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All sources NASA NTRS DOE OSTI

NASA NTRS2019

Metallized Plastic Current Collectors

Metallized plastic current collectors are an innovation patented by the Soteria Battery Innovation Group with the promise of isolating active material involved in an internal short by vaporizing and isolating the short from the rest of the cell electrode jellyroll or stack. Partnering with NREL, UCL, Coulometrics, and Soteria, NASA is leading a research effort into demonstrating the merits and understanding the phenomena of this safety innovation using prototype 18650 cylindrical cells vs control cells with standard metal foil current collectors. Cells with and without the plastic collector, with and without the on-demand internal short circuit device, and with polymer or cellulose separators were made. Safety evaluations were done with driving cells into thermal runaway (TR) with thermal and nail penetration triggers while inside our TR calorimeter and with ultra high speed X-ray videography provided at Synchrotrons. Preliminary results suggests that the thermally unstable plastic current collector innovation has great promise for preventing TR or reducing the severity of the TR output.

Li-ion cell↗

NASA NTRSDate not supplied

ICE-RASSOR: Intelligent Capabilities Enhanced Regolith Advanced Surface Systems Operations Robot

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU)processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We apply supervised learning using real data to estimate the soil mass collected without the need for mass flow rate monitors or other explicate sensing techniques. We also create a reduced-order simulation environment to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. Our initial results suggest that excavated regolith mass can be inferred within 2.9% RMS error of full scale, and reinforcement learning for autonomous operations has learned viable trenching strategies and helped identify desirable sensing capabilities, arrangements, and considerations. Future work includes regolith mass estimation during dynamic operation, expanding our simulation to more complex environments, and transfer learning from simulation to hardware.

machine learning↗

NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Reinforcement Learning

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. The goal of reinforcement learning is for an agent to learn a policy (task strategy) through interactions with an environment. When the agent performs an action, a change occurs in environment state and a numerical reward is received which informs the agent whether the action performed was good or not. Since reinforcement learning algorithms learn through trial-and-error, a simulation is a desirable first environment for development and learning. We developed two simulations, the first is a 2D excavation simulation developed to facilitate parameter selection, and a 3D simulation developed using a game physics engine, to simulate simplified soil interactions and increase the fidelity of the dynamic models of the robotic agents. The development of this 3D simulation has enabled the training of additional sensing capabilities and research both at the granular mechanics and operations levels. We experimented with various virtual sensor payloads to identify a combination that enabled efficient excavation operation and learning. Our reward function is based on how much material is excavated per step. A penalty is also received for leaving the dig site and to smooth the acceleration of the drum arms. We implemented pseudo time-of-flight sensors to report distance from each drum to ground and the height above ground which was found to be more efficient than existing solutions. Our findings suggest that reinforcement learning for autonomous operations has learned viable trenching strategies within 3000 training episodes in our simplified 2D environment and helped identify desirable sensing capabilities, arrangements, and considerations such as the positioning of time-of-flight sensors. Future work includes expanding our simulation to more complex environments and scenarios, and transfer learning from simulation to RASSOR 2.0 hardware for deployment in the Regolith Test Bin at NASA's Kennedy Space Center.

rassor↗

NASA NTRSDate not supplied

Micro-Spectrometer for Resource Mapping in Extreme Environments

Measurements and analyses of resources within permanently shadowed craters and along steep embankments on extraterrestrial surfaces pose extreme challenges since astronauts and rovers cannot access them. However, these areas offer the potential for the greatest scientific returns. Researchers at the NASA Langley Research Center (LaRC) invented a deployable wireless micro-spectrometer that can access those challenging areas and deliver telemetry data to a receiver safely outside those extreme environments. The micro-spectrometers are designed for deployment by an astronaut, a rover, or a lander flying overhead. This device can also be installed on rover tires, under the astronaut’s shoes, or on a cane stick. The bullet-like, expendable micro-spectrometer can penetrate into soil to spectrally identify the components of soil, such as water, He-3, or other minerals. The signals from the soil assay data are transmitted to a mother station through a telemetry system. This LaRC developed micro-spectrometer bullet consists of micro-spectrometer optics with an all-imbedded, burst-mode, light-emitting-diode ultraviolet (LED UV) light source, a super-capacitor with control electronics, and telemetry electronics. Prototypes have been fabricated to demonstrate a spectral assay of soil components. Further maturation of this technology would be necessary for demonstrations on the Moon.

