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At least 631 records · Page 35
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Assessment of Sensor Data Accuracy within Gazebo/ROS for High-Precision Autonomous In-Space Robotic Operations

Modeling high-precision in-space servicing, assembly, and manufacturing operations in a simulated environment is a critical step in the development of robotic systems that will be used to autonomously assemble large-scale structures in space. Limited facility size and high costs for manufacturing prototypes make it challenging to conduct full-scale operational testing under appropriate environmental conditions; therefore, testing in a modular, high-fidelity simulation environment is necessary for verification and validation of technology and architecture designs prior to launch. Several modeling and simulation environments exist both within NASA and industry that can be used to test robotic system design and operations, including the widely used commercial tool Gazebo integrated with Robotic Operating System software. Because the performance of autonomous robotic systems relies heavily on the quality of sensor input data, this paper focuses on assessing the accuracy of pose data from an optical sensor model in the Gazebo environment against the behavior of real hardware. The results of the tests will help developers using Gazebo for large-scale, high-precision simulation to account for modeling inaccuracies within their robotic control system algorithms.

simulation↗
NASA NTRS1992

Scheduling lessons learned from the Autonomous Power System

The Autonomous Power System (APS) project at NASA LeRC is designed to demonstrate the applications of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution systems. The project consists of three elements: the Autonomous Power Expert System (APEX) for Fault Diagnosis, Isolation, and Recovery (FDIR); the Autonomous Intelligent Power Scheduler (AIPS) to efficiently assign activities start times and resources; and power hardware (Brassboard) to emulate a space-based power system. The AIPS scheduler was tested within the APS system. This scheduler is able to efficiently assign available power to the requesting activities and share this information with other software agents within the APS system in order to implement the generated schedule. The AIPS scheduler is also able to cooperatively recover from fault situations by rescheduling the affected loads on the Brassboard in conjunction with the APEX FDIR system. AIPS served as a learning tool and an initial scheduling testbed for the integration of FDIR and automated scheduling systems. Many lessons were learned from the AIPS scheduler and are now being integrated into a new scheduler called SCRAP (Scheduler for Continuous Resource Allocation and Planning). This paper will service three purposes: an overview of the AIPS implementation, lessons learned from the AIPS scheduler, and a brief section on how these lessons are being applied to the new SCRAP scheduler.

Ringer, Mark J.↗
NASA NTRS2001

NASTRAN DMAP Fuzzy Structures Analysis: Summary of Research

The main proposed tasks of Cooperative Agreement NCC1-382 were: (1) developing MSC/NASTRAN DMAP language scripts to implement the Soize fuzzy structures approach for modeling the dynamics of complex structures; (2) benchmarking the results of the new code to those for a cantilevered beam in the literature; and (3) testing and validating the new code by comparing the fuzzy structures results to NASA Langley experimental and conventional finite element results for two model test structures representative of aircraft fuselage sidewall construction: (A) a small aluminum test panel (SLP, single longeron panel) with a single longitudinal stringer attached with bolts; and (B) a 47 by 72 inch flat aluminum fuselage panel (AFP, aluminum fuselage panel) including six longitudinal stringers and four frame stiffeners attached with rivets.

Sparrow, Victor W.↗
NASA NTRS2003

The Intelligent Flight Control Program (IFCS)

Institute for Scientific Research, Inc. (ISR) is pleased to submit this closeout report for the Research Cooperative Agreement NCC4-00128 of accomplishments for the Intelligent Flight Control System (IFCS) Project. It has been a pleasure working with NASA and NASA partners as we strive to meet the goals of this research initiative. ISR was engaged in this Research Cooperative Agreement beginning March 3, 2001 and ending March 31, 2003. During this time, a great deal has been accomplished and plans have been solidified for the continued success of this program. Our primary areas of involvement include the following: 1) ARTS II Master Test Plan; 2) ARTS II Hardware Design and Development; 3) ARTS II Software Design and Development; 4) IFCS PID/BLNN/OLNN Development; 5) Performed Preliminary and Formal Testing; 6) Documentation and Reporting.

