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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.

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At least 667 records · Page 37

All sources NASA NTRS DOE OSTI

NASA NTRS1990

The Jet Propulsion Laboratory shared control architecture and implementation

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Backes, Paul G.↗

NASA NTRS1990

Knowledge-based and integrated monitoring and diagnosis in autonomous power systems

A new technique of knowledge-based and integrated monitoring and diagnosis (KBIMD) to deal with abnormalities and incipient or potential failures in autonomous power systems is presented. The KBIMD conception is discussed as a new function of autonomous power system automation. Available diagnostic modelling, system structure, principles and strategies are suggested. In order to verify the feasibility of the KBIMD, a preliminary prototype expert system is designed to simulate the KBIMD function in a main electric network of the autonomous power system.

Momoh, J. A.↗

NASA NTRS1991

Autonomous power system intelligent diagnosis and control

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

Ringer, Mark J.↗

NASA NTRS1991

Autonomous Power System intelligent diagnosis and control

Ringer, Mark J.↗

DOE OSTI2020

3D printed graphene-based self-powered strain sensors for smart tires in autonomous vehicles

The transition of autonomous vehicles into fleets requires an advanced control system design that relies on continuous feedback from the tires. Smart tires enable continuous monitoring of dynamic parameters by combining strain sensing with traditional tire functions. Here, we provide breakthrough in this direction by demonstrating tire-integrated system that combines direct mask-less 3D printed strain gauges, flexible piezoelectric energy harvester for powering the sensors and secure wireless data transfer electronics, and machine learning for predictive data analysis. Ink of graphene based material was designed to directly print strain sensor for measuring tire-road interactions under varying driving speeds, normal load, and tire pressure. A secure wireless data transfer hardware powered by a piezoelectric patch is implemented to demonstrate self-powered sensing and wireless communication capability. Combined, this study significantly advances the design and fabrication of cost-effective smart tires by demonstrating practical self-powered wireless strain sensing capability.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2023

Toward implementing autonomous adaptive data acquisition for scanning hyperspectral imaging of biological systems

Autonomous experimentation is an emerging area of research, primarily related to autonomous vehicles, scientific combinatorial discovery approaches in materials science and drug discovery, and iterative research loops of planning, experimentation, and analysis. However, autonomous approaches developed in these contexts are difficult to apply to high-dimensional mapping technologies, such as scanning hyperspectral imaging of biological systems, due to sample complexity and heterogeneity. We briefly cover the history of adaptive sampling algorithms and surrogate modeling in order to define autonomous adaptive data acquisition as an objective-based, flexible building block for future biological imaging experimentation driven by intelligent infrastructure. We subsequently summarize the recent implementations of autonomous adaptive data acquisition (AADA) for scanning hyperspectral imaging, assess how these address the difficulties of autonomous approaches in hyperspectral imaging, and highlight the AADA design variation from a goal-oriented perspective. Finally, we present a modular AADA architecture that embeds AADA-driven flexible building blocks to address the challenge of time resolution for high-dimensional scanning hyperspectral imaging of nonequilibrium dynamical systems. In our example research-driven experimental design case, we propose an AADA infrastructure for time-resolved, noninvasive, and label-free scanning hyperspectral imaging of living biological systems. This AADA infrastructure can accurately target the correct state of the system for experimental workflows that utilize subsequent expensive, high-information-content analytical techniques.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2021

AI-Enabled Robotic NDE for Structural Damage Assessment and Repair

The aim of this paper is to develop the concept and a prototype of an intelligent mobile robotic platform that is integrated with nondestructive evaluation (NDE) capabilities for autonomous live inspection and repair. In many industrial environments, such as the application of power plant boiler inspection, human inspectors often have to perform hazardous and challenging tasks. There is a significant chance of injury, considering the confined spaces and limited visibility of the inspection environment and hazards such as pressurization and improper water levels. In order to provide a solution to eliminate these dangers, the concept of a new robotic system was developed and prototyped that is capable of autonomously sweeping the region to be inspected. The robot design contains systematic integration of components from robotics, NDE, and artificial intelligence (AI). A magnetic track system is used to navigate over the vertical steel structures required for examination. While moving across the inspection area, the robot uses an NDE sensor to acquire data for inspection and repair. This paper presents a design of a portable NDE scanning system based on eddy current array probes, which can be customized and installed on various mobile robot platforms. Machine learning methods are applied for semantic segmentation that will simultaneously localize and recognize defects without the need of human intervention. Experiments were conducted that show the NDE and repair capabilities of the system. Improvements in human safety and structural damage prevention, as well as lowering the overall costs of maintenance, are possible through the implementation of this robotic NDE system.

