. The tool also provides functionality for visualization of concrete protocol behaviors, to aid debugging and understanding. We present preliminary, bounded time verification results for a finite number of aircraft. Limitations of the current techniques and possible future extensions of this work are also discussed.

ICAROUS↗
NASA NTRSDate not supplied

Spacecraft Passive Safety Assessment Using Ellipse Constraints and Relative Orbital Elements

This paper presents necessary and sufficient conditions for validating spacecraft passive safety using relative orbital elements (ROE) centered around the far-field to near-field trajectory design of a hypothetical autonomous rendezvous and docking (AR&D) mission. The specific formulation of the ROEs used in this study are of quasi-nonsingular form based on elative eccentricity/inclination vectors. Current methodologies for ensuring passive safety apply keep-out volumes (KOV) to maintain appropriate separation between the Servicer and Client. Widely used techniques to assess the integrity of the KOV involve forward propagation of the relative Cartesian state to check for a potential KOV breach. In this study, an alternative approach to the propagation-based method is proposed using ROEs due to their valuable geometric insights of spacecraft relative motion. Modeling the relative trajectory and KOV ellipsoids as ellipses into the 2-D ROE sub-space simplifies the passive safety validation to a root-finding problem within the unit disk with high computational efficiency. Other approaches to intersection detection of the KOV are also evaluated in accuracy and run-time. Furthermore, a Monte Carlo simulation was employed to compare the ROE-based and relative Cartesian approaches in terms of maneuver error.

Bruce Barbour↗
NASA NTRSDate not supplied

Plume Impingement Software Module for Real-Time Proximity Operations

Successfully executing proximity operations in space, such as docking or in-orbit servicing, requires sophisticated spacecraft design that accounts for induced environments. As a chaser vehicle’s attitude control thrusters fire, they create rarefied plumes that can impact the target vehicle, with the potential to overload components, exceed thermal limits, and spin the target vehicle out of control. High-fidelity simulations of the thruster plume impingement environment require the direct simulation Monte Carlo (DSMC) method, but DSMC is too computationally expensive to simulate proximity operations that involve thousands of thruster firings. For this analysis to be tractable, engineering models of the plume flowfield and impingement events are used to simulate these trajectories [1]. Currently, on-orbit plume impingement environments are modeled through an inefficient open-loop analysis cycle where the vehicle’s flight controller and plume impingement teams iterate on the trajectories until they pass the target vehicle’s plume requirements. As complex on-orbit missions evolve and become more frequent, lengthy design cycles will become operational bottlenecks. To address this gap, this work develops an advanced plume impingement module capable of operating at real-time scale that can be integrated with existing mission planning tools and onboard flight systems. The plume module leverages state-of-the-art plume simulation techniques [2] to deliver fast, physics-based impingement predictions in a software architecture that can be tailored to diverse proximity operations scenarios. A prototype of this plume impingement module is built to demonstrate the feasibility of real-time performance. This prototype completes plume impingement calculations in microseconds per target geometry mesh point. The software serves as a foundational capability for plume-aware trajectory design, operational risk assessment, and future autonomous decision-making systems.

Plume Impingement↗
NASA NTRS2008

Wind-Based Navigation of a Hot-air Balloon on Titan: A Feasibility Study

Current analysis of data streamed back to Earth by the Cassini spacecraft features Titan as one of the most exciting places in the solar system. NASA centers and universities around the US, as well as the European Space Agency, are studying the possibility of sending, as part of the next mission to this giant moon of Saturn, a hot-air balloon (Montgolfier-type) for further and more in-depth exploration. The basic idea would be to design a reliable, semi-autonomous, and yet cheap Montgolfier capable of using continuous flow of waste heat from a power source to lift the balloon and sustain its altitude in the Titan environment. In this paper we study the problem of locally navigating a hot-air balloon in the nitrogen-based Titan atmosphere. The basic idea is to define a strategy (i.e. design of a suitable guidance system) that allows autonomous and semi-autonomous navigation of the balloon using the available (and partial) knowledge of the wind structure blowing on the saturnian satellite surface. Starting from first principles we determined the appropriate thermal and dynamical models describing (a) the vertical dynamics of the balloon and (b) the dynamics of the balloon moving on a vertical plane (2-D motion). Next, various non-linear fuzzy-based control strategies have been evaluated, analyzed and implemented in MATLAB to numerically simulate the capability of the system to simultaneously maintain altitude, as well as a scientifically desirable trajectory. We also looked at the ability of the balloon to perform station keeping. The results of the simulation are encouraging and show the effectiveness of such a system to cheaply and effectively perform semiautonomous exploration of Titan.

balloon dynamics↗
NASA NTRS1994

Recycle Requirements for NASA's 30 cm Xenon Ion Thruster

Electrical breakdowns have been observed during ion thruster operation. These breakdowns, or arcs, can be caused by several conditions. In flight systems, the power processing unit must be designed to handle these faults autonomously. This has a strong impact on power processor requirements and must be understood fully for the power processing unit being designed for the NASA Solar Electric Propulsion Technology Application Readiness program. In this study, fault conditions were investigated using a NASA 30 cm ion thruster and a power console. Power processing unit output specifications were defined based on the breakdown phenomena identified and characterized.