Source record↗
NASA NTRS2004

Improvement of thermal contact resistance by carbon nanotubes and nanofibers

Interfacial thermal resistance results of various nanotube and nanofiber coatings, prepared by chemical vapor deposition (CVD) methods, are reported at relatively low clamping pressures. The five types of samples examined include multi-walled and single-walled nanotubes growth by CVD, multi-walled nanotubes grown by plasma enhanced CVD (PECVD) and carbon nanofibers of differing aspect ratio grown by PECVD. Of the samples examined, only high aspect ratio nanofibers and thermally grown multi-walled nanotubes show an improvement in thermal contact resistance. The improvement is approximately a 60% lower thermal resistance than a bare Si-Cu interface and is comparable to that attained by commercially available thermal interface materials.

Evaluation Studies↗
NASA NTRS2016

Potential Cislunar and Interplanetary Proving Ground Excursion Trajectory Concepts

NASA has been investigating potential translunar excursion concepts to take place in the 2020s that would be used to test and demonstrate long duration life support and other systems needed for eventual Mars missions in the 2030s. These potential trajectory concepts could be conducted in the proving ground, a region of cislunar and near-Earth interplanetary space where international space agencies could cooperate to develop the technologies needed for interplanetary spaceflight. Enabled by high power Solar Electric Propulsion (SEP) technologies, the excursion trajectory concepts studied are grouped into three classes of increasing distance from the Earth and increasing technical difficulty: the first class of excursion trajectory concepts would represent a 90-120 day round trip trajectory with abort to Earth options throughout the entire length, the second class would be a 180-210 day round trip trajectory with periods in which aborts would not be available, and the third would be a 300-400 day round trip trajectory without aborts for most of the length of the trip. This paper provides a top-level summary of the trajectory and mission design of representative example missions of these three classes of excursion trajectory concepts.

asteroids↗
NASA NTRS2018

Playbook for UAS: UX of Goal-Oriented Planning & Execution

We are evaluating the tool Playbook, a mission planning and scheduling tool used for analog missions and research experiments at NASA. We are adapting Playbook to support an unmanned aerial vehicle (UAV) demonstration that will simulate a "search and recover" mission. To support this demonstration, we need to test this software and its usability with human subjects. Playbook will be used to plan, edit, and monitor simulated UAV swarms, and we are interested in evaluating these capabilities. Allocation of roles and responsibilities between human-automation systems is key to promoting productive cooperation between these two agents. When guiding swarms the user should not be concerned with moving waypoints, adjusting heading and altitude or any other small actions that traditional pilots control. Providing situational awareness through sensor data including radar, heat, live camera feed, and topographic information are key when managing multiple UAVs together. First responders need a good picture of disaster areas in order to make informed decisions. These sensors can initiate movements in the mission that indicate when the human should take control of single aircraft.

UAV swarms↗
NASA NTRS2022

Starling Animation

NASA’s Starling mission is advancing the readiness of various technologies for cooperative groups of spacecraft – also known as distributed missions, clusters, or swarms. Starling will demonstrate technologies to enable multipoint science data collection by several small spacecraft flying in swarms. The six-month mission will use four CubeSats in low-Earth orbit to test four technologies that let spacecraft operate in a synchronized manner without resources from the ground. The technologies will advance the following capabilities. • Network Communication • Cluster Flight Control • Relative navigation • Distributed Spacecraft Autonomy The Starling mission will test whether the technologies work as expected, what their limitations are, and what developments are still needed for CubeSat swarms to be successful. This animation illustrates Starling mission operations, offering an overview of each technology being demonstrated.

Howard N Cannon↗
NASA NTRS1989

Correlation of Puma airloads: Evaluation of CFD prediction methods

A cooperative program was undertaken by research organizations in England, France, Australia and the U.S. to study the capabilities of computational fluid dynamics codes (CFD) to predict the aerodynamic loading on helicopter rotor blades. The program goal is to compare predictions with experimental data for flight tests of a research Puma helicopter with rectangular and swept tip blades. Two topics are studied. First, computed results from three CFD codes are compared for flight test cases where all three codes use the same partial inflow-angle boundary conditions. Second, one of the CFD codes (FPR) is iteratively coupled with the CAMRAD/JA helicopter performance code. These results are compared with experimental data and with an uncoupled CAMRAD/JA solution. The influence of flow field unsteadiness is found to play an important role in the blade aerodynamics. Alternate boundary conditions are suggested in order to properly model this unsteadiness in the CFD codes.

