NASA Advanced Air Mobility Vehicle Research
Explore the source record for details and available documents.
Advanced Air Mobility↗
SEARCH · Engineering Papers
Results for “mobility research”
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.
Two-Armed, Mobile, Sensate Research Robot
The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and contains a force-and-torque sensor that provides feedback for force (compliance) control of the arm. The end effector could be a tool or a robot hand, depending on the application.
Engelberger, J. F.↗
Development of a Weather Capability for the Urban Air Mobility Airspace Research Roadmap
Traditionally, the transportation system’s resiliency to the impacts of weather is an area where neglected or incorrect assumptions can lead to difficulties later in the research and development lifecycle. To mitigate this, NASA has ongoing efforts to develop a set of research roadmaps for organizing, integrating, and communicating research into new aviation infrastructure and transportation modalities, within which weather is being addressed early on. An effort has been undertaken to add weather assumptions and requirements to an already-existing roadmap for the Urban Air Mobility (UAM) airspace, seeking to integrate weather requirements early in the system design. This effort addresses the way in which state-of-the art and evolving weather science and technology can enable safe and efficient travel with increasing tempo of UAM operations over time. This paper describes the addition of weather as one of 10 capabilities into the UAM Airspace research roadmap, laying out the anticipated weather technology and information requirements needed to facilitate operations at various UAM Maturity Levels. The process developed and exercised by MIT Lincoln Laboratory researchers produced 41 unique requirements to be satisfied by a Weather capability for the UAM ecosystem, with more than 300 dependencies identified across the system. These requirements cover measurement, analysis, modeling, forecasting, decision support, dissemination, and overarching policy, and are provided with an overview of weather challenges for UAM. The requirements were mainly defined based on subject matter expert review of existing UAM Airspace system requirements, and refined based on iterative feedback with various stakeholders including regulators, academia, and industry. Going forward, this roadmap will help researchers and developers align to a common vision in ensuring that weather is appropriately considered in the UAM ecosystem.
research roadmap↗
Channel simulation to facilitate mobile-satellite communications research
The mobile-satellite-service channel simulator, which is a facility for an end-to-end hardware simulation of mobile satellite communications links is discussed. Propagation effects, Doppler, interference, band limiting, satellite nonlinearity, and thermal noise have been incorporated into the simulator. The propagation environment in which the simulator needs to operate and the architecture of the simulator are described. The simulator is composed of: a mobile/fixed transmitter, interference transmitters, a propagation path simulator, a spacecraft, and a fixed/mobile receiver. Data from application experiments conducted with the channel simulator are presented; the noise converison technique to evaluate interference effects, the error floor phenomenon of digital multipath fading links, and the fade margin associated with a noncoherent receiver are examined. Diagrams of the simulator are provided.
Davarian, Faramaz↗
Development of a Weather Capability for the Urban Air Mobility Airspace Research Roadmap
Traditionally, the transportation system’s resiliency to the impacts of weather is an area where neglected or incorrect assumptions can lead to difficulties later in the research and development lifecycle. To mitigate this, NASA has ongoing efforts to develop a set of research roadmaps for organizing, integrating, and communicating research into new aviation infrastructure and transportation modalities, within which weather is being addressed early on. An effort has been undertaken to add weather assumptions and requirements to an already-existing roadmap for the Urban Air Mobility (UAM) airspace, seeking to integrate weather requirements early in the system design. This effort addresses the way in which state-of-the art and evolving weather science and technology can enable safe and efficient travel with increasing tempo of UAM operations over time. This paper describes the addition of weather as one of 10 capabilities into the UAM Airspace research roadmap, laying out the anticipated weather technology and information requirements needed to facilitate operations at various UAM Maturity Levels. The process developed and exercised by MIT Lincoln Laboratory researchers produced 41 unique requirements to be satisfied by a Weather capability for the UAM ecosystem, with more than 300 dependencies identified across the system. These requirements cover measurement, analysis, modeling, forecasting, decision support, dissemination, and overarching policy, and are provided with an overview of weather challenges for UAM. The requirements were mainly defined based on subject matter expert review of existing UAM Airspace system requirements, and refined based on iterative feedback with various stakeholders including regulators, academia, and industry. Going forward, this roadmap will help researchers and developers align to a common vision in ensuring that weather is appropriately considered in the UAM ecosystem.
Timothy Bonin↗
Hybrid Satellite/Terrestrial Personal and Mobile Communications Research at JPL
Explore the source record for details and available documents.
Hybrid Satellite↗
NASA Advanced Air Mobility (AAM) Research Strategy
These slides will be used to develop a validated AAM system architecture for creation of definitions for certification and scalablity.
Davis Hackenberg↗
NASA Advanced Air Mobility Vehicle Research
Explore the source record for details and available documents.
John Koudelka↗
Autonomous Mobile Platform for Research in Cooperative Robotics
This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.
