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All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Robotic Technology Efforts at the NASA/Johnson Space Center

The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center's Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of "dull, dirty or dangerous" tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center's newest development areas can provide crew with low mass exercise capability and also augment an astronaut's strength while wearing a space suit. This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center's Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

Diftler, Ron↗
NASA NTRS2017

Robotic Technology Efforts at the NASA/Johnson Space Center

The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

Diftler, Ron↗
NASA NTRS1997

Laser Scanning System for Pressure and Temperature Paints

Acquiring pressure maps of aerodynamic surfaces is very important for improving and validating the performance of aerospace vehicles. Traditional pressure measurements are taken with pressure taps embedded in the model surface that are connected to transducers. While pressure taps allow highly accurate measurements to be acquired, they do have several drawbacks. Pressure taps do not give good spatial resolution due to the need for individual pressure tubes, compounded by limited space available inside models. Also, building a model proves very costly if taps are needed because of the large amount of labor necessary to drill, connect and test each one. The typical cost to install one tap is about $200. Recently, a new method for measuring pressure on aerodynamic surfaces has been developed utilizing a technology known as pressure sensitive paints (PSP). Using PSP, pressure distributions can be acquired optically with high spatial resolution and simple model preparation. Flow structures can be easily visualized using PSP, but are missed using low spatial resolution arrays of pressure taps. PSP even allows pressure distributions to be found on rotating machinery where previously this has been extremely difficult or even impossible. The goal of this research is to develop a laser scanning system for use with pressure sensitive paints that allows accurate pressure measurements to be obtained on various aerodynamic surfaces ranging from wind tunnel models to high speed jet engine compressor blades.

Sullivan, John↗
NASA NTRS1997

Laser Scanning System for Pressure and Temperature Paints

Acquiring pressure maps of aerodynamic surfaces is very important for improving and validating the performance of aerospace vehicles. Traditional pressure measurements are taken with pressure taps embedded in the model surface that are connected to transducers. While pressure taps allow highly accurate measurements to be acquired, they do have several drawbacks. Pressure taps do not give good spatial resolution due to the need for individual pressure tubes, compounded by limited space available inside models. Also, building a model proves very costly if taps are needed because of the large amount of labor necessary to drill, connect and test each one. The typical cost to install one tap is about $200. Recently, a new method for measuring pressure on aerodynamic surfaces has been developed utilizing a technology known as pressure sensitive paints (PSP). Using PSP, pressure distributions can be acquired optically with high spatial resolution and simple model preparation. Flow structures can be easily visualized using PSP, but are missed using low spatial resolution arrays of pressure taps. PSP even allows pressure distributions to be found on rotating machinery where previously this has been extremely difficult or even impossible. The goal of this research is to develop a laser scanning system for use with pressure sensitive paints that allows accurate pressure measurements to be obtained on various aerodynamic surfaces ranging from wind tunnel models to high speed jet engine compressor blades.

Sullivan, John↗
NASA NTRS2019

Integrating Realizability Checking in FRET

Realizability (alternatively referred to as relative consistency or implementability) - checking whether a specification can be implemented by an open system - has been the subject of extensive study. Realizability can be viewed as a stronger analysis method when compared to consistency checking in that it does not only check whether the system works in some environment, but instead whether the system works in all environments. In this report, we experiment and build on the approach presented by Gacek et al. that supports checking realizability of contracts involving infinite theories using SMT solvers. In particular, we 1) extend the Formal Requirements Elicitation Tool (FRET) to support generation of Lustre contracts that can be checked for realizability with the JKind k-induction and fix point generation engines; 2) study a compositional way for checking realizability based on the notion of connected components; and 3) test our approach and the capabilities of the JKind realizability engines on a large subset of the Lockheed Martin Cyber Physical System Challenge Problems.

Kooi, David↗
NASA NTRS2003

Demonstrating a Realistic IP Mission Prototype

Flight software and hardware and realistic space communications environments were elements of recent demonstrations of the Internet Protocol (IP) mission concept in the lab. The Operating Missions as Nodes on the Internet (OMNI) Project and the Flight Software Branch at NASA/GSFC collaborated to build the prototype of a representative space mission that employed unmodified off-the-shelf Internet protocols and technologies for end-to-end communications between the spacecraft/instruments and the ground system/users. The realistic elements used in the prototype included an RF communications link simulator and components of the TRIANA mission flight software and ground support system. A web-enabled camera connected to the spacecraft computer via an Ethernet LAN represented an on-board instrument creating image data. In addition to the protocols at the link layer (HDLC), transport layer (UDP, TCP), and network (IP) layer, a reliable file delivery protocol (MDP) at the application layer enabled reliable data delivery both to and from the spacecraft. The standard Network Time Protocol (NTP) performed on-board clock synchronization with a ground time standard. The demonstrations of the prototype mission illustrated some of the advantages of using Internet standards and technologies for space missions, but also helped identify issues that must be addressed. These issues include applicability to embedded real-time systems on flight-qualified hardware, range of applicability of TCP, and liability for and maintenance of commercial off-the-shelf (COTS) products. The NASA Earth Science Technology Office (ESTO) funded the collaboration to build and demonstrate the prototype IP mission.

