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At least 577 records · Page 32

Integration of advanced teleoperation technologies for control of space robots

Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

Stagnaro, Michael J.↗

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully Integrated with the Morpheus Vertical Test Bed Avionics

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Epp, Chirold D.↗

STEP experiment integration

The space technology experiments platform (STEP) integration was examined. Topics include: experiment design, fabrication, and assembly; experiment performance and environmental testing; STEP compatibility testing; STEP experiment integration; STS/payload requirements definition documentation.

Moorman, J. C.↗

IVHM Technologies at JPL

Integrated Vehicle Health Management Technologies at Jet Propulsion Laboratory are presented. The topics include: 1) Wireless Sensors; 2) Extreme Ultraviolet Radiation (XUV) Army Research Laboratory (ARL) Robotics Future Communication Architecture; 3) Micro Communication and Avionics Systems (MCAS); 4) NASA/DARPA Wireless Camera; and 5) Wireless Camera Assembly.

Baroth, Ed↗

Assessment of the State of the Art of Integrated Vehicle Health Management Technologies as Applicable to Damage Conditions

A survey of literature from academia, industry, and other Government agencies assessed the state of the art in current integrated vehicle health management (IVHM) aircraft technologies. These are the technologies that are used for assessing vehicle health at the system and subsystem level. This study reports on how these technologies are employed by major military and commercial platforms for detection, diagnosis, prognosis, and mitigation. Over 200 papers from five conferences from the time period of 2004 to 2009 were reviewed. Over 30 of these IVHM technologies are then mapped into the 17 different adverse event damage conditions identified in a previous study. This study illustrates existing gaps and opportunities for additional research by the NASA IVHM Project.

Reveley, Mary S.↗

Evolutionary Agent-Based Simulation of the Introduction of New Technologies in Air Traffic Management

Accurate simulation of the effects of integrating new technologies into a complex system is critical to the modernization of our antiquated air traffic system, where there exist many layers of interacting procedures, controls, and automation all designed to cooperate with human operators. Additions of even simple new technologies may result in unexpected emergent behavior due to complex human/ machine interactions. One approach is to create high-fidelity human models coming from the field of human factors that can simulate a rich set of behaviors. However, such models are difficult to produce, especially to show unexpected emergent behavior coming from many human operators interacting simultaneously within a complex system. Instead of engineering complex human models, we directly model the emergent behavior by evolving goal directed agents, representing human users. Using evolution we can predict how the agent representing the human user reacts given his/her goals. In this paradigm, each autonomous agent in a system pursues individual goals, and the behavior of the system emerges from the interactions, foreseen or unforeseen, between the agents/actors. We show that this method reflects the integration of new technologies in a historical case, and apply the same methodology for a possible future technology.

Simulation↗

The Development of Si and SiGe Technologies for Microwave and Millimeter-Wave Integrated Circuits

Historically, microwave technology was developed by military and space agencies from around the world to satisfy their unique radar, communication, and science applications. Throughout this development phase, the sole goal was to improve the performance of the microwave circuits and components comprising the systems. For example, power amplifiers with output powers of several watts over broad bandwidths, low noise amplifiers with noise figures as low as 3 dB at 94 GHz, stable oscillators with low noise characteristics and high output power, and electronically steerable antennas were required. In addition, the reliability of the systems had to be increased because of the high monetary and human cost if a failure occurred. To achieve these goals, industry, academia and the government agencies supporting them chose to develop technologies with the greatest possibility of surpassing the state of the art performance. Thus, Si, which was already widely used for digital circuits but had material characteristics that were perceived to limit its high frequency performance, was bypassed for a progression of devices starting with GaAs Metal Semiconductor Field Effect Transistors (MESFETs) and ending with InP Pseudomorphic High Electron Mobility Transistors (PHEMTs). For each new material or device structure, the electron mobility increased, and therefore, the high frequency characteristics of the device were improved. In addition, ultra small geometry lithographic processes were developed to reduce the gate length to 0.1 pm which further increases the cutoff frequency. The resulting devices had excellent performance through the millimeter-wave spectrum.

