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NASA NTRS2014

Future Exponential Economic Growth in Space

The human population and economy are now limited by the land area, materials and energy available on Earth. As explained by Malthus, human effort can increase this population limit only gradually and linearly at any fixed level of technology. The unexpected exponential increase in population since Malthus time is due to the even greater exponential increase in agricultural and industrial productivity due to modern technology. Current opinion is divided between the limiters who see fast approaching unavoidable limits to growth and growthers who expect continuing innovation and expansion. Given the minimum energy and food needed to support each human, the population of Earth is necessarily bounded. The past human exponential expansions were based on the invention of agriculture and industry. Continued expansion could occur with future colonization of the solar system. The initial occupation of near-Earth space would probably be for immediate military and economic gains rather than to escape the limits to growth on Earth. Space habitats could exploit solar system energy, materials, and living space, first in the Earth-moon system and later throughout the solar system. Space habitats would be supported by robotic power stations, mining, manufacturing, and transportation. These could travel to the stars with the addition of propulsion and nuclear power. Human expansion into the galaxy would allow continuing exponential growth and could establish a vast interconnected galactic civilization.

Jones, Harry W.↗

NASA NTRS2019

Safety of Spaceflight Participants Aboard Suborbital Reusable Launch Vehicles

The anticipated advent of the U.S. Government sponsoring human-tended research on commercial suborbital flights necessitates the establishment of safety review procedures for federal agencies to allow government-sponsored spaceflight participants (SFPs) aboard these vehicles. Safety practices for National Aeronautics & Space Administration (NASA) personnel aboard aircraft, orbital rockets and platforms, and a non- NASA vehicle, the Soyuz, are summarized. The valuable “Recommended Practices for Human Space Flight Occupant Safety,” published by the FAA Office of Commercial Space Transportation (FAA-AST) in 2014, are summarized. Medical recommendations for operationally critical flight crewmembers, published by the Aerospace Medical Association Commercial Spaceflight Working Group, are reviewed. FAA-AST approved SFP training available at three U.S. commercial companies is summarized. Activities of ASTM International Committee F47 on Commercial Spaceflight, formed in 2016, are reviewed. Finally, safety comparisons are made with another challenging environment, deep sea submersibles.

space transportation↗

NASA NTRS2018

Risk Tolerance and Safety Culture: Minimizing the Risk of Catastrophe by Bringing the Lessons of Space Home

The Johnson Space Center has pursued integrating safety culture and risk management practices and techniques throughout a large organization with an extraordinarily diverse mission. Past mission and institutional failures have been used to inform NASA's safety culture and a implement a uniform risk management environment. Basics from the loss prevention industry have influenced NASA's approach to sustaining its unique, yet aging, infrastructure. Lessons learned at NASA can augment and enhance occupational safety, health and risk management capabilities within hazardous industries. By focusing on risk informed decision-making, building a pervasive safety culture, and accommodating human factors, NASA's safety capabilities have been specifically developed to minimize the risk of loss of life and loss of mission.

Mishap↗

NASA NTRS2019

Evaluation of Cyclo Olefin Polymer as Sabot Material for High-Density Projectiles

Assuring the integrity of spacecraft and its occupants are a priority in the field of space exploration. Micrometeoroids and orbital debris are one of the primary threats that affect spacecraft materials due to the high kinetic energies involved with hypervelocity impacts. Improvement of projectile launching capabilities prompts the investigation of adequate materials for the manufacturing of sabots able to carry high-density projectiles without catastrophic failure. Polycarbonate has been the chosen material by the Hypervelocity Team at White Sands Test Facility for sabots on the 0.50 caliber launcher; however, there is a material constraint when the projectile becomes significantly dense and the inertial stresses surpass the yield strength of the sabot material. This research proposes a new polymer material for manufacturing sabots, known as cyclo olefin polymer (COP) with the purpose of successfully shooting the intended high-density projectiles. In this investigation, both polycarbonate and COP were analyzed using tensile and impact testing to observe the differences in their mechanical properties. The experimental details along with the detailed characterization of the materials are presented.