micro-spectrometer↗

NASA NTRSDate not supplied

Airspace Performance Observations of Scalable Autonomous Operations in a High Density Vertiplex Simulation

The National Aeronautics and Space Administration’s (NASA’s) High Density Vertiplex (HDV) subproject aims to develop and demonstrate progressive automation technologies that contribute to the Advanced Air Mobility (AAM) concept. Using Human-and-Hardware-In-TheLoop (HHITL) techniques, HDV demonstrates initial vertiport automation services at vertiports with increased air traffic volume in both simulated and live test environments. In 2023, the Scalable Autonomous Operations (SAO) simulation was conducted in which prototype vertiport, airspace, and ground control station technologies were assessed on technical performance. During the SAO simulation, an observational study captured an initial impression of the HDV airspace performance, potential disruptions to the airspace, and highlighted some capability and procedural gaps. Observations took place in two parts. In the first part, five scenario use cases (Nominal, Missed Approach, Speed Change, Divert, and MultiAircraft Divert) were conducted with three human operator roles (Vertiport Manager, Fleet Manager, and Ground Control Station Operator). Researchers collected metrics on throughput, closest point of approach, and airborne delay. In the second part of the study, the Missed Approach scenario was observed under three traffic density levels (20, 40, and 60 operations per hour) to challenge the automation to correctly identify slots in the vertiport arrival schedule. The results showed that the automation successfully found a slot for the Missed Approach vehicle in the 20 operations per hour condition, after some delay it found one in the 40 condition, and it did not find one in the 60 condition. The observations of technical and human performance throughout the five scenario use cases and the Missed Approach case study indicated that for HDV to increase traffic density and maintain or increase throughput, airspace monitoring services should be able to detect and resolve conflicts between aircraft. Furthermore, the roles and responsibilities of human operators need additional definition when it comes to responding to vehicle conflicts.

Advanced Air Mobility↗

NASA NTRSDate not supplied

Initial Testing Results and Forward Design Considerations for the Tri-Rotor Hand Controller

The Lunar Terrain Vehicle (LTV) is one of the key elements of NASA’s Artemis return to the Moon. As an unpressurized rover, the LTV hand controller must take into account the limitations of the spacesuit worn by the crew as well as lessons learned operating the Apollo Lunar Roving Vehicle and preliminary NASA simulations. Because the NASA Ground Test Unit (GTU) design features omnidirectional steering, NASA engineers developed the TriRotor is an innovation to minimize crew fatigue and discomfort. NASA conducted a series of tests, initially with 3D printed mockup controllers, and expanding to a functional prototype used in an LTV video wall simulation. The Tri-Rotor compared favorably with legacy Apollo T-Handles, though numerous test subject comments were collected to improve the controller’s usability. Several options to improve the Tri-Rotor’s usability are also discussed, along with opportunities to test the Tri-Rotor in Virtual Reality, a motion table, and in field analogs.

Hand Controller↗

NASA NTRSDate not supplied

Airspace Performance Observations of Scalable Autonomous Operations in a High Density Vertiplex Simulation

The National Aeronautics and Space Administration’s (NASA’s) High Density Vertiplex (HDV) sub- project aims to develop and demonstrate progressive automation technologies that contribute to the Advanced Air Mobility (AAM) concept. Using Human-and-Hardware-In-The- Loop (HHITL) techniques, HDV demonstrates initial vertiport automation services at vertiports with increased air traffic volume in both simulated and live test environments. In 2023, the Scalable Autonomous Operations (SAO) simulation was conducted in which prototype vertiport, airspace, and ground control station technologies were assessed on technical performance. During the SAO simulation, an observational study captured an initial impression of the HDV airspace performance, potential disruptions to the airspace, and highlighted some capability and procedural gaps. Observations took place in two parts. In the first part, five scenario use cases (Nominal, Missed Approach, Speed Change, Divert, and Multi- Aircraft Divert) were conducted with three human operator roles (Vertiport Manager, Fleet Manager, and Ground Control Station Operator). Researchers collected metrics on throughput, closest point of approach, and airborne delay. In the second part of the study, the Missed Approach scenario was observed under three traffic density levels (20, 40, and 60 operations per hour) to challenge the automation to correctly identify slots in the vertiport arrival schedule. The results showed that the automation successfully found a slot for the Missed Approach vehicle in the 20 operations per hour condition, after some delay it found one in the 40 condition, and it did not find one in the 60 condition. The observations of technical and human performance throughout the five scenario use cases and the Missed Approach case study indicated that for HDV to increase traffic density and maintain or increase throughput, airspace monitoring services should be able to detect and resolve conflicts between aircraft. Furthermore, the roles and responsibilities of human operators need additional definition when it comes to responding to vehicle conflicts.