Ponchak, George E.↗

Lunar Simulants, Analogues, and Standards: Needs and Realities for Mission Technologies Development

Integration of In-Situ Resource Utilization (ISRU) capabilities into missions present both challenges as well as benefits for future missions to the Moon and Mars. However, since ISRU systems and capabilities have not flown, mission planners have been hesitant to include ISRU capabilities in mission critical roles, thereby significantly reducing the benefits that ISRU can provide in mission mass and cost reductions. For ISRU systems to provide products and services to 'customers' such as life support, propulsion, and power systems, close development of requirements, hardware, and operations between ISRU and these systems are required. To address these development and incorporation challenges, NASA and csA initiated a series of analog field test demonstrations at sites in Hawaii. Two tests completed in November of 2008 and February of 2010 have demonstrate all the critical steps in operating ISRU systems on the lunar surface at relevant mission scales as well as integration with power and propulsion systems. The third field test planned for July 2012 will demonstrate that a mission to the lunar poles to locate and characterize ice and other volatiles is possible in a highly integrated mission with multiple space agencies. These analog field tests have shown that not only are ISRU systems feasible at relevant mission scales, that they can be successfully integrated into mission architectures.

Sibille, Laurent↗

SCARLET I: Mechanization solutions for deployable concentrator optics integrated with rigid array technology

The SCARLET I (Solar Concentrator Army with Refractive Linear Element Technology) solar array wing was designed and built to demonstrate, in flight, the feasibility of integrating deployable concentrator optics within the design envelope of typical rigid array technology. Innovative mechanism designs were used throughout the array, and a full series of qualification tests were successfully performed in anticipation of a flight on the Multiple Experiment Transporter to Earth Orbit and Return (METEOR) spacecraft. Even though the Conestoga launch vehicle was unable to place the spacecraft in orbit, the program effort was successful in achieving the milestones of analytical and design development functional validation, and flight qualification, thus leading to a future flight evaluation for the SCARLET technology.

Wachholz, James J.↗

Technical Challenges and Gaps in Integration of Advanced Sensors, Instrumentation, and Communication Technologies with Digital Twins for Nuclear Application

This paper explores integrating advanced sensor, instrumentation, and communication technologies with digital twin technologies for nuclear energy application. Digital twins and digital-twin-enabling technologies are expected to integrate with future nuclear reactor designs and have the potential to impact currently operating nuclear power plants. Greater digital integration, advanced instrumentation and control systems, and advanced operations and maintenance practices are all associated with digital-twin-enabling technologies. Advanced sensors, instrumentation, and communication technology are expected to comprise important elements of the infrastructure required to develop and operate a nuclear digital twin system. This paper identifies and discusses challenges and gaps in developing and implementing advanced sensors and instrumentation and communication technology to be integrated with a digital twin in current and advanced reactor applications. It is important to address some challenge and gap to enable a successful near-term deploying advanced sensors, instrumentation, and communication technologies integrated with digital twins.

Yadav, Vaibhav↗

Tutorial on forming through-silicon vias

Through-silicon vias (TSVs) are a critical technology for three-dimensional integrated circuit technology. These through-substrate interconnects allow electronic devices to be stacked vertically for a broad range of applications and performance improvements such as increased bandwidth, reduced signal delay, improved power management, and smaller form-factors. There are many interdependent processing steps involved in the successful integration of TSVs. This article provides a tutorial style review of the following semiconductor fabrication process steps that are commonly used in forming TSVs: deep etching of silicon to form the via, thin film deposition to provide insulation, barrier, and seed layers, electroplating of copper for the conductive metal, and wafer thinning to reveal the TSVs. Recent work in copper electrochemical deposition is highlighted, analyzing the effect of accelerator and suppressor additives in the electrolyte to enable void-free bottom-up filling from a conformally lined seed metal.

42 ENGINEERING↗

Integration of microinverter with photovoltaic module

Various technologies for integrating a microinverter with a photovoltaic module are disclosed. An alternating current photovoltaic (ACPV) module includes a photovoltaic module having a frame and a junction box including a direct current (DC) output connector, and a microinverter having a housing coupled to the frame and a DC input connector electrically mated with the DC output connector of the photovoltaic module.

Gilchrist, Phil↗

Integrating AI and Multi-sensor Technology for better Bioenergy Preprocessing

Integrating multi-sensor identification with machine learning significantly enhances bioenergy preprocessing by using non-destructive, multi-spectral sensors to improve feedstock purity and quality. This approach not only reduces preprocessing costs but also ensures a more efficient and sustainable bioenergy production process.