Daemi, Ali↗
Aircraft measurements and analysis of severe storms: 1975 field experiment
Three aircraft and instrumentation systems were acquired in support of the severe storm surveillance program. The data results indicate that the original concept of a highly mobile research aircraft capability for obtaining detailed measurements of wind, temperature, dew point, etc., near and within specifically designated severe storms is entirely feasible and has been demonstrated for the first time by this program. This program is unique in that it is designed to be highly mobile in order to move to and/or with the developing storm systems to obtain the necessary measurements. Previous programs have all been fixed to a particular location and therefore have had to wait for the storms to come within their network. The present research is designed around a highly mobile aircraft measurements group in order to maximize the storm cases during the field measurements program.
Sinclair, P. C.↗
Methods for Improving Long-Range Wireless Communication Between Extreme Terrain Vehicles
Axel is an extreme terrain, two-wheeled rover designed to traverse rocky surface and sub-surface landscapes in order to conduct remote science experiments in hard-to-reach locations. The rover's design meets many requirements for a mobile research platform capable of reaching water seeps on Martian cliff sides. Axel was developed by the Mobility and Robotic Systems section at the Caltech Jet Propulsion Laboratory. Unique design criteria associated with extreme terrain mobility led to a unique rover solution, consisting of a central module, which provides long-term energy storage and space for large-scale science payloads, and two detachable Axels that can detach and explore extreme terrain locations that are inaccessible to conventional rovers. The envisioned mission could involve a four-wheeled configuration of Axel called 'DuAxel' that is able to traverse the benign, flattened terrain of a landing site and approach the edge of the targeted crater or cave where it would deploy anchoring legs and detach one of the Axel rovers [1]. A tether provides a secure link between the Axel rover and the central module, acting as an anchor to allow Axel to descend along steep crater walls to collect data from the scientifically relevant sites along the water seeps or crater ledges. After completing its scientific mission Axel would hoist itself up to the central module and dock autonomously (using its on-board stereo cameras), allowing the once-again recombined DuAxel to travel to another location to repeat data collection.
wireless communication↗
NASA Langley's AirSTAR Testbed: A Subscale Flight Test Capability for Flight Dynamics and Control System Experiments
As part of the Airborne Subscale Transport Aircraft Research (AirSTAR) project, NASA Langley Research Center (LaRC) has developed a subscaled flying testbed in order to conduct research experiments in support of the goals of NASA s Aviation Safety Program. This research capability consists of three distinct components. The first of these is the research aircraft, of which there are several in the AirSTAR stable. These aircraft range from a dynamically-scaled, twin turbine vehicle to a propeller driven, off-the-shelf airframe. Each of these airframes carves out its own niche in the research test program. All of the airplanes have sophisticated on-board data acquisition and actuation systems, recording, telemetering, processing, and/or receiving data from research control systems. The second piece of the testbed is the ground facilities, which encompass the hardware and software infrastructure necessary to provide comprehensive support services for conducting flight research using the subscale aircraft, including: subsystem development, integrated testing, remote piloting of the subscale aircraft, telemetry processing, experimental flight control law implementation and evaluation, flight simulation, data recording/archiving, and communications. The ground facilities are comprised of two major components: (1) The Base Research Station (BRS), a LaRC laboratory facility for system development, testing and data analysis, and (2) The Mobile Operations Station (MOS), a self-contained, motorized vehicle serving as a mobile research command/operations center, functionally equivalent to the BRS, capable of deployment to remote sites for supporting flight tests. The third piece of the testbed is the test facility itself. Research flights carried out by the AirSTAR team are conducted at NASA Wallops Flight Facility (WFF) on the Eastern Shore of Virginia. The UAV Island runway is a 50 x 1500 paved runway that lies within restricted airspace at Wallops Flight Facility. The facility provides all the necessary infrastructure to conduct the research flights in a safe and efficient manner. This paper gives a comprehensive overview of the development of the AirSTAR testbed.
Jordan, Thomas L.↗
Experimental Validation: Subscale Aircraft Ground Facilities and Integrated Test Capability
Experimental testing is an important aspect of validating complex integrated safety critical aircraft technologies. The Airborne Subscale Transport Aircraft Research (AirSTAR) Testbed is being developed at NASA Langley to validate technologies under conditions that cannot be flight validated with full-scale vehicles. The AirSTAR capability comprises a series of flying sub-scale models, associated ground-support equipment, and a base research station at NASA Langley. The subscale model capability utilizes a generic 5.5% scaled transport class vehicle known as the Generic Transport Model (GTM). The AirSTAR Ground Facilities encompass the hardware and software infrastructure necessary to provide comprehensive support services for the GTM testbed. The ground facilities support remote piloting of the GTM aircraft, and include all subsystems required for data/video telemetry, experimental flight control algorithm implementation and evaluation, GTM simulation, data recording/archiving, and audio communications. The ground facilities include a self-contained, motorized vehicle serving as a mobile research command/operations center, capable of deployment to remote sites when conducting GTM flight experiments. The ground facilities also include a laboratory based at NASA LaRC providing near identical capabilities as the mobile command/operations center, as well as the capability to receive data/video/audio from, and send data/audio to the mobile command/operations center during GTM flight experiments.