advanced air mobility↗

DOE OSTI2025

A compact low-level RF control system for advanced concept compact electron linear accelerator

A compact low-level RF (LLRF) control system based on RF system-on-chip (RFSoC) technology has been designed for the Advanced Concept Compact Electron Linear-accelerator (ACCEL) program, which has challenging requirements in both RF performance and size, weight, and power consumption (SWaP). The compact LLRF solution employs the direct RF sampling technique of RFSoC, which samples the RF signals directly without any analog upconversion and downconversion. Compared with the conventional heterodyne based architecture used for the LLRF system of a linear accelerator (LINAC), the elimination of analog mixers can significantly reduce the size and weight of the system, especially with LINAC requiring a larger number of RF channels. Based on the requirements of ACCEL, a prototype LLRF platform has been developed, and the control schemes have been proposed. The prototype LLRF system demonstrated magnitude and phase fluctuation levels below 1% and 1° on the flattop of a 2 μs RF pulse. The LLRF control schemes proposed for ACCEL are implemented with a prototype hardware platform. In conclusion, this paper will introduce the new compact LLRF solution and summarize a selection of experimental test results of the prototype itself and with the accelerating structure cavities designed for ACCEL.

Liu, C. [SLAC National Accelerator Laboratory (SLA↗

NASA NTRS1988

Guidelines for the use of programmable display pushbuttons on the Space Station's telerobot control panel

Simulations of a Remote Manipulator System task on microcomputer prototypes were performed to establish guidelines for using programmable display pushbuttons (PDP) on a telerobot control panel. Simulations of control panels with and without PDP were conducted. It is shown that there is a statistically significant increase in the number of commands issued in the non-PDP control panel. Guidelines for using PDP panels are listed.

Stuart, Mark A.↗

NASA NTRS1992

A 6 degree-of-freedom Lorentz force vibration isolator with nonlinear controller

This program demonstrated the technical feasibility of constructing large-stroke magnetic suspensions that can meet the active vibration isolation requirements of Space Station. These requirements include: (1) strokes over 1 cm in all directions, (2) actuator bandwidths over 100 Hz, (3) isolator roll-off frequencies below 10(exp -2) Hertz, and (4) force capability over 1 Newton in all axes. The 100 Hz actuator bandwidth allows the suspension to reject any direct force disturbances that act on the microgravity experiment, for example forces created by cable connections. The low isolator roll-off frequency and large stroke allow the magnetic suspension to isolate the microgravity experiment from Space Station vibrations above the roll-off frequency. The capability to meet these requirements was demonstrated by designing, constructing and testing a six-degree-of-freedom, prototype magnetic suspension system that featured high-performance, Lorentz-force actuators and full multi-input, multi-output control. This prototype suspension is designed to isolate large orbiter locker experiments under typical spacecraft constraints of size, weight, and power. Suspension in the full six-degrees-of-freedom was successfully demonstrated in this program while using a gravity-force unload mechanism to simulate a space environment. The prototype isolator is capable of space-based isolation service with relatively minor modification. The use of advanced, nonlinear control algorithms were investigated on a specially designed single-degree-of-freedom testbed. This low acceleration test facility simulates the Space Station vibration isolation problem in a single horizontal axis with low-friction, air-slide support. This allowed testing at the desired microgravity levels, without the gravity bias effects that are seen in a full six-degrees-of-freedom suspension. Precision components were used to reduce residual accelerations to microgravity levels so that the effects of sensor, actuator, and electronic noise could be evaluated. During the Phase 2 program, this testbed was used to demonstrate the advantages of nonlinear control algorithms to provide increased vibration isolation performance.

Fenn, Ralph↗

NASA NTRS1980

A propulsion and steering control system for the Mars rover

The design of a propulsion and steering control system for the Rensselaer Polytechnic Institute prototype autonomous Mars roving vehicle is presented. The vehicle is propelled and steered by four independent electric motors. The control system must regulate the speeds of the motors so they work in unison during turns and on irregular terrain. An analysis of the motor coordination problem on irregular terrain, where each motor must supply a different torque at a different speed is presented. A procedure was developed to match the output of each motor to the varying load. A design for the control system is given. The controller uses a microprocessor which interprets speed and steering commands from an off-board computer, and produces the appropriate drive voltages for the motors.

