SEARCH · Engineering Papers

Results for “Autonomous Navigation”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 865 records · Page 48

All sources NASA NTRS DOE OSTI

NASA NTRS1991

Autonomous rendezvous and capture system design

Marshall Space Flight Center has a long history of involvement in the design of Autonomous Rendezvous and Capture (AR&C) systems. The first extensive studies were begun in the late seventies, incrementally leading to the development of an assortment of Guidance, Navigation, and Control (GN&C) concepts and algorithms suitable for a variety of mission requirements and spacecraft capabilities, with a strong emphasis placed upon flexible system-level design. These efforts have led to the development of sophisticated algorithms for docking with tumbling targets, and simple but efficient algorithms for stabilized spacecraft; each has been tested and validated using dynamic system simulation, with hardware in the loop when practical. Recent investigations include the use of neural networks for video image interpretation, and fuzzy logic for control system implementation.

Dabney, Richard W.↗

NASA NTRS1995

Fuzzy logic techniques for rendezvous and docking of two geostationary satellites

Large assemblings in space require the ability to manage rendezvous and docking operations. In future these techniques will be required for the gradual build up of big telecommunication platforms in the geostationary orbit. The paper discusses the use of fuzzy logic to model and implement a control system for the docking/berthing of two satellites in geostationary orbit. The system mounted in a chaser vehicle determines the actual state of both satellites and generates torques to execute maneuvers to establish the structural latching. The paper describes the proximity operations to collocate the two satellites in the same orbital window, the fuzzy guidance and navigation of the chaser approaching the target and the final Fuzzy berthing. The fuzzy logic system represents a knowledge based controller that realizes the close loop operations autonomously replacing the conventional control algorithms. The goal is to produce smooth control actions in the proximity of the target and during the docking to avoid disturbance torques in the final assembly orbit. The knowledge of the fuzzy controller consists of a data base of rules and the definitions of the fuzzy sets. The knowledge of an experienced spacecraft controller is captured into a set of rules forming the Rules Data Base.

Ortega, Guillermo↗

NASA NTRS2006

Robonaut Mobile Autonomy: Initial Experiments

A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

NASA NTRS2009

NASA #837 Tribute The Jet with a Thousand Faces

This slide presentation reviews the TF-1 (later designated as an F-15B) aircraft, which was delivered as an F-15 trainer. The aircraft was used as a test aircraft for various programs. The aircraft was later renamed to NASA 837 in 2001. Prior to its retirement it was used to test various features and concepts. Some of these tests were: (1) Canopy Off Testing, (2) STOL and Maneuvering Technology Demonstrator (S/MTD), (3) 2D Nozzles (4) Autonomous landing guidance, (5) Advanced Control Technology for Integrated Vehicles (ACTIVE), (6) Intelligent Flight Control System (IFCS), (7) Structural Loads Model Validation (SLMV), (8) Enhanced Communication and Navigation System (ECANS), (9) QuietSpike Probing, and (10) Lift and Nozzle Effects on Tail Shocks (LaNCETS)

Rhoades, Carrie M.↗

NASA NTRS2006

Modification of a Limbed Robot to Favor Climbing

The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.

Okon, Avi↗

NASA NTRS2011

Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles

A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

autonomous operation↗

DOE OSTI2020

EPRI Demonstration of an Autonomous Site Characterization Vehicle - 20523

A substantial effort is applied in performing radiological characterization of structures and land areas during decommissioning of a nuclear facility. This includes multiple surveys of land areas and large structures to support eventual site release under the Multi Agency Survey and Site Investigation Manual (MARSSIM, Reference 1). These surveys are typically performed using manually delivered systems, which is time consuming and labor intensive. Radiological surveys intentionally follow a prescribed protocol with respect to areas covered, scan speeds, responses to elevated readings, required detector offsets, the need for repeat measurements, etc. Based on these attributes, combined with the repetitive effort of performing surveys over large areas, automation of radiological characterization techniques has a high potential to be successful and promises substantial benefit. EPRI has performed a project that resulted in the development and demonstration of an autonomous site characterization system. This EPRI project focused on building surfaces and the surfaces of large land areas as these configurations lend themselves more readily to automated survey. The project included: - Identification of the requirements for an autonomous site characterization system; - A survey of existing control systems that use automation to conduct characterization of structures and land areas. - As no fully adequate systems were identified, a complete system was developed that utilized commercially available detection and analysis systems and a self driving vehicle owned by EPRI. The system was demonstrated at the Kewaunee nuclear power plant site in the fall of 2019. The demonstration included: - Autonomous surveys of floor areas inside the Auxiliary Building at Kewaunee after manually controlled mapping of the survey areas. - For land areas, the vehicle autonomously surveyed areas using travel paths had been preprogrammed onto an internet available map of area. In this case, GPS coordinates from the preprogramming were used for navigation by the vehicles guidance system. This paper summarizes the characterization system development and system demonstration which will also be published in an EPRI report in the first half of 2020. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2016

Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereo-photoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

Guidance↗

NASA NTRS1991

Autonomous docking ground demonstration

The Autonomous Docking Ground Demonstration is an evaluation of the laser sensor system to support the docking phase (12 ft to contact) when operated in conjunction with the guidance, navigation, and control (GN&C) software. The docking mechanism being used was developed for the Apollo/Soyuz Test Program. This demonstration will be conducted using the 6-DOF Dynamic Test System (DTS). The DTS simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration, the laser sensor will be mounted on the target vehicle and the retroflectors will be on the chase vehicle. This arrangement was chosen to prevent potential damage to the laser. The laser sensor system, GN&C, and 6-DOF DTS will be operated closed-loop. Initial conditions to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved.

Lamkin, Steve L.↗

NASA NTRS1993

Fuzzy control of an unmanned helicopter

This paper discusses an application of fuzzy control to an unmanned helicopter. The authors design a fuzzy controller to achieve semi-autonomous flight of a helicopter by giving macroscopic flight commands from the ground. The fuzzy controller proposed in this study consists of two layers: the upper layer for navigation supervising the lower layer and the lower layer for ordinary rule based control. The performance of the fuzzy controller is evaluated in experiments where an industrial helicopter Yamaha R-50 is used. At present an operator can wirelessly control the helicopter through a flight computer with eight commands such as 'hover', 'fly forward', 'turn left', 'stop', etc.

Sugeno, M.↗

NASA NTRS2009

Flight Test Performance of a High Precision Navigation Doppler Lidar

A navigation Doppler Lidar (DL) was developed at NASA Langley Research Center (LaRC) for high precision velocity measurements from a lunar or planetary landing vehicle in support of the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. A unique feature of this DL is that it has the capability to provide a precision velocity vector which can be easily separated into horizontal and vertical velocity components and high accuracy line of sight (LOS) range measurements. This dual mode of operation can provide useful information, such as vehicle orientation relative to the direction of travel, and vehicle attitude relative to the sensor footprint on the ground. System performance was evaluated in a series of helicopter flight tests over the California desert. This paper provides a description of the DL system and presents results obtained from these flight tests.

Pierrottet, Diego↗

NASA NTRS1989

A tesselated probabilistic representation for spatial robot perception and navigation

The ability to recover robust spatial descriptions from sensory information and to efficiently utilize these descriptions in appropriate planning and problem-solving activities are crucial requirements for the development of more powerful robotic systems. Traditional approaches to sensor interpretation, with their emphasis on geometric models, are of limited use for autonomous mobile robots operating in and exploring unknown and unstructured environments. Here, researchers present a new approach to robot perception that addresses such scenarios using a probabilistic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field that maintains stochastic estimates of the occupancy state of each cell in the grid. The cell estimates are obtained by interpreting incoming range readings using probabilistic models that capture the uncertainty in the spatial information provided by the sensor. A Bayesian estimation procedure allows the incremental updating of the map using readings taken from several sensors over multiple points of view. An overview of the Occupancy Grid framework is given, and its application to a number of problems in mobile robot mapping and navigation are illustrated. It is argued that a number of robotic problem-solving activities can be performed directly on the Occupancy Grid representation. Some parallels are drawn between operations on Occupancy Grids and related image processing operations.

Elfes, Alberto↗

NASA NTRSDate not supplied

Visual and Inertial Datasets for an eVTOL Aircraft Approach and Landing Scenario

A National Aeronautics and Space Administration (NASA) project developing computer vision algorithms for autonomous flight is producing real-world datasets with cameras mounted on aircraft. In related domains, such as autonomous driving, open datasets are key to innovation and advancement in computer vision and autonomous perception for future Advanced Air Mobility (AAM) operations. Few vision datasets, however, are publicly available in the aviation context. This paper introduces preliminary datasets containing several examples of approach and landing scenarios. The platform aircraft include a multirotor small unmanned aerial system (sUAS) and a crewed helicopter as surrogates for future electric vertical take-off and landing (eVTOL) aircraft. The dataset provides video imagery with associated inertial navigation system-global positioning system (INS-GPS) position and attitude estimates and other sensors. Surveyed locations of the visual features of the landing area are included. This dataset is the first to be released in an ongoing effort to collect and share large, diverse datasets relevant to autonomous aviation; community critique that can inform and improve future flight campaigns is welcome.