Bailey, Roger M.↗
The NASA Urban Air Mobility Testbed Flight Research Aircraft
The National Aeronautics and Space Administration (NASA) is leading government, industry and academic research effort known as Urban Air Mobility (UAM). The UAM activity goal is to develop the technology needed to make possible an urban air transportation system that makes use of human-crewed and crewless vehicles using automation, artificial intelligence and other technologies to safely and efficiently air transport people and goods within an urban environment. The NASA Langley Research Center (LaRC) created a UAM Flight Research Testbed Aircraft from a Cessna LC40 general aviation aircraft. The testbed has updated digital avionics and research systems needed to conduct flight research. The aircraft has two separate autopilots; a standard Federal Aviation Ad-ministration (FAA) certified system, and a modified research autopilot. The research autopilot has modifications that allow increased authority and enhancements to allow more automation and artificial intelligence controls. A network of three research computers hosts software to research several activities including automated air traffic sense and avoid, ground collision avoidance and obstacle avoidance. These UAM research activities involve automation and artificial intelligence technologies developed at three NASA centers. The NASA Langley, NASA Armstrong, and NASA Ames Research Centers are working together to develop and test these UAM technologies. This paper provides details of the systems, capabilities and research projects of the UAM Testbed Research Aircraft.
Howell, Charles T.↗
Operations and maintenance manual for a scale-model lunar roving vehicle
A one-sixth scale model of the lunar roving vehicle used in the Apollo 15 mission was built and instrumented to conduct model studies of vehicle mobility. The model was free running under radio control and was equipped with a lightweight telemetry transmitter that allowed 16 channels of data to be gathered simultaneously. String payout and fifth-wheel devices were developed to measure vehicle velocity. Other real-time measurements included wheel torque, wheel speed, center-of-gravity accelerations, and steering forces. Calibration, operations, and maintenance procedures were worked out. Details of the development of the instrumentation, its maintenance, and some of the problems encountered, are recorded serve as a preliminary operations and maintenance manual for this specific model. In addition, information regarding soil processing and testing that may be useful to NASA personnel planning mobility research with the model in soil is furnished.
Lessem, A. S.↗
Aircraft measurements and analysis of severe storms: 1976 field experiment
Severe storm aircraft measurements are documented, as well as the instrumentation and operational features of aircraft mobility capabilities. The measurements and data analyses indicate that the concept of a highly mobile research aircraft capability for obtaining detailed measurements of wind, temperature, moisture, spherics, etc., near and within severe storm systems, forecast 48 hours in advance in a 1000 nm operating radius, is feasible, and was successfully demonstrated. The measurements and analyses reveal several severe storm features and insights with respect to storm air flow circulations and inflow-outflow orientation. Precipitation downdraft air is recirculated back into the updraft core below the scud cloud in both back and front feeder type storms. In a back feeder type storm, the downdraft outflow air ahead of the storm is also recirculated back into the updraft region near cloud base.
Sinclair, P. C.↗
University of Wisconsin-Madison Participation in the International Water-Vapor Project (IHOP)
This is the final report for NASA grant NAG-1-02057/University of Wisconsin-Madison/Dr. Henry E Revercomb, PI. This grant supported the University of Wisconsin-Madison participation in the International Water-Vapor Project (IHOP) experiment in May-June 2002. The upwelling thermal infrared emission from the surface and atmosphere over the U. S. Southern Great Plains was obtained from the NASA DC-8 with the Scanning High-resolution Interferometer Sounder (S-HIS) instrument, Analysis of the S-HIS radiances were used to obtain atmospheric temperature profiles below the aircraft. In a complementary manner, the downwelling thermal infrared emission at the surface was obtained by the University of Wisconsin Atmospheric Emitted Radiance Interferometer (AERI) instrument from a mobile research vehicle and used to profile the atmospheric boundary layer at the Homestead site. This report summarizes the observations of the S-HIS and AERI instruments during IHOP including validation against in situ observations.
Knuteson, Robert↗
Development of Concept Illustration Variants of the JUMP Lander
The Artemis program is committed to landing humans on the Moon in the 2020s leading to a sustainable lunar presence by the end of the decade. It is challenging to deliver heavy payloads to the lunar surface in support of these goals given currently available Earth launch systems. The payload capacity of the launch systems limits the size of the lunar landers, thereby limiting their cargo capacity. Fortunately, lander cargo capacity can be significantly increased if multiple landers are joined together in space. This concept has been previously introduced as the Joinable Undercarriage to Maximize Payload (JUMP) Lander. Utilizing a JUMP Lander system will increase options and make it easier to comply with directives issued by senior White House leadership to initiate long duration human activity on the Moon. Such activity, by definition, implies extensive habitation, mobility, research, and resource development capability that in turn calls for significant mass delivery to the lunar surface. This paper develops three concept illustration variants of the JUMP Lander. These concepts explore hypergolic, hydrogen, and methane propellant options, as well as the power and thermal rejection systems necessary to enable such lander concepts. The paper also estimates masses for the necessary avionics, structures, and mechanical subsystems. The paper documents the resulting configurations and recommends a JUMP Lander to carry forward in further development.
Lunar Lander↗