Rash, James↗
NASA NTRS1981

Fault-tolerant computer study

A set of building block circuits is described which can be used with commercially available microprocessors and memories to implement fault tolerant distributed computer systems. Each building block circuit is intended for VLSI implementation as a single chip. Several building blocks and associated processor and memory chips form a self checking computer module with self contained input output and interfaces to redundant communications buses. Fault tolerance is achieved by connecting self checking computer modules into a redundant network in which backup buses and computer modules are provided to circumvent failures. The requirements and design methodology which led to the definition of the building block circuits are discussed.

Rennels, D. A.↗
NASA NTRS2007

"Smart" Sensor Module

An assembly that contains a sensor, sensor-signal-conditioning circuitry, a sensor-readout analog-to-digital converter (ADC), data-storage circuitry, and a microprocessor that runs special-purpose software and communicates with one or more external computer(s) has been developed as a prototype of "smart" sensor modules for monitoring the integrity and functionality (the "health") of engineering systems. Although these modules are now being designed specifically for use on rocket-engine test stands, it is anticipated that they could also readily be designed to be incorporated into health-monitoring subsystems of such diverse engineering systems as spacecraft, aircraft, land vehicles, bridges, buildings, power plants, oilrigs, and defense installations. The figure is a simplified block diagram of the "smart" sensor module. The analog sensor readout signal is processed by the ADC, the digital output of which is fed to the microprocessor. By means of a standard RS-232 cable, the microprocessor is connected to a local personal computer (PC), from which software is downloaded into a randomaccess memory in the microprocessor. The local PC is also used to debug the software. Once the software is running, the local PC is disconnected and the module is controlled by, and all output data from the module are collected by, a remote PC via an Ethernet bus. Several smart sensor modules like this one could be connected to the same Ethernet bus and controlled by the single remote PC. The software running in the microprocessor includes driver programs for operation of the sensor, programs that implement self-assessment algorithms, programs that implement protocols for communication with the external computer( s), and programs that implement evolutionary methodologies to enable the module to improve its performance over time. The design of the module and of the health-monitoring system of which it is a part reflects the understanding that the main purpose of a health-monitoring system is to detect damage and, therefore, the health-monitoring system must be able to function effectively in the presence of damage and should be capable of distinguishing between damage to itself and damage to the system being monitored. A major benefit afforded by the self-assessment algorithms is that in the output of the module, the sensor data indicative of the health of the engineering system being monitored are coupled with a confidence factor that quantifies the degree of reliability of the data. Hence, the output includes information on the health of the sensor module itself in addition to information on the health of the engineering system being monitored.

Mahajan, Ajay↗
NASA NTRS2012

Behavioral Mapless Navigation Using Rings

This paper presents work on the development and implementation of a novel approach to robotic navigation. In this system, map-building and localization for obstacle avoidance are discarded in favor of moment-by-moment behavioral processing of the sonar sensor data. To accomplish this, we developed a network of behaviors that communicate through the passing of rings, data structures that are similar in form to the sonar data itself and express the decisions of each behavior. Through the use of these rings, behaviors can moderate each other, conflicting impulses can be mediated, and designers can easily connect modules to create complex emergent navigational techniques. We discuss the development of a number of these modules and their successful use as a navigation system in the Trinity omnidirectional robot.

Monroe, Randall P.↗
NASA NTRS1977

Simulation and display of macromolecular complexes

In association with an investigation of the interaction of proteins with DNA and RNA, an interactive computer program for building, manipulating, and displaying macromolecular complexes has been designed. The system provides perspective, planar, and stereoscopic views on the computer terminal display, as well as views for standard and nonstandard observer locations. The molecule or its parts may be rotated and/or translated in any direction; bond connections may be added or removed by the viewer. Molecular fragments may be juxtaposed in such a way that given bonds are aligned, and given planes and points coincide. Another subroutine provides for the duplication of a given unit such as a DNA or amino-acid base.