Tarango, Estebanne↗

NASA NTRS2019

The Impacts of Cabin Atmosphere Quality Standards and Control Loads on Atmosphere Revitalization Process Design

Maintaining the cabin atmosphere’s pressure, composition, and quality within specified parameters is a necessity for successful crewed space exploration missions. A properly maintained environment minimizes health impacts on the occupants and maximizes their comfort. The challenge is to accomplish this outcome economically. The insight gained during the International Space Station’s (ISS) operational lifetime is driving toward more challenging cabin atmospheric quality standards for future exploration missions. At the same time, the metabolic loads are increasing to accommodate a broader crew body size range and more rigorous exercise protocols to mitigate health effects associated with long duration microgravity exposure. Compounding this situation is new process equipment for handling trash and waste that may vent contaminants into the cabin. The limits placed on the cabin atmospheric quality parameters combined with the contaminant load define the design space for the atmosphere revitalization (AR) subsystem technologies to be deployed aboard the spacecraft. The impacts of changes to cabin atmospheric quality standards and contamination loads are evaluated and implications to future crewed exploration missions are explored.

Perry, Jay L.↗

NASA NTRS2019

Using DNA Damage to Investigate the Individual Variability of Human Sensitivity to Ionizing Radiation

High-LET ionizing radiation is a major occupational health hazard for astronauts, but risk assessment remains elusive due to limited epidemiological data. Identifying genetic factors modulating the individual radiation response may be the most effective strategy to provide individualized risk management for long-duration high-radiation missions. We have started tackling the challenge of predicting individual risks by identifying human genetic loci associated with various radiation sensitivity phenotypes in primary blood mononuclear cells from a relatively large healthy human cohort. To date, we have performed the isolation of PBMCs from 768 subjects of the same ethnicity, and irradiated PBMCs from 576 subjects with 1 and 3 particles/100Âµm2 of 600 MeV/n 56Fe, 350 MeV/n 40Ar and 350 MeV/n 28Si ions. The phenotypes of interest were: number of radiation-induced foci (or RIFs), CellROX oxidative stress responses and cell death, at 4h and 24h following irradiation. We have observed a significant inter-individual variability at 0 Gy between the 576 studied subjects, with a mean fold difference between the 10% lowest and highest responders of 5.6 of RIFs/cell, 7.9 in mean CellRox intensity, and 9.3 in percentage of dead cells. In order to better assess genetic factors influencing DNA repair, we used a metric previously introduced by our group to sort out radiation sensitivity phenotypes in mice: i.e. the ratio of the first to the second slope of RIFs/cell (between 0 and 1, and between 1 and 3 particle/100Âµm2). Preliminary data on 192 individuals showed a distribution of low-dose responders (ratio > 1) to high-dose responders (ratio < 1) at 4h of 12%, 55% and 52% respectively for Fe, Ar and Si. The average value for the first and the second slopes was very similar for the two lowest LET (0.10 [-0.26;0.58] and 0.09 [-0.45;0.41] for Ar, 0.07 [-0.27;0.38] and 0.08 [-0.19;0.42] for Si), indicating a linear dose response across both fluence. Fe showed clear saturation for the highest dose with a slope of -0.09 [-0.86;1.51] against 0.68 [-2.21;2.20] for the low dose range, which probably reflects that many PBMCs are beyond repair at the high dose. Note that other significances were found for additional factors such as BMI and age whereas none were found for sex. GWAS will be performed on all phenotypes upon completion of measurements.

