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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Designing a Distributed Web-based Simulation Environment for Enabling Autonomous Systems Research

In the continued pursuit of creating a future with robust Urban Air Mobility (UAM) operations defined as safe and efficient air traffic operations in metropolitan environments for both piloted and autonomous systems, development of the concepts, technologies, and procedures to establish this UAM ecosystem remains an active area of research. In particular, as autonomous systems continue to grow in both complexity and use throughout UAM concepts the need for simulation environments to both test individual components and systems and to study the complex interactions between them is paramount. In this paper we address design considerations, technologies, and challenges of adapting native simulation environment application concepts to an interactive and distributed web-based framework. The proposed web-based design allows for easier and wider access for developing, testing, integrating, and studying emergent behaviors of complex autonomous systems interaction. We demonstrate the utility of the proposed approach by showing multi-agent interaction and emergent behavior in two scenarios: (1) autonomous urban air mobility vehicles flying in a convoy and (2) interaction of a convoy with a search and rescue operation.

Benjamin N Kelley↗
NASA NTRS2016

Pluto and Charon Seen with the New Horizons Spacecraft

After nearly a decade en route, New Horizons flew through the Pluto system in July 2015. The encounter hemisphere of Pluto shows ongoing surface geological activity centered on a vast basin (Sputnik Planum [SP]*) containing a thick layer of volatile ices with a crater retention age no greater than approximately 10 Ma. Surrounding terrains show active glacial flow, apparent transport and rotation of large buoyant water-ice crustal blocks, and pitting, likely by sublimation erosion and/or collapse. Also seen are constructional mounds with central depressions, and ridges with complex bladed textures. Pluto has ancient cratered terrains up to approximately 4 Ga old that are fractured and mantled, and perhaps eroded by glacial processes. Charon does not appear to be currently active, but experienced major tectonism and resurfacing nearly 4 Ga ago. Imaging spectrometer observations of Pluto reveal the encounter hemisphere to be dominated by volatile ices of N2, CO, and CH4, along with non-volatile components that include H2O and tholins. The most volatile of Pluto's ices (N2 and CO) are especially prevalent in the western half of Tombaugh Regio (TR), and the strikingly flat Sputnik Planum basin, which lies a few km below surrounding elevations. The high mobility of N2 and CO ices enables SP's surface to refresh itself sufficiently rapidly that no impact craters are seen there. This likely occurs through a combination of solid state convective overturning and sublimation/ condensation that produces regular patterns of pits and ridges on scales of 102 to 103 m. In many areas, CH4 appears to favor topographically high regions. Its propensity to condense on ridges could play a role in forming the bladed terrain seen in Tartarus Dorsa. H2O can be discerned across much of Cthulhu Regio, and also in a few isolated spots. In many regions, H2O ice is associated with reddish tholin coloration. Pluto's atmosphere was probed with the radio science experiment (REX) and the Alice UV spectrometer, as well as imaging at high phase angles. The surface pressure, due mostly to N2, is approximately 11 microbars. Extensive multiple haze layers are seen in the images. Alice has detected hydrocarbons in addition to CH4 in the atmosphere. Since both are inert, H2O ice and tholin could have similar geological behaviors on Pluto, possibly including aeolian transport or mobilization by volatile ice glaciation. While Pluto's H2O ice is sculpted and at least partially veiled by more volatile ices, Charon's heavily cratered H2O ice is exposed globally. H2O ice spectral bands characteristic of crystalline ice are seen everywhere on the encounter hemisphere. Charon's north polar region is strikingly red, possibly the result of the unique thermal environment of Charon's poles, which become exceptionally cold during the long, dark winters. Extremely cold regions on Charon' could cold trap gases expanding outward from Pluto as ices, and thereby subject them to rapid radiolytic processing. Charon also exhibits a weak NH3 absorption band over most or all of its surface, with small local concentrations. Detailed results of the radio science, small satellite, particles and plasma, and atmosphere investigations are in press.