Nir, S.↗
NASA NTRS1997

Quantitative Measurement of Oxygen in Microgravity Combustion

A low-gravity environment, in space or in ground-based facilities such as drop towers, provides a unique setting for studying combustion mechanisms. Understanding the physical phenomena controlling the ignition and spread of flames in microgravity has importance for space safety as well as for better characterization of dynamical and chemical combustion processes which are normally masked by buoyancy and other gravity-related effects. Due to restrictions associated with performing measurements in reduced gravity, diagnostic methods which have been applied to microgravity combustion studies have generally been limited to capture of flame emissions on film or video, laser Schlieren imaging and (intrusive) temperature measurements using thermocouples. Given the development of detailed theoretical models, more sophisticated diagnostic methods are needed to provide the kind of quantitative data necessary to characterize the properties of microgravity combustion processes as well as provide accurate feedback to improve the predictive capabilities of the models. When the demands of space flight are considered, the need for improved diagnostic systems which are rugged, compact, reliable, and operate at low power becomes apparent. The objective of this research is twofold. First, we want to develop a better understanding of the relative roles of diffusion and reaction of oxygen in microgravity combustion. As the primary oxidizer species, oxygen plays a major role in controlling the observed properties of flames, including flame front speed (in solid or liquid flames), extinguishment characteristics, flame size and flame temperature. The second objective is to develop better diagnostics based on diode laser absorption which can be of real value in both microgravity combustion research and as a sensor on-board Spacelab as either an air quality monitor or as part of a fire detection system. In our prior microgravity work, an eight line-of-sight fiber optic system measured water vapor mole fractions in the NASA Lewis 2.2-sec Drop Tower. In that system, the laser and all electronics resided at the top of the drop tower and was connected via a fiber optic cable to the rig, on which a 'pitch and catch' set of fiber collimating lenses were used to transmit the laser beam across a jet diffusion flame. This system required eight independent detection/demodulation units and had poor spatial resolution. This research builds on this earlier work, resulting in an improved capability for quantitative, nonintrusive measurement of major combustion species. A vertical cavity surface-emitting diode laser (VCSEL) and a continuous spatial scanning method permit the measurement of temporal and spatial profiles of the concentrations and temperatures of molecular oxygen. High detection sensitivity is achieved with wavelength modulation spectroscopy (WMS). One-g experiments are performed using a slot diffusion flame. Microgravity measurements on a solid fuel (cellulose sheet) system are planned for the NASA Lewis 2.2-second Drop Tower Facility.

Silver, Joel A.↗
NASA NTRS1987

A system for routing arbitrary directed graphs on SIMD architectures

There are many problems which can be described in terms of directed graphs that contain a large number of vertices where simple computations occur using data from connecting vertices. A method is given for parallelizing such problems on an SIMD machine model that is bit-serial and uses only nearest neighbor connections for communication. Each vertex of the graph will be assigned to a processor in the machine. Algorithms are given that will be used to implement movement of data along the arcs of the graph. This architecture and algorithms define a system that is relatively simple to build and can do graph processing. All arcs can be transversed in parallel in time O(T), where T is empirically proportional to the diameter of the interconnection network times the average degree of the graph. Modifying or adding a new arc takes the same time as parallel traversal.

Tomboulian, Sherryl↗
NASA NTRSDate not supplied

Open Science for Life in Space: Data Sharing and Tools for Knowledge Discovery

The fast-growing array of space biological data, which in the past was simply archived after minimal analysis, holds great potential if it can be reorganized and formatted for Open Science. Organizing the data for such analysis is a challenge because of its diverse nature (molecular, cellular, tissue, whole organism, behavior; tabular, imagery). Open Science is the concept that the more people have access to scientifically curated data, the more knowledge will be gained. This led NASA to start the development of GeneLab in 2015. GeneLab houses spaceflight and space-analog multi-omics datasets from plant, rodent, small animal, and microbial experiments. The success and knowledge gained from GeneLab led to a new alliance of NASA “Open Science Data Repositories” (OSDR), which include the Ames Life Sciences Data Archive (ALSDA) and the NASA Biological Institutional Scientific Collection (NBISC). Both are adopting the GeneLab data system, so data are more findable, accessible, interoperable, and reusable (FAIR). OSDR systems provide users the ability to upload, download, search, share, analyze, and visualize. Open Science also needs strong confidence in the data, which is gained through building science communities. With ~400 current members, GeneLab and ALSDA formed Analysis Working Groups (AWGs) to provide feedback on processing pipelines, metadata curation standards (for ‘omics and phenotypic-physiological-behavioral assays), and to collaborate in effectively reusing data. The AWG also led to the development of the Radiation Biology Ontology (RBO), ensuring radiation metadata are efficiently captured, connected, and interoperable. Feedback from the AWG provided design input toward the new single point-of-entry data submission portal for all investigators to submit, curate, and share their research data. Space biological data is now maximally open access, collected-curated with rich metadata, and formatted for interoperability to enable systems biology, meta-analysis, knowledge graphs, machine learning, modeling, and other reuse approaches. With potential for further federation of OSDR for data mining with traditional biological and medical databases (NIH, NCI, EBI, etc.), a new era for space biology has begun to support the knowledge discovery necessary for Lunar and Martian missions.