Pariset, E.↗

NASA NTRS2019

Using DNA Damage to Investigate the Individual Variability of Human Sensitivity to Ionizing Radiation

High-LET ionizing radiation is a major occupational health hazard for astronauts, but risk assessment remains elusive due to limited epidemiological data. Identifying genetic factors modulating the individual radiation response may be the most effective strategy to provide individualized risk management for long-duration high-radiation missions. We have started tackling the challenge of predicting individual risks by identifying human genetic loci associated with various radiation sensitivity phenotypes in primary blood mononuclear cells from a relatively large healthy human cohort. To date, we have performed the isolation of PBMCs from 768 subjects of the same ethnicity, and irradiated PBMCs from 576 subjects with 1 and 3 particles/100Âµm2 of 600 MeV/n 56Fe, 350 MeV/n 40Ar and 350 MeV/n 28Si ions. The phenotypes of interest were: number of radiation-induced foci (or RIFs), CellROX oxidative stress responses and cell death, at 4h and 24h following irradiation. We have observed a significant inter-individual variability at 0 Gy between the 576 studied subjects, with a mean fold difference between the 10% lowest and highest responders of 5.6 of RIFs/cell, 7.9 in mean CellRox intensity, and 9.3 in percentage of dead cells. In order to better assess genetic factors influencing DNA repair, we used a metric previously introduced by our group to sort out radiation sensitivity phenotypes in mice: i.e. the ratio of the first to the second slope of RIFs/cell (between 0 and 1, and between 1 and 3 particle/100Âµm2). Preliminary data on 192 individuals showed a distribution of ?low-dose responders? (ratio > 1) to ?high-dose responders? (ratio < 1) at 4h of 12%, 55% and 52% respectively for Fe, Ar and Si. The average value for the first and the second slopes was very similar for the two lowest LET (0.10 [-0.26;0.58] and 0.09 [-0.45;0.41] for Ar, 0.07 [-0.27;0.38] and 0.08 [-0.19;0.42] for Si), indicating a linear dose response across both fluence. Fe showed clear saturation for the highest dose with a slope of -0.09 [-0.86;1.51] against 0.68 [-2.21;2.20] for the low dose range, which probably reflects that many PBMCs are beyond repair at the high dose. Note that other significances were found for additional factors ? such as BMI and age ? whereas none were found for sex. GWAS will be performed on all phenotypes upon completion of measurements.

Pariset, E.↗

NASA NTRS2019

Electrified Aircraft Propulsion Systems: Potential Failure Modes and Failure Mitigation Strategies

Electrified aircraft propulsion (EAP) systems hold great potential for the reduction of aircraft fuel burn, emissions, and noise. Currently, NASA and other organizations are actively working to identify and mature technologies necessary to bring EAP designs to reality. A requirement for the development of any civil aircraft and its systems is to ensure that potential hazards in the design are identified and appropriately mitigated to ensure that the system is safe. During aircraft development, a system safety assessment that consists of a functional hazard assessment is conducted to identify all potential failure conditions of each function, and classify those failures according to the severity of their effects on the aircraft or its occupants. The more severe a function's failure condition classification, the greater the development assurance level required for the function to ensure that the probability of the hazard is acceptably low. Today, aircraft engines and their control systems receive type certificate approval as a stand-alone system to signify their airworthiness. However, the complex coupling and distributed nature of EAP designs are expected to place added challenges on the certification of these systems. This presentation will provide an initial high-level review of the potential failure modes and hazards posed by a generic EAP system along with potential mitigation strategies for those failures. The EAP system is assumed to be a hybrid design consisting of gas turbine engines, mechanical drives, electric machines, power electronics and distribution systems, energy storage devices, and motor driven propulsors. The functionality provided by each of these EAP subsystems will be discussed along with the potential failure modes they may encounter. This will include a discussion of coupled failure effects, where a fault in one EAP subsystem effects the operation of other subsystems in the architecture. Next, potential failure mitigation strategies are discussed including both software-based and hardware-based mitigation strategies. The presentation will conclude with an example evaluation of the potential failure modes and mitigation strategies for a concept EAP system proposed by NASA.