Strawn, Roger C.↗
NASA NTRS1989

Correlation of Puma airfoils - Evaluation of CFD prediction methods

A cooperative program was undertaken by research organizations in England, France, Australia and the U.S. to study the capabilities of computational fluid dynamics codes (CFD) to predict the aerodynamic loading on helicopter rotor blades. The program goal is to compare predictions with experimental data for flight tests of a research Puma helicopter with rectangular and swept tip blades. Two topics are studied. First, computed results from three CFD codes are compared for flight test cases where all three codes use the same partial inflow-angle boundary conditions. Second, one of the CFD codes (FPR) is iteratively coupled with the CAMRAD/JA heilcopter performance code. These results are compared with experimental data and with an uncoupled CAMRAD/JA solution. The influence of flow field unsteadiness is found to play an important role in the blade aerodynamics. Alternate boundary conditions are suggested in order to properly model this unsteadiness in the CFD codes.

Strawn, Roger C.↗
NASA NTRS2003

Summary and Recommendations for Future Work

The safety of astronauts is the primary concern of all space missions. Space radiation has been identified as a major concern for ISS, and minimizing radiation risks during EVA is a principle component of NASA s radiation protection program. The space suit plays a critical role in shielding astronauts from EVA radiation exposures. In cooperation with the JSC Extravehicular Activity Project Office, and the Space Radiation Health Project Office, the NASA EMU and RSA Orlan space suits were taken to the LLUPTF for a series of measurements with proton and electron beams to simulate exposures during EVA operations. Additional tests with material layouts of the EMU suit sleeve were made in collaboration with NASA LaRC at the LBNL 88-inch cyclotron and at the Brookhaven National Laboratory Alternating Gradient Synchrotron.

Cucinotta, Francis A.↗
NASA NTRS2019

Technical Challenges Associated with In-Air Wingtip Docking of Aircraft in Forward Flight

Autonomous in-air wingtip docking of aircraft offers significant opportunity for system level performance gains for numerous aircraft applications. Several of the technical challenges facing wingtip docking of fixed-wing aircraft are addressed in this paper, including: close proximity aerodynamic coupling; mechanisms and operations for robust docking; and relative state estimation methods. A simulation framework considering the aerodynamics, rigid-body dynamics, and vehicle controls is developed and used to perform docking sensitivity studies for a system of two 5.5% scale NASA Generic Transport Model aircraft. Additionally, proof of- concept testing of a candidate docking mechanism designed to move the primary wingtip vortex inboard suggests the viability of such an approach for achieving robust docking.

Quinlan, Jesse R.↗
NASA NTRSDate not supplied

Microbial Mutualism in (Modeled) Microgravity: Measuring the Effects of A Spaceflight-Like Fluid Environment on Cross-Feeding Communities

Microorganisms grow differently in spaceflight than they do on Earth. While numerous factors likely contribute, one ubiquitous feature of the space environment is altered gravity - but because microbes are generally considered too small to detect gravity directly, they likely experience the effects of gravity via changes in their fluid environment, primarily a reduction in convective mixing. This theory is supported by evidence that individual microbial strains experience starvation and acid stress in microgravity. If it is true, then microgravity would also have measurable effects on microbes in mixed communities, because many interspecies interactions involve the exchange of soluble metabolites through their medium (cross-feeding). Specifically, cooperative cross-feeding communities would grow more slowly in microgravity, and this effect should be reproducible in ground-based rotational culture systems (rotating wall vessels, RWVs) designed to simulate the quiescent environment of microgravity. Here we present preliminary results of our efforts to test this hypothesis using using a model system of Eschericia coli and Salmonella enterica that grow only when they can exchange methionine and acetate through the medium. We report on the development of a novel laboratory system that allows us measure growth rates and species ratios in real-time using fluorescence spectrometry as the organisms grow in RWVs. We are able to track growth rates of individual species and the co-culture continuously with high temporal resolution for several hours, a substantial improvement over prior RWV systems that require destructive sampling. We vary the fidelity of the microgravity simulation by varying the rotation rate, and find that rotation rate affects growth rates of the community more than that of individual strains, consistent with the claim that RWVs can simulate a microgravity-like quiescent environment. While more work needs to be done to probe the mechanisms of this effect, we hope that our system will ultimately allow us to generate quantitative predictions about the effects of spaceflight on organisms that are tiny but essential to sustaining long-term human space exploration.