Materials Science↗

NASA NTRS1990

Fluid Phase Separation (FPS) experiment for flight on a space shuttle Get Away Special (GAS) canister

The separation of fluid phases in microgravity environments is of importance to environmental control and life support systems (ECLSS) and materials processing in space. A successful fluid phase separation experiment will demonstrate a proof of concept for the separation technique and add to the knowledge base of material behavior. The phase separation experiment will contain a premixed fluid which will be exposed to a microgravity environment. After the phase separation of the compound has occurred, small samples of each of the species will be taken for analysis on the Earth. By correlating the time of separation and the temperature history of the fluid, it will be possible to characterize the process. The experiment has been integrated into space available on a manifested Get Away Special (GAS) experiment, CONCAP 2, part of the Consortium for Materials Complex Autonomous Payload (CAP) Program, scheduled for STS-42. The design and the production of a fluid phase separation experiment for rapid implementation at low cost is presented.

Peters, Bruce↗

NASA NTRS1989

A concept for using the external tank from a National Space Transportation System (NSTS) for a lunar habitat

A concept for using the external tank from a National Space Transportation System for a lunar habitat is described. The tank is inserted in low earth orbit where it is outfitted as a 12-person lunar habitat. The tank modifications utilize existing structures and openings for man access without compromising the structural integrity of the tank. The modifications include installation of living quarters, instrumentation, and airlock; and thermal-control, environmental-control and life-support, and propulsion systems. The habitat is designed for unmanned transport to low lunar orbit and autonomously soft landed on the lunar surface. Supply to the habitat is provided by a space transfer vehicle and manned cargo lander. The lunar habitat concept is feasible by the year 2000 with the concurrent development of a space transfer vehicle and manned cargo lander for crew changeover and resupply.

King, C. B.↗

NASA NTRS1992

Lunar Habitat Would Be Assembled In Space

Conceptual lunar habitat built inside external tank from National Space Transportation System (NSTS). Tank modified in low Earth orbit using existing structures and openings for access without compromising structural integrity. Designed for unmanned transport to orbit around Moon, and autonomous soft landing. Houses crew of 12 for 70 days between resupply missions.

King, Charles B.↗

NASA NTRS1991

Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system.

Murphy, Michael G.↗

NASA NTRS1989

Preliminary design of a lunar construction utility vehicle

Construction of a lunar base, prior to manned occupancy, is one of the most demanding technological challenges facing space system designers today. A flexible lunar construction machine is needed that can be operated remotely and that can perform a variety of construction tasks over a wide range of lunar conditions. A preliminary lunar construction utility vehicle (LCUV) design has been developed as part of a capstone design course at Old Dominion University and is described in this summary report. The design requirements are taken from a 1988 USRA Summer Design Report entitled The Lunar Split Mission: A Robotic Constructed Lunar Base Scenario, and from the proceedings of a workshop hosted by United Technologies Corporation entitled Report of the In Situ Resources Utilization Workshop. The first report describes a bootstrap base concept in which a minimum of essential surface elements are delivered and configured such that minimum EVA is required to bring the initial base on-line. The base is to be built in three phases, the first of which will be unmanned, while the second and third will be manned. The key to these concepts is the development of a semiautonomous, telerobotic lunar construction utility vehicle (LCUV). The tasks required of this robotic vehicle during the phase 1 build-up are as follows: (1) surface element transportation, handling, and assembly; (2) soil excavation and movement for site preparation; (3) radiation protection and materials processing; and (4) repair and maintenance of surface elements. In order to meet the stated requirements, the LCUV must be: (1) transformable to perform a wide variety of tasks; (2) self supporting; (3) designed to allow for telerobotic control as well as autonomous operation; (4) able to transport one fully configured space station common module (SSCM); (5) upgradable to allow for future growth; and (6) easy to maintain.