Simon, Donald L.↗

NASA NTRS2017

The Failure of Correlation to Describe Out-of-Plane Carbon=Carbon Bending

Carbon-carbon multiply bonded systems are improperly described with standard correlation methods and basis sets. For computations of vibrational modes, the out-of- plane bends can be reported as imaginary at worst or simply too low at best. Utilizing the simplest of aromatic structures (cyclopropenylidene) and various levels of theory, this work diagnoses this known behavior for the first time. A combined 1-particle and n-particle basis set effect conspire to produce these non-physical results. When moving from sp2 to sp3 hybridization in the carbon atoms, the larger number of basis functions overcorrects the energy. This is exacerbated by correlation methods. These allow for occupation of the π and π∗ orbitals in the expanded wave function that combine with the hydrogen s orbitals. As a result, the improperly described space can be further and non-physically stabilized by post-Hartree-Fock correlation. This represents a fundamental problem with at least Hartree-Fock based methods of all flavors in describing carbon. Beyond being a flaw in quantum chemical theory, other repercussions will be present in computations regarding spectroscopy as well as energy and environmental studies where highly-accurate hydrocabon vibrational transitions or thermochemical data are needed.

Fortenberry, Ryan C.↗

NASA NTRS2019

Evidence-based Approach to Establish Space Suit Carbon Dioxide Limits

A literature survey was conducted to assess if published data (evidence) could help inform a space suit carbon dioxide (CO2) limit. The search identified more than 120 documents about human interaction with elevated CO2. Until now, the guiding philosophy has been to drive space suit CO2 as low as reasonably achievable. NASA’s EVA Office requested an evidencebased approach to support a new generation of exploration-class extravehicular activity (EVA) space suits. Specific literature data about CO2 are not available for EVA in microgravity because EVA is an operational activity and not a research platform. However, enough data from groundbased research are available to facilitate a consensus of expert opinion on space suit CO2 limits. The compilation of data in this report can answer many but not all concerns about the consequences of hypercapnic exercise in a space suit. Inspired partial pressure of CO2 (PICO2) and not dry-gas partial pressure of CO2 (PCO2) is the appropriate metric for hypercapnic dose to establish space suit CO2 limits. The reduction of inspired gas partial pressures by saturation of the inspired gases with water vapor at 37°C is a significant factor under conditions of hypobaric space suit operation. Otherwise healthy EVA astronauts will exhibit wide variability in responses to acute hypercapnia while at rest and during exercise. What is clear from the literature is the absence of prospective (objective) accept or reject criteria for CO2 exposure in general, and no such criteria exist for operating a space suit. There is no absolute “Gold Standard” for an acceptable acute hypercapnic limit, just a gradual decrease in performance as CO2 increases. Acceptable CO2 exposure limits are occupation, situation (learned or novel tasks), and personspecific. Investigators who measured hypercapnic physiology rarely correlated those changes to neurocognitive symptoms, and those that measured hypercapnic neurocognition rarely correlated those changes with physiology. Some answers about changes in neurocognition and functional EVA performance during hypercapnic exercise in a space suit await new research.

Conkin, Johnny↗

NASA NTRS2019

Linear Analysis of a Two-Parachute System Undergoing Pendulum Motion

Motion resembling that of a pendulum undergoing large-amplitude oscillation was ob- served during a series of flight tests of an unoccupied Orion Capsule Parachute Assembly System (CPAS) drop-test vehicle. Large excursions away from vertical by the capsule could cause it to strike the ground or ocean at a large angle with respect to vertical, with an undesirable attitude with respect to heading, or with a large horizontal or vertical speed. These conditions are to be avoided because they would endanger the occupants of the capsule in an actual mission. Pendulum motion is intimately related to a parachute’s aerodynamic normal force coefficient, which is a nonlinear function of angle of attack. An analytical investigation of the dynamics of pendulum motion is undertaken with the aid of a simplified model of the physical system and the assumption that the normal force coefficient is a linear function of angle of attack in the neighborhood of a value corresponding to stable equilibrium. The analysis leads to a simple relationship for the location of a pivot point, which provides insights that are consistent with previous studies.