Pinero, Luis R.↗
NASA NTRS2004

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

Muscettola, Nicola↗
NASA NTRS2001

Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations

The Engineering and Mission Operations Directorates at NASA Johnson Space Center are combining laboratories and expertise to establish the Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations. This is a testbed for human centered design, development and evaluation of intelligent autonomous and assistant systems that will be needed for human exploration and development of space. This project will improve human-centered analysis, design and evaluation methods for developing intelligent software. This software will support human-machine cognitive and collaborative activities in future interplanetary work environments where distributed computer and human agents cooperate. We are developing and evaluating prototype intelligent systems for distributed multi-agent mixed-initiative operations. The primary target domain is control of life support systems in a planetary base. Technical approaches will be evaluated for use during extended manned tests in the target domain, the Bioregenerative Advanced Life Support Systems Test Complex (BIO-Plex). A spinoff target domain is the International Space Station (ISS) Mission Control Center (MCC). Prodl}cts of this project include human-centered intelligent software technology, innovative human interface designs, and human-centered software development processes, methods and products. The testbed uses adjustable autonomy software and life support systems simulation models from the Adjustable Autonomy Testbed, to represent operations on the remote planet. Ground operations prototypes and concepts will be evaluated in the Exploration Planning and Operations Center (ExPOC) and Jupiter Facility.

Malin, Jane T.↗
NASA NTRS2006

Autonomic Management of Space Missions

With NASA s renewed commitment to outer space exploration, greater emphasis is being placed on both human and robotic exploration. Even when humans are involved in the exploration, human tending of assets becomes cost-prohibitive or in many cases is simply not feasible. In addition, certain exploration missions will require spacecraft that will be capable of venturing where humans cannot be sent. Early space missions were operated manually from ground control centers with little or no automated operations. In the mid-l980s, the high costs of satellite operations prompted NASA, and others, to begin automating as many functions as possible. In our context, a system is autonomous if it can achieve its goals without human intervention. A number of more-or-less automated ground systems exist today, but work continues with the goal being to reduce operations costs to even lower levels. Cost reductions can be achieved in a number of areas. Ground control and spacecraft operations are two such areas where greater autonomy can reduce costs. As a consequence, autonomy is increasingly seen as a critical approach for robotic missions and for some aspects of manned missions. Although autonomy will be critical for the success of future missions (and indeed will enable certain kinds of science data gathering approaches), missions imbued with autonomy must also exhibit autonomic properties. Exploitation of autonomy alone, without emphasis on autonomic properties, will leave spacecraft vulnerable to the dangerous environments in which they must operate. Without autonomic properties, a spacecraft may be unable to recognize negative environmental effects on its components and subsystems, or may be unable to take any action to ameliorate the effects. The spacecraft, though operating autonomously, may then sustain a degradation of performance of components or subsystems, and consequently may have a reduced potential for achieving mission objectives. In extreme cases, lack of autonomic properties could leave the spacecraft unable to recover from faults. Ensuring that exploration spacecraft have autonomic properties will increase the survivability and therefore the likelihood of success of these missions. In fact, over time, as mission requirements increased demands on spacecraft capabilities and longevity, designers have gradually built more autonomicity into spacecraft. For example, a spacecraft in low-earth orbit may experience an out-of-bounds perturbation of its attitude (orientation) due to increased drag caused by increased atmospheric density at its altitude as a result of a sufficiently large solar flare. If the spacecraft was designed to recognize the excessive attitude perturbation, it could decide to protect itself by going into a safe-hold mode where its internal configuration and operation are altered to conserve power and its coarse attitude is adjusted to point its solar panels toward the Sun to maximize power generation. This is an example of a simple type of autonomic behavior that has actually occurred. Future mission concepts will be increasingly dependent on space system survivability enabled by more advanced types of autonomic behaviors

Hinchey, Michael G.↗
NASA NTRS1998

Bi-Level Integrated System Synthesis (BLISS)

BLISS is a method for optimization of engineering systems by decomposition. It separates the system level optimization, having a relatively small number of design variables, from the potentially numerous subsystem optimizations that may each have a large number of local design variables. The subsystem optimizations are autonomous and may be conducted concurrently. Subsystem and system optimizations alternate, linked by sensitivity data, producing a design improvement in each iteration. Starting from a best guess initial design, the method improves that design in iterative cycles, each cycle comprised of two steps. In step one, the system level variables are frozen and the improvement is achieved by separate, concurrent, and autonomous optimizations in the local variable subdomains. In step two, further improvement is sought in the space of the system level variables. Optimum sensitivity data link the second step to the first. The method prototype was implemented using MATLAB and iSIGHT programming software and tested on a simplified, conceptual level supersonic business jet design, and a detailed design of an electronic device. Satisfactory convergence and favorable agreement with the benchmark results were observed. Modularity of the method is intended to fit the human organization and map well on the computing technology of concurrent processing.

Sobieszczanski-Sobieski, Jaroslaw↗
NASA NTRS1998

Bi-Level Integrated System Synthesis (BLISS)

BLISS is a method for optimization of engineering systems by decomposition. It separates the system level optimization, having a relatively small number of design variables, from the potentially numerous sub-system optimizations that may each have a large number of local design variables. The subsystem optimizations are autonomous and may be conducted concurrently. Subsystem and system optimizations alternate, linked by sensitivity data, producing a design improvement in each iteration. Starting from a best guess initial design, the method improves that design in iterative cycles, each cycle comprised of two steps. In step one, the system level variables are frozen and the improvement is achieved by separate, concurrent, and autonomous optimizations in the local variable subdomains. In step two, further improvement is sought in the space of the system level variables. Optimum sensitivity data link the second step to the first. The method prototype was implemented using MATLAB and iSIGHT programming software and tested on a simplified, conceptual level supersonic business jet design, and a detailed design of an electronic device.

Sobieszczanski-Sobieski, Jaroslaw↗