Pluto↗
NASA NTRS1999

Understanding Skill in EVA Mass Handling: An Integrated Methodology for Evaluating Space Suit Mobility and Stability - Volume 4

The empirical investigation of extravehicular activity (EVA) mass handling conducted on NASA's Precision Air-Bearing Floor led to a Phase I SBIR from JSC. The purpose of the SBIR was to design an innovative system for evaluating space suit mobility and stability in conditions that simulate EVA on the surface of the Moon or Mars. The approach we used to satisfy the Phase I objectives was based on a structured methodology for the development of human-systems technology. Accordingly the project was broken down into a number of tasks and subtasks. In sequence, the major tasks were: 1) Identify missions and tasks that will involve EVA and resulting mobility requirements in the near and long term; 2) Assess possible methods for evaluating mobility of space suits during field-based EVA tests; 3) Identify requirements for behavioral evaluation by interacting with NASA stakeholders;.4) Identify necessary and sufficient technology for implementation of a mobility evaluation system; and 5) Prioritize and select technology solutions. The work conducted in these tasks is described in this final volume of the series on EVA mass handling. While prior volumes in the series focus on novel data-analytic techniques, this volume addresses technology that is necessary for minimally intrusive data collection and near-real-time data analysis and display.

McDonald, P. Vernon↗
NASA NTRSDate not supplied

Mixed-Domain Charge Transport in S-Se Alloys as a Li-S Battery Cathode Material

Lithium-sulfur batteries are emerging candidate systems for the next-generation long-range electric aircraft application owing to their potential to deliver high energy density per weight. Their cathodes are to be made primarily with sulfur, but sulfur by itself has much too low electron conductivity to serve as a useful cathode. An idea that has been suggested to overcome this bottleneck is to alloy sulfur with selenium in the hope that electron mobility, which is thought to improve charge transport at some expense of increased weight and reduced energy density. However, understanding of these alloy structures and their transport mechanism is insufficient, and electron mobility at varying degrees of selenium content is not well charted, which are critical for determining the optimum selenium content and testing whether this strategy is generally feasible. The difficulty of computationally characterizing these alloy systems is rooted in the structure. The structures of both sulfur and selenium exhibit eight-atom rings that pack together in various orientations to form their respective crystals. For one, because these crystals (and presumably their alloys as well) feature multiple polymorphs such that their structural coherence is rather unclear. Secondly, these are also relatively large systems (32 atoms per cell) with low-symmetry, which complicate computation both in terms of accuracy and efficiency. Thirdly, such semi-molecular, semi-crystalline structures lead to a combination of band-transport characteristics and hopping-transport characteristics, each of which is a domain with its own physics and set of computational, theoretical challenges. In addition, there is a general dearth of experimental transport data for sulfur-selenium alloys. In this study, we make a comprehensive attempt to tackle this problem using a wide array of first-principles methods. We generate special quasirandom structures to simulate alloy structures, and compute their first-principles Raman spectra for comparison with experimental data to ensure their structural soundness. We then proceed to use recently developed, state-of-the-art tool (AMSET) in order to efficiently compute electronic mobilities under band transport of pure sulfur, pure selenium, as well as their alloys of various compositions at a reasonable accuracy. We then sample numerous dimer configurations of nearest-neighbor eight-atom-ring-pairs and compute electronic hopping rates between them, which yields hopping mobility. A combination of these efforts lead to a general mapping of electron transport behaviors throughout the alloy range. Preliminary results show that introduction of selenium into sulfur initially damages electron mobility due to disorder but eventually improves it beyond that of pure sulfur with additional selenium content, ultimately peaking at the pure-selenium limit. Band transport dominates for holes in sulfur and electrons in selenium, but in all other cases, hopping transport is dominant. Ongoing efforts include determination of charge concentration and conductivity, as well as performing multiphysics modeling to determine the optimum selenium content for best tradeoff between conductivity and energy density for aircraft range.

Junsoo Park↗
NASA NTRS1995

Towards Principled Experimental Study of Autonomous Mobile Robots

We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

Object-Oriented Simulation↗
NASA NTRS1992

Ultrasonic robot localization using Dempster-Shafer theory

A localization algorithm for ultrasonic robot described is based on range readings from wide beam ultrasonic transducers to built a model of the empty regions in the room. The method is incorporated into a move-to-station behavior which was demonstrated on the Georgia Tech mobile robot. A belief model of the range of readings that was based on Dempster-Shafer theory was used to compute the belief of points in the environment being empty, occupied, or unknown. The current belief in the empty space was used to construct a weighted centroid of the empty space after each move of the robot. By moving toward this center of mass and continually adding to the beliefs of the point in the environment the robot iteratively moved to the center of the open space.