microgravity↗
NASA NTRS2008

Standardizing Interfaces for External Access to Data and Processing for the NASA Ozone Product Evaluation and Test Element (PEATE)

NASA's traditional science data processing systems have focused on specific missions, and providing data access, processing and services to the funded science teams of those specific missions. Recently NASA has been modifying this stance, changing the focus from Missions to Measurements. Where a specific Mission has a discrete beginning and end, the Measurement considers long term data continuity across multiple missions. Total Column Ozone, a critical measurement of atmospheric composition, has been monitored for'decades on a series of Total Ozone Mapping Spectrometer (TOMS) instruments. Some important European missions also monitor ozone, including the Global Ozone Monitoring Experiment (GOME) and SCIAMACHY. With the U.S.IEuropean cooperative launch of the Dutch Ozone Monitoring Instrument (OMI) on NASA Aura satellite, and the GOME-2 instrumental on MetOp, the ozone monitoring record has been further extended. In conjunction with the U.S. Department of Defense (DoD) and the National Oceanic and Atmospheric Administration (NOAA), NASA is now preparing to evaluate data and algorithms for the next generation Ozone Mapping and Profiler Suite (OMPS) which will launch on the National Polar-orbiting Operational Environmental Satellite System (NPOESS) Preparatory Project (NPP) in 2010. NASA is constructing the Science Data Segment (SDS) which is comprised of several elements to evaluate the various NPP data products and algorithms. The NPP SDS Ozone Product Evaluation and Test Element (PEATE) will build on the heritage of the TOMS and OM1 mission based processing systems. The overall measurement based system that will encompass these efforts is the Atmospheric Composition Processing System (ACPS). We have extended the system to include access to publically available data sets from other instruments where feasible, including non-NASA missions as appropriate. The heritage system was largely monolithic providing a very controlled processing flow from data.ingest of satellite data to the ultimate archive of specific operational data products. The ACPS allows more open access with standard protocols including HTTP, SOAPIXML, RSS and various REST incarnations. External entities can be granted access to various modules within the system, including an extended data archive, metadata searching, production planning and processing. Data access is provided with very fine grained access control. It is possible to easily designate certain datasets as being available to the public, or restricted to groups of researchers, or limited strictly to the originator. This can be used, for example, to release one's best validated data to the public, but restrict the "new version" of data processed with a new, unproven algorithm until it is ready. Similarly, the system can provide access to algorithms, both as modifiable source code (where possible) and fully integrated executable Algorithm Plugin Packages (APPs). This enables researchers to download publically released versions of the processing algorithms and easily reproduce the processing remotely, while interacting with the ACPS. The algorithms can be modified allowing better experimentation and rapid improvement. The modified algorithms can be easily integrated back into the production system for large scale bulk processing to evaluate improvements. The system includes complete provenance tracking of algorithms, data and the entire processing environment. The origin of any data or algorithms is recorded and the entire history of the processing chains are stored such that a researcher can understand the entire data flow. Provenance is captured in a form suitable for the system to guarantee scientific reproducability of any data product it distributes even in cases where the physical data products themselves have been deleted due to space constraints. We are currently working on Semantic Web ontologies for representing the various provenance information. A new web site focusing on consolidating informaon about the measurement, processing system, and data access has been established to encourage interaction with the overall scientific community. We will describe the system, its data processing capabilities, and the methods the community can use to interact with the standard interfaces of the system.