Nelson Brown↗

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 NTRS1975

Autonomous rendezvous and docking in Mars orbit

This paper describes principally the ascent phase of the Mars Surface Sample Return mission, where the terminal rendezvous phase is emphasized to describe a newly developed automatic rendezvous and docking system. The autonomous rendezvous and docking in Mars orbit is used to reduce the payload necessary to achieve the mission so that today's-sized spacecraft can be used. Proportional navigation guidance utilizing a simple control algorithm was developed and tested to accomplish the rendezvous. This simplified guidance scheme uses only one parabolic axial control curve generated on-board based on its dispersed state and requires no closing velocity change.

Vandenberg, F.↗

NASA NTRS2016

The Deep-Space Positioning System Concept: Automating Complex Navigation Operations Beyond the Earth

There is no equivalent of GPS in “deep space,” that is beyond the Earth Moon system (and use of GPS beyond LEO and MEO is already problematic.) NASA has been awarded a patent on the concept of the “Deep-space Positioning System” (DPS) which is a self-contained instrument concept that would use in-situ observations to provide an automated and autonomous means of determining its position in the Solar System, and at least as important, its position relative to a target, whether that target is a planet, asteroid, moon or comet. In addition, the DPS system computes trajectory change parameters, as necessary to keep a spacecraft on a planned trajectory. Implementation options include the use of a radio receiver to receive a frequency beacon from a non-in-situ source for additional navigation information over and above that which can be provided by the cameras that are the principal data source of DPS. This paper discusses the DPS instrument concept, and its potential use in deep space.

Guinn, Joseph R.↗

NASA NTRS2004

Results of the Magnetometer Navigation (MAGNAV)lnflight Experiment

The Magnetometer Navigation (MAGNAV) algorithm is currently running as a flight experiment as part of the Wide Field Infrared Explorer (WIRE) Post-Science Engineering Testbed. Initialization of MAGNAV occurred on September 4, 2003. MAGNAV is designed to autonomously estimate the spacecraft orbit, attitude, and rate using magnetometer and sun sensor data. Since the Earth's magnetic field is a function of time and position, and since time is known quite precisely, the differences between the computed magnetic field and measured magnetic field components, as measured by the magnetometer throughout the entire spacecraft orbit, are a function of the spacecraft trajectory and attitude errors. Therefore, these errors are used to estimate both trajectory and attitude. In addition, the time rate of change of the magnetic field vector is used to estimate the spacecraft rotation rate. The estimation of the attitude and trajectory is augmented with the rate estimation into an Extended Kalman filter blended with a pseudo-linear Kalman filter. Sun sensor data is also used to improve the accuracy and observability of the attitude and rate estimates. This test serves to validate MAGNAV as a single low cost navigation system which utilizes reliable, flight qualified sensors. MAGNAV is intended as a backup algorithm, an initialization algorithm, or possibly a prime navigation algorithm for a mission with coarse requirements. Results from the first six months of operation are presented.

Thienel, Julie K.↗

NASA NTRS2004

Results of the Magnetometer Navigation (MAGNAV) Inflight Experiment

The Magnetometer Navigation (MAGNAV) algorithm is currently running as a flight experiment as part of the Wide Field Infrarad Explorer Post-Science Engineer- ing Testbed. Initialization of MAGNAV occured on September 4, 2004. MAGNAV is designed to autonomously estimate the spacecraft orbit, attitude, and rate using magnetometer and sun sensor data. Since the earth s magnetic field is a function of time and position, and since time is known quite precisely, the differences between the computed magnetic field and measured magnetic field components, as measured by the magnetometer throughout the entire spacecraft orbit, are a function of the spacecraft trajectory and attitude errors. Therefore, these errors are used to estimate both trajec- tory and attitude. In addition, the time rate of change of the magnetic field vector is used to estimate the spacecraft rotation rate. The estimation of the attitude and tra- jectory is augmented with the rate estimation into an Extended Kalman filter blended with a pseudc-linear Kalman filter. Sun sensor data is also used to improve the accu- racy and observability of the attitude and rate estimates. This test serves to validate MAGNAV as a single low cost navigation system which utilizes reliable, flight qualified sensors. MAGNAV is intended as a backup algorithm, an initialization algorithm, or possibly a prime navigation algorithm for a mission with coarse constraints.

Thienel, Julie↗