Hughes, Ken↗
NASA NTRS2004

Test Bed Doppler Wind Lidar and Intercomparison Facility At NASA Langley Research Center

State of the art 2-micron lasers and other lidar components under development by NASA are being demonstrated and validated in a mobile test bed Doppler wind lidar. A lidar intercomparison facility has been developed to ensure parallel alignment of up to 4 Doppler lidar systems while measuring wind. Investigations of the new components; their operation in a complete system; systematic and random errors; the hybrid (joint coherent and direct detection) approach to global wind measurement; and atmospheric wind behavior are planned. Future uses of the VALIDAR (VALIDation LIDAR) mobile lidar may include comparison with the data from an airborne Doppler wind lidar in preparation for validation by the airborne system of an earth orbiting Doppler wind lidar sensor.

Kavaya, Michael J.↗
NASA NTRS2004

Test Bed Doppler Wind Lidar and Intercomparison Facility At NASA Langley Research Center

State of the art 2-micron lasers and other lidar components under development by NASA are being demonstrated and validated in a mobile test bed Doppler wind lidar. A lidar intercomparison facility has been developed to ensure parallel alignment of up to 4 Doppler lidar systems while measuring wind. Investigations of the new components; their operation in a complete system; systematic and random errors; the hybrid (joint coherent and direct detection) approach to global wind measurement; and atmospheric wind behavior are planned. Future uses of the VALIDAR (VALIDation LIDAR) mobile lidar may include comparison with the data from an airborne Doppler wind lidar in preparation for validation by the airborne system of an earth orbiting Doppler wind lidar sensor.

Kavaya, Michael J.↗
NASA NTRS1990

Thick plate bending wave transmission using a mobility power flow approach

The mobility power flow (MPF) approach is used in this paper to describe the flexural behavior of an L-shaped plate structure consisting of thick plates with rotary inertia and shear deformation effects included in the analysis. The introduction of the thick plate effects significantly increases the complexity of the structural mobility functions used in the definitions of the power flow terms; however, because of the substructuring that is used in the MPF approach, the complexity of the problem is significantly reduced as compared to solving for the global structure. Additionally, with the MPF approach the modal behavior is described. The MPF analysis of the L-shaped plate is performed for the case of point force excitation on one plate, with the two plates being identical in both size and thickness. The results of this analysis are compared to results from the finite-element analysis (FEA) and the statistical energy analysis (SEA) and show very good agreement in the low- and high-frequency regimes, respectively.

Mccollum, M. D.↗
NASA NTRS2019

Integrated Research Plan to Assess the Combined Effects of Space Radiation, Altered Gravity, and Isolation and Confinement on Crew Health and Performance: Problem Statement

Future crewed exploration missions to Mars could last up to three years and will expose astronauts to unprecedented environmental challenges. Challenges to the nervous system during these missions will include factors of: space radiation that can damage sensitive neurons in the central nervous system (CNS); isolation and confinement can affect cognition and behavior; and altered gravity that will change the astronauts’ perception of their environment and their spatial orientation, and will affect their coordination, balance, and locomotion. In the past, effects of spaceflight stressors have been characterized individually. However, long-term, simultaneous exposure to multiple stressors will produce a range of interrelated behavioral and biological effects that have the potential to adversely affect operationally relevant crew performance. These complex environmental challenges might interact synergistically and increase the overall risk to the health and performance of the astronaut. Therefore, NASA’s Human Research Program (HRP) has directed an integrated approach to characterize and mitigate the risk to the CNS from simultaneous exposure to these multiple spaceflight factors. The proposed research strategy focuses on systematically evaluating the relationships among three existing research risks associated with spaceflight: Risk of Acute (In-flight) and Late Central Nervous System Effects from Radiation (CNS), Risk of Adverse Cognitive or Behavioral Conditions and Psychiatric Disorders (BMed), and Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight (SM). NASA’s HRP approach is intended to identify the magnitude and types of interactions as they affect behavior, especially as it relates to operationally relevant performance (e.g., performance that depends on reaction time, procedural memory, etc.). In order to appropriately characterize this risk of multiple spaceflight environmental stressors, there is a recognition of the need to leverage research approaches using appropriate animal models and behavioral constructs. Very little has been documented on the combined effects of altered gravity, space radiation, and other psychological and cognitive stressors on the CNS. Preliminary evidence from rodents suggest that a combination of a minimum of exposures to even two of three stressors of: simulated space radiation, simulated microgravity, and simulated isolation and confinement, have produced different and more pronounced biological and performance effects than exposure to these same stressors individually. Structural and functional changes to the CNS of rodents exposed to transdisciplinary combined stressors indicate that important processes related to information processing are likely altered including impairment of exploratory and risk taking behaviors, as well as executive function including learning, memory, and cognitive flexibility — all of which may be linked to changes in related operational relevant performance. The fully integrated research plan outlines approaches to evaluate how combined, potentially synergistic, impacts of simultaneous exposures to spaceflight hazards will affect an astronaut’s CNS and their operationally relevant performance during future exploration missions, including missions to the Moon and Mars. The ultimate goals are to derive risk estimates for the combined, potentially synergistic, effects of the three major spaceflight hazards that will establish acceptable maximum decrement or change in a physiological or behavioral parameters during or after spaceflight, the acceptable limit of exposure to a spaceflight factor, and to evaluate strategies to mitigate any associated decrements in operationally relevant performance.