Roithmayr, Carlos M.↗

NASA NTRS2019

Nonlinear Analysis of a Two-Parachute System Undergoing Pendulum Motion

Motion resembling that of a pendulum undergoing large-amplitude limit cycle oscillation was observed during a series of flight tests of an unoccupied Orion Capsule Parachute Assembly System (CPAS) comprised of two parachutes and a capsule payload. Large excursions away from vertical by the capsule could cause it to strike the ground or ocean at a large angle with respect to vertical, or at a large horizontal speed. These conditions are undesirable because they would endanger the occupants of the capsule in an actual mission. A simplified planar dynamics model in conjunction with a nonlinear normal force coefficient vs. angle of attack model serves as the basis of an analytical investigation of the fundamental dynamics of this pendulum motion. Output error methodology from system identification theory was used to identify the parameters of the nonlinear aerodynamics model. The identified model yielded excellent comparison with portions of flight test data where the pendulum motion occurred. Due to the inherent nonlinear nature of the pendulum motion limit cycle, traditional nonlinear analysis techniques were applied to gain further insight into the system. Lyapunov’s direct method provided mathematical proof in the absolute stability of the pendulum mode. Describing Function method was used to predict the amplitude and frequency of the limit cycle oscillation. Finally, phase plane analysis allowed easy visualization on the size and shape of the limit cycle with respect to variations in key aerodynamic parameters.

Pei, Jing↗

NASA NTRS2019

TPSAS-NF1676L-32920-DND

In June 2019, a full-scale crash test of a Fokker F28 Fellowship aircraft will be conducted at NASA Langley Research Center?s Landing and Impact Research (LandIR) Facility. The F28 is a high-performance twin-turbo fan narrow-body aircraft with seating in a 3+2 configuration. The MK4000 variant, used in this test, is capable of carrying up to 85 passengers on medium range routes. The F28 was first type certified by the Federal Aviation Administration (FAA) in 1969 and now the majority of the F28 fleet has retired from service in the United States. In 2016, the FAA and NASA Langley Research Center (LaRC) signed an interagency agreement for conducting a research program to obtain test data that will support the development of airframe level crash requirements for transport category airplanes [1]. The objectives of the full-scale crash test can be divided into six categories: (1) To compare and contrast responses in identical aircraft undergoing vertical only to combined vertical and horizontal loading conditions, (2) To examine the effects of horizontal loading on aircraft structure during a crash event, (3) To generate data for the use in calibration of computer modelling efforts, (4) To generate data from onboard Anthropomorphic Test Devices (ATDs) for the evaluation of injury, (5) To obtain data from experimental seats, and (6) To obtain data from new and novel ATD designs including Warrior Injury Assessment MANikin (WIAMan) [2], Test device for Human Occupant Response (THOR), and other newly developed child ATDs. The focus of this presentation will be to document finite element model development of the full-scale F28 aircraft and to present preliminary test-analysis predictions. NASA obtained the full-scale F28 aircraft, plus three fuselage sections and two sets of wings with funding through the NASA Aviation Safety Program in 1998. In addition to the hardware, NASA purchased a full NASTRAN model of the airframe that had been developed by the Dutch manufacturer, Fokker. Beginning in 2016, the NASTRAN model was converted to LS-DYNA? [4, 5] format and modified by combining parts, adding missing parts of internal structure, and including ballast for loading weights, etc. It contains: 89,223 nodes; 24,065 beam elements; 55,404 shell elements; 29,044 solid elements; 740 parts; 80 material definitions; and, 46 Constrained Nodal Rigid Bodies (CNRBs). The aircraft model will be executed in LSDYNA to simulate the test article impact onto a 2-ft.-high bed of soil under combined velocity conditions of 70-ft/s forward and 30-ft/s vertical velocity. Pre-test simulation predictions will be generated and correlated with test data.