Turner, J. M.↗

NASA NTRS1987

Telerobotic technology for nuclear and space applications

Developments in telerobotics applicable to nuclear and space environments are discussed. The advanced servomanipulator (ASM) slave arm force-reflected servomanipulators designed for modular remote maintainability of the Advanced Integrated Maintenance System is examined. Consideration is given to the master controller, transporter, interface package, operator control station, and the control system for the ASM arm. A prototype of a telerobot capable of performing the activity of an astronaut during EVA is developed. The mechanical and control system features of the telerobot are described.

Herndon, J. N.↗

NASA NTRS1993

Operations automation using the Link Monitor and Control Operator Assistant

The Link Monitor and Control Operator Assistant (LMC OA) is a knowledge-based prototype system which uses AI techniques to provide semiautomated monitor and control functions to support operations of the Deep Space Network (DSN) 70-m antenna at the Goldstone Deep Space Communications Complex (DSCC). The manual and time-consuming process of configuring the 70-m antenna and its associated communications and processing equipment, known as precalibration, is an overhead activity; the time spent in precalibration is time which cannot be spent supporting actual mission operations. Therefore, the major goal of the LMC OA task is to demonstrate techniques that reduce precalibration time, decrease operations overhead, and increase the availability of this valuable and oversubscribed NASA resource. The LMC OA prototype was tested in a parallel, experimental mode at the Goldstone DSCC performing semiautomated precalibration using the actual operational equipment. This test demonstrated that a reduction of 40 percent in precalibration time can be achieved with the LMC OA prototype.

Lee, Lorrine F.↗

DOE OSTI2022

Controls Optimization Final Report, Controls Algorithms Report, Control Optimization - SPA II: Heaving Buoy Test Results [Three reports]

The over-arching project objective is to fully develop and validate optimal controls frameworks that can subsequently be applied widely to different WEC devices and concepts. Optimal controls of WEC devices represent a fundamental building block for WEC designers that must be considered as an integral part of every stage of device development. Using a building-blocks approach to optimal controls development, this effort will result in the full development of a feed-forward and feed-back control approach and a wave prediction system. Phase I focused primarily on numerical offline optimization and validation using wave tank testing of three industry partners’ WEC devices, including; CalWave, Ocean Energy, and Resolute Marine Energy. These industry partnerships allowed us to identify optimal control strategies for these different WEC topologies at different maturity levels. Phase II focused on demonstrating an integrated control system on an at-sea prototype that is to be custom-built and maturing the HW and SW required to successfully run our advanced controls code frameworks on at-sea systems. A secondary focus during phase II is to adapt our systems identification, controls and wave-prediction frameworks to become more robust and comprehensive in respect to RT capability, robustness, and reliability.

16 TIDAL AND WAVE POWER↗

NASA NTRS2014

Full Scale Advanced Systems Testbed (FAST): Capabilities and Recent Flight Research

At the NASA Armstrong Flight Research Center research is being conducted into flight control technologies that will enable the next generation of air and space vehicles. The Full Scale Advanced Systems Testbed (FAST) aircraft provides a laboratory for flight exploration of these technologies. In recent years novel but simple adaptive architectures for aircraft and rockets have been researched along with control technologies for improving aircraft fuel efficiency and control structural interaction. This presentation outlines the FAST capabilities and provides a snapshot of the research accomplishments to date. Flight experimentation allows a researcher to substantiate or invalidate their assumptions and intuition about a new technology or innovative approach Data early in a development cycle is invaluable for determining which technology barriers are real and which ones are imagined Data for a technology at a low TRL can be used to steer and focus the exploration and fuel rapid advances based on real world lessons learned It is important to identify technologies that are mature enough to benefit from flight research data and not be tempted to wait until we have solved all the potential issues prior to getting some data Sometimes a stagnated technology just needs a little real world data to get it going One trick to getting data for low TRL technologies is finding an environment where it is okay to take risks, where occasional failure is an expected outcome Learning how things fail is often as valuable as showing that they work FAST has been architected to facilitate this type of testing for control system technologies, specifically novel algorithms and sensors Rapid prototyping with a quick turnaround in a fly-fix-fly paradigm Sometimes it's easier and cheaper to just go fly it than to analyze the problem to death The goal is to find and test control technologies that would benefit from flight data and find solutions to the real barriers to innovation. The FAST vehicle is a flexible laboratory for nascent technologies that would benefit from early life cycle flight research data It provides a robust and safe environment where innovative techniques can be explored in a fly-fix-fly rapid prototyping paradigm IRAC Simple adaptive control technologies can provide real benefits without undo complexity Adverse pilot/adaptive system interactions can be mitigated and tools have been developed to evaluate those interactions ICP Substantial fuel savings can be achieved over a broad range of vehicles and configurations with intelligent control solutions LVAC The AAC design is robust and effective for the SLS mission, and promises to provide benefits to other platforms as well OCLA Hopefully will show that structural feedback can be seamlessly integrated with performance and stability objectives All of these control technologies have been implemented into the same baseline control law and could be combined into one control solution that answers many pressing questions for modern vehicle configurations