Steinberg, Susan L.↗
NASA NTRS1987

Pseudomorphic InGaAs/AlGaAs modulation-doped FET's with reduced low-frequency noise and thermally stable performance

A high-performance MODFET structure grown by MBE with the incorporation of a single quantum well In(0.15)Ga(0.85)As layer for the transport of two-dimensional electron gas has been critically examined for its thermal stability at 80 K and low-frequency noise form 0.01 to 10 to the 8th Hz. Experimental results indicate that the behavior of this device in both these respects is much superior when compared with the same behavior of conventional MODFETs. A maximum low-field carrier mobility of 29,000 sq cm/s at 80 K and an average carrier saturation velocity of 2 x 10 to the 7th cm/s at 300 K in a 1-micron gate device clearly indicate that the quality of the pseudomorphic quantum well (InGaAs) layer is either comparable or better than that of the usual GaAs buffer layer. The deep level spectra, obtained through photo-FET measurements, and the low-frequency noise spectra at different temperatures obtained for the new pseudomorphic and conventional MODFET's have clearly indicated that contributions from various deep levels present in the new structure are significantly reduced.

Liu, Shih-Ming↗
NASA NTRSDate not supplied

Comparison of the CHARM Predictions of the Multirotor Test Bed with Wind Tunnel Experimental Results

Urban air mobility as a fast transportation solution has captured the attention of private companies and government aviation departments in the 21st century. New designs of aerial vehicles are being developed to meet industry needs but often neglect the aerodynamic characteristics and the effects of interacting rotors. This work focuses on predicting rotor behavior and understanding the importance of the rotor wake interaction for future urban air mobility (UAM) designs. The Multirotor Test Bed (MTB) project was initiated at NASA Ames Research center to support the NASA Revolutionary Vertical Lift Technology Project to study rotorcraft performance specifically for multirotor aircraft. The MTB is a modular multirotor test stand that makes testing feasible for up to six rotors at different angles and rotor arrangements, including Tall and Short configurations at different horizontal and vertical rotor separation distances. The MTB was tested in the U.S Army’s 7-by 10-Foot Wind Tunnel at NASA Ames Research Center in late 2019. This work focuses on exploring the impact of aerodynamic interactions between the MTB rotors using the Comprehensive Hierarchical Aeromechanics Rotorcraft Model (CHARM) software. The CHARM software is capable of modeling Vertical Take Off and Landing aircraft aerodynamics in maneuvering and steady flight conditions. CHARM allows the user to define flow and body characteristics, including the rotor geometry, aerodynamic conditions, wind tunnel speed, and airfoil tables as inputs. As the first step, a single MTB rotor was simulated in hover, and the results were compared with wind tunnel test data to confirm the CHARM parameters. Once the accurate performance was verified, the MTB rotors were simulated in forward flight, and each rotor was trimmed to the measured thrust. The simulation variables include one, two, four, and six rotors at the Short and Tall configurations, with MTB pitch angles of 0, -5, and -10 degrees. The MTB was simulated with and without wind tunnel walls. These results demonstrate the rotor wake interaction and its impact on rotor performance. This information also helps determine which configurations should be explored for future wind tunnel tests.

CHARM Predictions↗
NASA NTRS1982

A primer on sulfur for the planetary geologist

Sulfur has been proposed as the dominant composition for the volcanic material on Io. Sulfur is a complex element which forms many intramolecular and intermolecular allotropes exhibiting a variety of physical properties. Cyclo-S8 sulfur is the most abundant and stable molecular form. The important molecular species within liquid sulfur change in concentration with temperature. Concentrations of the allotropes control the physical properties of the melt. Discontinuities in density, viscosity, and thermal properties reflect the polymerization process within liquid sulfur. Variations in the melting point are related to autodissociation of the liquid. Many solids forms of sulfur have been identified but only orthorhombic alpha and monoclinic beta sulfur, both composed of cyclo-S8 sulfur, are stable under terrestrial conditions. Physical properties of solid sulfur are dependent on the allotrope and, in some cases, the thermal history. Three natural terrestrial sulfur flows are described: (1) Siretoko-Iosan, Japan; (2) Volcan Azufre, Galapagos Islands; and (3) Mauna Loa, Hawaii. All of the flows are associated with fumarolic areas and are considered to have formed by the melting and mobilization of sulfur deposits. Surface textures of the flows indicate a behavior of molten sulfur similar to that of silicate lava. Channels, rivulets, and lobate edges were described for the flows. The solidification of man-made sulfur flows formed as part of the Frasch mining process by which sulfur is removed from the subsurface in a liquid state is described.