Karen E Jackson↗

NASA NTRSDate not supplied

Crashworthiness of a Lift Plus Cruise eVTOL Vehicle Design within Dynamic Loading Environments

To aid in the development of electric Vertical Take-off and Landing (eVTOL) technology, the National Aeronautics and Space Administration has undertaken research initiatives to evaluate and optimize design features of eVTOL aircraft. One such initiative has been to develop energy attenuating design mechanisms to improve eVTOL vehicle crashworthiness. In this study, crashworthiness design mechanisms, implemented within a six-passenger lift plus cruise (LPC) eVTOL concept vehicle, were evaluated under multi-axis dynamic loading conditions. This work builds upon crashworthiness design concepts previously optimized within a simplified vehicle-loading environment. The results of this study found the effectiveness of energy attenuating design mechanisms to be dependent on the complexity of load environment in which they were employed. An increase in off-axis loading resulted in a decrease in occupant protective capability. These results indicate the necessity for evaluating vehicle design across the range of possible dynamic impact conditions to characterize crashworthiness. This work provides preliminary methodology for implementing energy attenuating design mechanisms and evaluating crashworthiness for future UAM markets.

Jacob Putnam↗

NASA NTRSDate not supplied

Development of a THOR Anthropometric Test Device Lumbar Spine Injury Risk Function

Currently, the Brinkley Dynamic Response Criteria (BDRC) is used to assess the risk of thoraco-lumbar spinal injury for astronauts. The BDRC has been validated for predicting injury in military aircraft ejections (Brinkley, 1968; Brinkley and Schaffer, 1971). The objective of this study was to use the injurious data behind the BDRC and subinjurious human-volunteer data to develop an injury risk function for the Test device for Human Occupant Restraint (THOR) to predict probability of thoraco-lumbar spine injury during space vehicle landings.

Jessica Wells↗

NASA NTRSDate not supplied

Developing Wear-Resistant Coatings for Lunar Dust Tolerant Applications

Materials resistant to the harsh lunar environment are needed to support long duration, sustainable missions on the Moon’s surface. Lunar dust poses a significant threat to the durability of components and vehicles due to its fine, jagged morphology and highly abrasive nature. These properties result in particles eroding, adhering and/or embedding onto component surfaces and into device confined geometries (e.g., gear housing, interlocking systems, etc.) potentially leading to premature failure. The aim of this work is to identify and characterize wear-resistant materials for use as protective coatings to minimize abrasion caused by lunar dust.Concurrently, testing and evaluation methods will be devised to elucidate and mimic aspects of lunar dust degradation, including particle embedding, gouging and erosion caused by high velocity impact events. Discussion on balancing the need for dust management and tolerance versus dust adhesion mitigation will be shared in context of relevant lunar applications within the NASA Lunar Occupancy Dust Surface Separation Technologies (LO-DuSST) effort, which is part of a NASA-wide effort to enable a sustained lunar presence through the Lunar Surface Innovation Initiative (LSII).

Materials, Coatings, lunar dust management/mitigat↗

NASA NTRSDate not supplied

Spaceflight Biospecimen and Data Sharing in Support of Science Discovery and Exploration

