Assemblers: A Modular and Reconfigurable Manipulation System for Autonomous In-Space Assembly
Review of Assemblers low TRL architecture for in-space assemble tasks.
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Review of Assemblers low TRL architecture for in-space assemble tasks.
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A review of 1980s to early 2010s research supporting and documenting successful missions for on-orbit assembly of large space structures was conducted to bring together flexible space structure dynamics challenges and progress toward solutions. Research in this period focused on issues ranging from ground validation via unique test beds to in-space modal characterization and model adjustment. The phased assembly of the International Space Station (ISS), along with its evolving structural loads and dynamics, provides the central example, with ground and on-orbit tests of other systems providing contributing and contrasting examples of potential value for researchers facing today’s challenges.
This paper presents a method to intelligently adapt the baseline of a synthetic aperture radar based on Deep Rein- forcement Learning to help create plans for missions that use formation flight for Earth observation purposes. The main contribution of this paper is the initial results we have found from applying the tool to a toy mission: measuring the ver- tical structure of forests by using a synthetic aperture radar mounted on a formation of 7 satellites orbiting the Earth in a Sun Synchronous Orbit. We have found that with a reward function based on expected science return over time and fuel usage, the Deep Reinforcement Learning planner is able to create plans with positive scientific returns while minimizing fuel usage. We also find that fuel usage and collision avoid- ance planning is better done with traditional methods, as Deep Reinforcement Learning does not converge to optimal solutions.
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This is a summary presentation of postdoc research conducted as part of the Langley PROWESS project.
To meet the needs of future deep space exploration, NASA is interested in large-scale hardware systems in the agency’s thrust areas of solar power, communications, habitats and science interests. Scalable in-space assembly of physical systems is critical to massless exploration and in-space reliance goals. The ARMADAS project demonstrates the autonomous assembly of digital materials and structures. This provides automation technologies with potential for meeting long duration and deep space infrastructure needs, such as construction and maintenance of long duration spaceport, surface infrastructure, and habitat scale systems. Project demonstrations to date include a system that can fit into a small satellite-sized payload, which automatically assembles into primary structures, such as a small habitat module or array/antenna, using onboard robotic assemblers.
Envisioned capabilities from ARMADAS for lunar surface infrastructure construction
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Sleep inertia is the brief period of impaired alertness and performance experienced immediately after waking. Little is known about the neural mechanisms underlying this phenomenon. A better understanding of the neural processes during sleep inertia may offer insight into the awakening process. We observed brain activity every 15 min for 1 hr following abrupt awakening from slow wave sleep during the biological night. Using 32-channel electroencephalography, a network science approach, and a within-subject design, we evaluated power, clustering coefficient, and path length across frequency bands under both a control and a polychromatic short-wavelength-enriched light intervention condition. We found that under control conditions, the awakening brain is typified by an immediate reduction in global theta, alpha, and beta power. Simultaneously, we observed a decrease in the clustering coefficient and an increase in path length within the delta band. Exposure to light immediately after awakening ameliorated changes in clustering. Our results suggest that long-range network communication within the brain is crucial to the awakening process and that the brain may prioritize these long-range connections during this transitional state. Our study highlights a novel neurophysiological signature of the awakening brain and provides a potential mechanism by which light improves performance after waking.
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Explore the source record for details and available documents.
Explore the source record for details and available documents.
Explore the source record for details and available documents.