Theilig, E.↗
NASA NTRS1990

MBE HgCdTe heterostructure detectors

HgCdTe has been the mainstay for medium (3 to 5 micron) and long (10 to 14 micron) wavelength infrared detectors in recent years. Conventional growth and processing techniques are continuing to improve the material. However, the additional ability to tailor composition and placement of doped layers on the tens of angstroms scale using molecular beam epitaxy (MBE) provides the opportunity for new device physics and concepts to be utilized. MBE-based device structures to be discussed here can be grouped into two categories: tailored conventional structures and quantum structures. The tailored conventional structures are improvements on familiar devices, but make use of the ability to create layers of varying composition, and thus band gap, at will. The heterostructure junction can be positioned independently of doping p-n junctions. This allows the small band gap region in which the absorption occurs to be separated from a larger band gap region in which the electric field is large and where unwanted tunneling can occur. Data from hybrid MBE/liquid phase epitaxy (LPE)/bulk structures are given. Quantum structures include the HgTe-CdTe superlattice, in which the band gap and transport can be controlled by alternating thin layers (tens of angstroms thick) of HgTe and CdTe. The superlattice has been shown to exhibit behavior which is non-alloy like, including very high hole mobilities, two-dimensional structure in the absorption coefficient, resonant tunneling, and anisotropic transport.

Schulman, Joel N.↗
NASA NTRS1985

Cell Partition in Two Polymer Aqueous Phases

In a reduced gravity environment the two polymer phases will not separate via density driven settling in an acceptably short length of time. It is to be expected that a certain amount of phase separation will take place, however, driven by the reduction in free energy gained when the interfacial area is reduced. This stage of separation process will therefore depend directly on the magnitude of the interfacial tension between the phases. In order to induce complete phase separation in a short time, electric field-induced separation which occurs because the droplets of one phase in the other have high electrophoretic mobilities which increase with droplet size was investigated. These mobilities are significant only in the presence of certain salts, particularly phosphates. The presence of such salts, in turn has a strong effect on the cell partition behavior in dextran-poly (ethylene glycol) (PEG) systems. The addition of the salts necessary to produce phase drop mobilities has a large effect on the interfacial tensions in the systems.

Brooks, D. E.↗
NASA NTRSDate not supplied

Cyber Resiliency and the Implementation of a Host-Based Intrusion Detection System in an Urban Air Mobility Environment

With the growth in Urban Air Mobility systems and the increasing reliance on interconnected technologies, ensuring the security of these complex components has become critical. As cities evolve into smart urban centers, the vulnerability to cyber threats escalates, possibly endangering citizens safety and the efficiency of transportation networks.In response to these challenges, this paper presents a study on the need for cyber resilient techniques within future air traffic environments. It will pay specific attention to the implementation of a Host-Based Intrusion Detection System (HIDS) utilizing Atomic OSSEC software, tailored specifically to a NASA simulation of an UrbanAirMobility environments’ unique demands. Further, this study seeks to outline the rational for NASA’s recommendation for a HIDS in such environments. It explores the design, development, and deployment of the proposed HIDS, focusing on its adaptability to monitor the hybrid nature of the Urban Air Mobility environment. Leveraging machine learning algorithms and anomaly detection techniques, the HIDS is equipped to continuously monitor and analyze the behavior of individual host systems, vehicles, and devices, thereby providing a proactive approach to threat detection. Implementing a HIDS is a pivotal strategy for enhancing cyber resiliency, as it gives an organization granular visibility into internal system activities, enables rapid detection and response to anomalous behavior and cyber threats, and fortifies the organizations overall cybersecurity posture. Finally, this study aims to provide recommendations and include learned takeaways that the Urban Air Mobility industry should consider. In brief, this paper highlights the significance of host-based intrusion detection in UrbanAirMobility environments and underscores the necessity of tailored security solutions to safeguard against emerging cyber threats.

UAM↗