09 - BIOMASS FUELS↗

MODSIM World 2007 Conference and Expo: Select Papers and Presentations from the Education and Training Track

This NASA Conference Publication features select papers and PowerPoint presentations from the Education and Training Track of MODSIM World 2007 Conference and Expo. Invited speakers and panelists of national and international renown, representing academia, industry and government, discussed how modeling and simulation (M&S) technology can be used to accelerate learning in the K-16 classroom, especially when using M&S technology as a tool for integrating science, technology, engineering and mathematics (STEM) classes. The presenters also addressed the application ofM&S technology to learning and training outside of the classroom. Specific sub-topics of the presentations included: learning theory; curriculum development; professional development; tools/user applications; implementation/infrastructure/issues; and workforce development. There was a session devoted to student M&S competitions in Virginia too, as well as a poster session.

Pinelli, Thomas E.↗

Revolutionizing Turbine Cooling with Micro-Architectures Enabled by Direct Metal Laser Sintering

The objective of this research effort was to explore innovative cooling architectures enabled by additive manufacturing techniques for improved turbine cooling performance. The ability to create complex internal geometries was leveraged to better distribute coolant as well as to integrate inherently unstable flow devices to enhance internal and external heat transfer. This was accomplished with a multi-faceted approach including analytical, experimental, and computational components. This final report documents progress during the total 4.25 year effort that was extended (at no additional cost) from the original 3-year cooperative agreement. Prior to starting the project, significant effort was invested in investigating innovative cooling designs from the open literature. When the project started, we quickly down-selected to 4 configurations: impingement jet fluidic oscillators (for internal leading edge cooling), reverse film cooling (for pressure surface), sweeping film cooling jets (for suction surface), and trailing edge slot cooling with microchannels. During the 2nd year, the reverse film cooling design was shown to be sub-optimal and work on that topic was halted. The three remaining technologies were integrated into a large scale nozzle guide vane and installed into a low-speed linear cascade facility for further interrogation. Initial results showed the sweeping film cooling jets (on the suction surface) to be the most promising technology compared to a baseline diffusion shaped film hole (777 design). The benefit was particularly evident at high blowing ratios (>1.5) when the 777 coolant film separated from the downstream surface. Benefits were also evident at elevated freestream turbulence levels. The leading edge cooling with unsteady jets was less effective in terms of peak or average cooling – however it was superior to round hole impingement cooling in terms of spatial uniformity. Finally, the trailing edge cooling design with micro-channels was scrapped in favor of a pinned arrangement with centerbody. During the 3rd year, the same three technologies were integrated into a transonic linear cascade for an assessment of compressibility effects. Again, the sweeping film cooling jets proved superior at high blowing ratios while the unsteady leading edge impingement and trailing edge pin-fins with centerbody designs yielded mixed results. Finally, during the 4th and final year, these 3 technologies were integrated into a direct metal laser sintered (DMLS) nozzle guide vane for testing in a high temperature, transonic annular vane cascade. The facility matches the flow temperature, Mach number, and coolant pressure ratios of an actual gas turbine. Before doing this, an additional series of tests were completed to validate a redesigned trailing edge cooling architecture. This final design included a centerbody with triangular pins between the centerbody and the vane external skin. The majority of these triangular pins are fabricated with a 30% gap to the centerbody – reducing their pressure drop considerably while still providing excellent heat transfer augmentation. This additional test campaign required an additional 3-month extension request to complete testing in the high temperature NGV test facility (Turbine Reacting Flow Rig – TuRFR). Testing of the DMLS vane in TuRFR pitted the 3 innovative cooling technologies against more traditional technologies (shaped 777 film hole, round impingement jet, and full pin arrangement in the trailing edge. The sweeping film cooling jets (on the suction surface) showed approximately 15% improvement in overall effectiveness compared to the 777 film hole while the trailing edge showed up to 20% improvement. The leading edge impingement was disappointing with a substantially lower effectiveness than traditional direct impingement. In summary, the study was successful in demonstrating that DMLS-enabled cooling technologies can yield significant gains in cooling performance.

03 NATURAL GAS↗

Cost reduction by integration of the assurance technologies.

It is shown how the cost of applying assurance disciplines to the development of complex systems can be reduced by integrating the mechanics of system engineering and system management into a 'Development Risk Control System'. The essential features of the integration process are examined. A 'Development Risk Management Model' is described, and the use of the model to integrate and thereby reduce the cost of other assurance disciplines is discussed and illustrated.

Ball, L. W.↗