Bryant, C. A.↗

NASA NTRS1995

A method for diagnosing time dependent faults using model-based reasoning systems

This paper explores techniques to apply model-based reasoning to equipment and systems which exhibit dynamic behavior (that which changes as a function of time). The model-based system of interest is KATE-C (Knowledge based Autonomous Test Engineer) which is a C++ based system designed to perform monitoring and diagnosis of Space Shuttle electro-mechanical systems. Methods of model-based monitoring and diagnosis are well known and have been thoroughly explored by others. A short example is given which illustrates the principle of model-based reasoning and reveals some limitations of static, non-time-dependent simulation. This example is then extended to demonstrate representation of time-dependent behavior and testing of fault hypotheses in that environment.

Goodrich, Charles H.↗

NASA NTRS1996

SEDSAT 1 Technologies

The original goals of this project were to support the development of SEDSAT 1 for a tethered launch in July of 1997. This specifically required: (1) Monitoring development progress against a comprehensive delivery plan; (2) Incremental development and release of CDS and SEASIS software; (3) Supporting the integration of version 1.0 SEASIS software that will allow minimal autonomous operation without a software reload. These algorithms would include image quality evaluation, attitude determination, and autonomous earth imaging; and (4) Developing software requirements and design for ground segment software, concentrating on command and data download capability; and interface to external development efforts for a more comprehensive software suite to be used after the initial mission. Because of an unfavorable space shuttle safety review of the SEDS-3 tether deployer, and cost and schedule problems in upgrading the deployer, the mission was changed to an independent launch of SEDSAT. The original plan was to do a tether-less deployment from the space shuttle. Since this would have resulted in an unacceptable orbital lifetime, the mission was changed again to a tethered launch from a Delta II in June 1998. As a result of Marshall Space Flight Center's redirection of the SEDS-3 mission away from a tether launch, the whole question of a tether endmass had to be reconsidered. The net result of these multiple changes was twofold. First, we completed work needed to define some aspects of ground software on SEDSAT 1 that would remain constant no matter the launch mode. Second, we developed a set of concepts for using SEDSAT 1 technology to support alternative endmass missions on SEDS-3. Both of these are included.

Maier, Mark W.↗

NASA NTRS2001

The Integration, Testing and Flight of the EO-1 GPS

The Global Positioning System has long been hailed as the wave of the future for autonomous on-board navigation of low Earth orbiting spacecraft despite the fact that relatively few spacecraft have actually employed it for this purpose. While several missions operated out of the Goddard Space Flight Center have flown GPS receivers on board, the New Millenium Program (NMP) Earth Orbiting-1 (EO-1) spacecraft is the first to employ GPS for active, autonomous on-board navigation. Since EO-1 was designed to employ GPS as its primary source of the navigation ephemeris, special care had to be taken during the integration phase of spacecraft construction to assure proper performance. This paper is a discussion of that process: a brief overview of how the GPS works, how it fits into the design of the EO-1 Attitude Control System (ACS), the steps taken to integrate the system into the EO-1 spacecraft, the ultimate on-orbit performance during launch and early operations of the EO-1 mission and the performance of the on-board GPS ephemeris versus the ground based ephemeris. Conclusions will include a discussion of the lessons learned.