For decades, NASA and international partners have conducted biological experiments in space to understand effects of spaceflight and address potential hazards. To enable spaceflight back to the Moon, and then to Mars and beyond, it is imperative to further understand basic science and health risks associated with spaceflight, along with developing countermeasures. The sending of experiments and organisms into space is a costly endeavor. To maximize scientific return, sharing with the scientific community both space-flown biospecimens and data from completed experiments is essential. New fundamental, applied, and bioinformatic science insights can be gained from specimen and data sharing efforts. Data reuse enables spaceflight health risk modeling, analyzing adverse outcomes across spaceflight hazards, and deep space autonomous support for the flight medical officer. Space-flown biospecimens not required by mission Principal Investigators are regularly archived and made available for scientific request. The largest biorepository of these samples are found within NASA’s Institutional Scientific Collection at Ames Research Center (ISC-ARC), which stores over 32,000 specimens mostly from Shuttle and International Space Station (ISS) missions, but also some ground-based analog samples. The Ames Life Sciences Data Archive manages the ISC-ARC. Tissues are predominantly from mice and rats, though samples are also available from bacteria and quail. Only a handful of other similar collections exist worldwide. Rodent biospecimens exposed to simulated space radiation at Brookhaven National Laboratory are archived under the purview of NASA HRP Space Radiation Element. Microbial collection and analyses from 20 years of routine environmental monitoring of air, surfaces, and water systems of the ISS were performed to ensure a safe environment for astronauts. Samples from the ISC-ARC, space radiation and microbial collections are searchable and requestable through the NASA Life Sciences Data Archive (LSDA). Decades of planetary protection microbial isolates derived from spacecraft bioburden are archived in JPL’s microbial collection. Rodent biospecimens from spaceflight investigations conducted by the Japan Aerospace Exploration Agency (JAXA) are archived and available at the JAXA Biorepository at Tsukuba Space Center. The Russian Institute of Biomedical Problems also has a collection of animal, microbial, cellular, and fungi available for research from ground analog experiments. Several data repositories exist for scientists to utilize. The LSDA is the primary NASA source of life sciences research data and information. It contains decades of spaceflight and ground-analog research involving human, microbial, cellular, plant, and animal subjects. Data is collected from NASA-funded investigations through the Human Research Program and the Space Biology Program. The NASA Lifetime Surveillance of Astronaut Health collects and grants access to clinical and occupational health monitoring data from astronauts, with a list and description of data collected available for request through the LSDA. NASA GeneLab at ARC collects genomic, transcriptomic, proteomic, and metabolomic data from any species. It is a repository and platform for collaborative open-science bioinformatic approaches. JAXA is establishing an ‘omics-based repository in collaboration with the Tohoku Medical Megabank (ToMMo), called the JAXA-ToMMo Integrated Biobank for Space Life Science. Overall, the sharing of these biospecimen and data resources can assist researchers worldwide in understanding spaceflight effects on biology, along with enabling next generation data science applications for space exploration platforms. Websites: https://lsda.jsc.nasa.gov/ ; https://www.nasa.gov/ames/research/space-biosciences/isc-bsp ; https://www.nasa.gov/ames/research/space-biosciences/alsda

Ryan T. Scott↗

NASA NTRSDate not supplied

Clutter Assessment for an Autonomous Multi-Agent Search Mission

This paper presents a method for evaluating the amount of clutter in a region where autonomous vehicles in a multi-agent system must operate based on LIDAR point cloud measurements. The point cloud is used to generate an occupancy grid which is then projected onto a 2D plane of vehicle motion, constituting an image. A series of Gaussian radial basis functions (GRBFs) is created, each centered at an occupied pixel in a 2D image, and summed together to form the clutter field. The clutter field is a representation of the density and permeability of the space at each coordinate. The clutter field is then approximated such that iso-clutter contours are simple geometric objects so that intelligent machine assets can easily query the distance between them and any given point in an environment. In this way, agents are able to determine whether to enter into or steer away from areas of interest. Each vehicle has a clutter threshold representing the clutter value of the space in which it can safely maneuver. The iso-clutter contour corresponding to a vehicle’s clutter threshold is treated as the boundary of an obstacle to be avoided. A simulation is presented where a multi-agent system is tasked with persistent observation of a cluttered area. Each vehicle in the simulation has a different clutter threshold. The vehicles use a potential field-based guidance algorithm, and an allocation of vehicles to specific regions of the space emerges.

multi-agent↗