Tilmes, Curt A.↗
NASA NTRS1977

Experimental data and theoretical analysis of an operating 100 kW wind turbine

Part of the cooperative effort between NASA and ERDA has been the design and the erection of an experimental wind turbine by the NASA-Lewis Research Center. This 100 kW turbine, designated the Mod-O, is located at the NASA Plum Brook site near Sandusky, Ohio. Experimental test data have been correlated with analyses of turbine loads and complete system behavior of the 100 kW Mod-O wind turbine generator over a broad range of steady state conditions, as well as during transient conditions. The deficit in the ambient wind field due to the upwind tower turbine support structure was found to be very significant in exciting higher harmonic loads associated with the flapping response of the blade in bending.

Linscott, B. S.↗
NASA NTRS2001

X-traktor: A Rookie Robot, Simple, Yet Complex, Impeccably Designed, a Very Innovative Multidisciplinary Engineering Masterpiece

FIRST is the acronym of For Inspiration and Recognition of Science and Technology. FIRST is a 501.C.3 non-profit organization whose mission is to generate an interest in science and engineering among today's young adults and youth. This mission is accomplished through a robot competition held annually in the spring of each year. NASAs Marshall Space Flight Center, Education Programs Department, awarded a grant to Lee High School, the sole engineering magnet school in Huntsville, Alabama. MSFC awarded the grant in hopes of fulfilling its goal of giving back invaluable resources to its community and engineers, as well as educating tomorrow's work force in the high-tech area of science and technology. Marshall engineers, Lee High School students and teachers, and a host of other volunteers and parents officially initiated this robot design process and competitive strategic game plan. The FIRST Robotics Competition is a national engineering contest, which immerses high school students in the exciting world of science and engineering. Teaming with engineers from government agencies, businesses, and universities enables the students to learn about the engineering profession. The students and engineers have six weeks to work together to brainstorm, design, procure, construct, and test their robot. The team then competes in a spirited, 'no-holds barred' tournament, complete with referees, other FIRST-designed robots, cheerleaders, and time clocks. The partnerships developed between schools, government agencies, businesses, and universities provide an exchange of resources and talent that build cooperation and expose students to new and rewarding career options. The result is a fun, exciting, and stimulating environment in which all participants discover the important connections between classroom experiences and real-world applications. This paper will highlight the story, engineering development, and evolutionary design of Xtraktor, the rookie robot, a manufacturing marvel and engineering achievement.

Henderson, A. J., Jr.↗
NASA NTRS1990

Plant Research

The Land's agricultural research team is testing new ways to sustain life in space as a research participant with Kennedy Space Center's Controlled Ecological Life Support System (CELSS). The Land, sponsored by Kraft General Foods, is an entertainment, research, and education facility at EPCOT Center, part of Walt Disney World. The cooperative effort is simultaneously a research and development program, a technology demonstration that provides the public to see high technology at work and an area of potential spinoff: the CELSS work may generate Earth use technology beneficial to the hydroponic (soilless growing) vegetable production industries of the world.

Source record↗
NASA NTRS2003

Next Generation Active Buffet Suppression System

Buffeting is an aeroelastic phenomenon that is common to high performance aircraft, especially those with twin vertical tails like the F/A-18, at high angles of attack. These loads result in significant random stresses, which may cause fatigue damage leading to restricted capabilities and availability of the aircraft. This paper describes an international collaborative research activity among Australia, Canada and the United States involving the use of active structural control to alleviate the damaging structural response to these loads. The research program is being co-ordinated by the Air Force Research Laboratory (AFRL) and is being conducted under the auspices of The Technical Cooperative Program (TTCP). This truly unique collaborative program has been developed to enable each participating country to contribute resources toward a program that coalesces a broad range of technical knowledge and expertise into a single investigation. This collaborative program is directed toward a full-scale test of an F/A-18 empennage, which is an extension of an earlier initial test. The current program aims at applying advanced directional piezoactuators, the aircraft rudder, switch mode amplifiers and advanced control strategies on a full-scale structure to demonstrate the enhanced performance and capability of the advanced active BLA control system in preparation for a flight test demonstration.

Galea, Stephen C.↗