Quinn, David A.↗

NASA NTRS2014

NASA's Newest Orbital Debris Ground-based Telescope Assets: MCAT and UKIRT

NASA's Orbital Debris Program Office (ODPO) will break ground on Ascension Island in 2014 to build the newest optical (0.30 - 1.06 micrometers) ground-based telescope asset dedicated to the study of orbital debris. The Meter Class Autonomous Telescope (MCAT) is a 1.3m optical telescope designed to track objects in orbits ranging from Low Earth Orbit (LEO) to Geosynchronous Earth Orbit (GEO). Ascension Island is located in the South Atlantic Ocean, offering longitudinal sky coverage not afforded by the Ground-based Electro-Optical Deep Space Surveillance (GEODSS) network. With a fast-tracking dome, a suite of visible wide-band filters, and a time-delay integration (TDI) capable camera, MCAT is capable of multiple observing modes ranging from tracking cataloged debris targets to surveying the overall debris environment. Access to the United Kingdom Infrared Telescope (UKIRT) will extend our spectral coverage into the near- (0.8-5 micrometers) and mid- to far-infrared (8-25 micrometers) regime. UKIRT is a 3.8m telescope located on Mauna Kea on the Big Island of Hawaii. At nearly 14,000-feet and above the atmospheric inversion layer, this is one of the premier astronomical sites in the world and is an ideal setting for an infrared telescope. An unprecedented one-third of this telescope's time has been allocated to collect orbital debris data for NASA's ODPO over a 2-year period. UKIRT has several instruments available to obtain low-resolution spectroscopy in both the near-IR and the mid/far-IR. Infrared spectroscopy is ideal for constraining the material types, albedos and sizes of debris targets, and potentially gaining insight into reddening effects caused by space weathering. In addition, UKIRT will be used to acquire broadband photometric imaging at GEO with the Wide Field Camera (WFCAM) for studying known objects of interest as well as collecting data in survey-mode to discover new targets. Results from the first stage of the debris campaign will be presented. The combination of these ground-based telescope assets will yield spectral coverage ranging from 0.3 - 25 micrmeters, allowing orbital debris to be studied in depth across a wider wavelength range in the visible and IR than ever previously studied by ODPO. Located on opposite sides of the world and in opposite hemispheres, they offer access to nearly the entire GEO belt on any given night, allowing immediate coverage of nearly any time-critical break-up event. By expanding the methods for surveying, detecting, and characterizing orbital debris, we can better model the debris environment and ultimately gain insight into how to mitigate potential collisions for future missions.

Lederer, S. M.↗

NASA NTRSDate not supplied

Establishing the Assurance Efficacy of Automated Risk Mitigation Strategies

Verification and validation of increasingly autonomous aviation systems is a major challenge. Traditional techniques for the assurance of high-confidence, safety-critical systems are not equipped to handle the complexity, uncertainty, and lack of predictability inherent in non-deterministic systems. Techniques such as run time monitoring, formal methods, and testing and simulation have been applied to some effect, but it is difficult to properly assess the success of such measures. The authors propose the concept of Assurance Efficacy to address this gap. Assurance Efficacy is seen as a parameter, criteria, or perspective by which to evaluate, identify and explore safety risk mitigation strategies and operational assurance architectures. Validation of the utility of this concept through flight testing is a first step in determining its potential role in assessing the overall safety of complex, increasingly autonomous systems that cannot be fully assured in the design phase.

system safety↗

NASA NTRSDate not supplied

Gateway Program Development Progress

This paper provides an overview and status of Gateway, humanity’s first space station to orbit the Moon providing vital support for a sustained, long-term human return to the lunar surface and a steppingstone to Mars as part of the Artemis missions. As a lunar outpost, Gateway is a destination for deep space crew expeditions and science investigations, a port for deep space transportation, including landers transiting to the lunar surface or spacecraft embarking to deep space destinations beyond the Earth-Moon system. The National Aeronautics and Space Administration (NASA) leads the Program and is the integrator of the spaceflight capabilities and contributions of U.S. commercial partners and international partners to develop Gateway. This paper will provide an overview of Gateway’s major components in various stages of development. The entire Gateway spacecraft is at preliminary design level of maturity, with some components at or near critical design review. Gateway’s major components are the Power and Propulsion Element; the Habitation and Logistics Outpost; Deep Space Logistics; the International Habitation module; Gateway External Robotics System; European System Providing Refueling, Infrastructure and Telecommunications; and an Airlock. This paper will also provide an update on the status of the integration activities necessary to fly and operate this complex, next-generation integrated spacecraft for a minimum 15 year design life, including systems engineering integrated analysis cycles, the autonomous Vehicle System Manager software, verification and validation labs, and common vehicle equipment. Expanding on the successful partnership that has provided over 20 years of continuous crew operations in low-Earth orbit on the International Space Station, Gateway is an evolution of this extraordinary partnership leveraging the capabilities of each contributor to expand humankind’s sustained exploration deeper into the cosmos. Highlighting the international program with participation from multiple space agencies, this paper will also provide a status of Gateway multilateral governance structure and international agreements.

Sean M Fuller↗