flight controls↗

NASA NTRS2016

Design and Development of a Flight Route Modification, Logging, and Communication Network

There is an overwhelming desire to create and enhance communication mechanisms between entities that operate within the National Airspace System. Furthermore, airlines are always extremely interested in increasing the efficiency of their flights. An innovative system prototype was developed and tested that improves collaborative decision making without modifying existing infrastructure or operational procedures within the current Air Traffic Management System. This system enables collaboration between flight crew and airline dispatchers to share and assess optimized flight routes through an Internet connection. Using a sophisticated medium-fidelity flight simulation environment, a rapid-prototyping development, and a unified modeling language, the software was designed to ensure reliability and scalability for future growth and applications. Ensuring safety and security were primary design goals, therefore the software does not interact or interfere with major flight control or safety systems. The system prototype demonstrated an unprecedented use of in-flight Internet to facilitate effective communication with Airline Operations Centers, which may contribute to increased flight efficiency for airlines.

Merlino, Daniel K.↗

DOE OSTI2025

PID-Regulated Heating System for PIP-II Reference Line

The Proton Improvement Project-2 centers on building a new superconducting linear particle accelerator (Linac) at Fermilab. At the heart of the accelerator is the reference line, a critical system that defines the ideal path for the particle beam as it passes through magnets, RF cavities, and other beamline elements. Temperature stability is crucial for the reliable operation of RF components, such as mixers and filters. Fluctuations affect key performance parameters like conversion loss, isolation, and linearity. To mitigate any drift caused by ambient temperature changes, a heating plate assembly is utilized to maintain key components at a controlled temperature of 40°C. The system utilizes an aluminum 36”x36”x0.5” heat plate powered by a MOSFET-based control circuit, delivering approximately 460 W of thermal energy through a resistor array. Real-time temperature feedback is provided by a PT100 Resistance Temperature Detector (RTD), which interfaces with a Proportional–Integral–Derivative (PID) control algorithm to maintain closed-loop temperature regulation. The control signal actively modulates the gate voltage of an N channel MOSFET, dynamically adjusting power delivery in response to deviations from the temperature setpoint. Simulations and LTspice models validate the functionality and responsiveness of the circuit under varying conditions. The prototype has successfully demonstrated stable thermal control, paving the way for integration into the PIP-II infrastructure. The final design will feature an expanded resistor array, as well as communication with a PLC for continuous data acquisition and diagnostics. This work directly supports Fermilab’s broader mission by contributing to the stability and reliability of core accelerator systems, enhancing the precision of particle beam delivery for future physics experiments.

Mosher, Alexander [Fermilab]↗

NASA NTRS1975

Thermal control extravehicular life support system

The results of a comprehensive study which defined an Extravehicular Life Support System Thermal Control System (TCS) are presented. The design of the prototype hardware and a detail summary of the prototype TCS fabrication and test effort are given. Several heat rejection subsystems, water management subsystems, humidity control subsystems, pressure control schemes and temperature control schemes were evaluated. Alternative integrated TCS systems were studied, and an optimum system was selected based on quantitative weighing of weight, volume, cost, complexity and other factors. The selected subsystem contains a sublimator for heat rejection, bubble expansion tank for water management, a slurper and rotary separator for humidity control, and a pump, a temperature control valve, a gas separator and a vehicle umbilical connector for water transport. The prototype hardware complied with program objectives.

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