Ryan T Scott↗
NASA NTRS1990

Potential for integrated optical circuits in advanced aircraft with fiber optic control and monitoring systems

Fiber optic technology is expected to be used in future advanced weapons platforms as well as commercial aerospace applications. Fiber optic waveguides will be used to transmit noise free, high speed data between a multitude of computers as well as audio and video information to the flight crew. Passive optical sensors connected to control computers with optical fiber interconnects will serve both control and monitoring functions. Implementation of fiber optic technology has already begun. Both the military and NASA have several programs in place. A cooperative program, called FOCSI (Fiber Optic Control System Integration), between NASA Lewis and the NAVY to build, environmentally test and flight demonstrate sensor systems for propulsion and flight control systems is currently underway. Integrated Optical Circuits (IOC's) are also being given serious consideration for use in advanced aircraft systems. IOC's will result in miniaturization and localization of components to generate, detect optical signals and process them for use by the control computers. In some complex systems IOC's may be required to perform calculations optically if the technology is ready, replacing some of the electronic systems used today. IOC's are attractive because they will result in rugged components capable of withstanding severe environments in advanced aerospace vehicles. Manufacturing technology developed for microelectronic integrated circuits applied to IOC's will result in cost effective manufacturing. This paper reviews the current FOCSI program and describes the potential role of IOC's in FOCSI applications.

Robert Baumbick↗
NASA NTRS2019

2018 NISAR Applications Workshop: Forest and Disturbance; Workshop Report

Forest lands cover the globe and are important sources for providing ecosystem services including: carbon sequestration, biodiversity, timber, air and water quality. As such, counties around the world have dedicated programs for managing them. Accurate and timely information concerning the status of these forests (moisture, biomass, disturbance type, etc.) is essential to those Nations’ human and ecological health as well as economy. The joint NASA/US Forest Service workshop focused on arming forest land managers with observations and remote sensing information from the upcoming NASA-ISRO (Indian Space Research Organization) SAR (Synthetic Aperture Radar) (NISAR) satellite mission (expected to launch early 2022). Participants included representatives from different US Federal Agencies, private sector, and non-governmental organizations (NGO) that are key players in facilitating integration of Earth Observations (EO) into forest management and decision support workflows. They included scientists, technicians, and program managers with a responsibility for data acquisition and exploitation such as product development, delivery, and use, and capacity building. Discussions were held over two days to convey the broader forest and disturbance community information needs for various representative participants and programs and to facilitate the delivery of NISAR mission geospatial products and observational capabilities. Case studies were presented to demonstrate the current state of practice in the use of SAR remote sensing for applications of direct importance to forest and disturbance land management community. Eleven organizations presented their information requirements in response to a set of questions provided by the NASA team, then the NASA team responded by describing the degree to which NISAR could meet these requirements. Discussion ensued about needed data product specifications to increase utility (e.g., projection, latency, etc.), tools and capacity building. The general findings of this workshop were that (a) NISAR observations will be particularly useful to the global forest carbon and disturbance monitoring applications, but that certain data product design decisions (projections and radiometric and terrain corrections) need to be considered to increase utility; b) the biomass and disturbance detection algorithms meet many of the community needs, however there are other information products of value (e.g., soil moisture or disturbance classification, not just detection) and all products should be compliant with existing community standards for reporting uncertainty; c) providing SAR education to the community will be key specifically thinking about putting the information first and the SAR theory second, providing a simple guide of standard data processing steps (e.g., dB (decibel) to power conversion and speckle filtering); d) the community needs a user-friendly interface for finding free, archived data over their geographic regions of interest; e) user-friendly tools that connect to open-sources GIS (Global Information System) software (e.g., QGIS (Quantum GIS)) that include a graphical user interface (GUI) for SAR processing that enables both download and cloud processing. To integrate these findings and prepare the community before NISAR launches, it was suggested that there be a dedicated NISAR Forest and Disturbance Applications Working Group (as per the specifications in the NISAR Utilization Plan). After launch, it was decided that the community continue capacity building activities.

Stavros, Natasha↗
NASA NTRSDate not supplied

HIFiRE Flight 2 Unstart Reliability Analysis

The objective of this work was to assess the unstart reliability of the HIFiRE Flight 2 system. To do this, a quantification of margins and uncertainties framework was used for comparing model predictions of the predicted combustion induced shock location to the predicted last stable shock location within the isolator. Uncertainty sources included parametric uncertainty in the flight conditions, the heat release model, and turbulence modeling, as well as model verification errors. Additionally, an estimate of model-form uncertainty was established by comparing the model to measured ground test data. A computationally efficient non-intrusive polynomial chaos approach was used to propagate parametric uncertainty through the computational flu-ids dynamics models of both the ground test configuration and the flight vehicle. Compared to direct-connect ground test data, computational fluid dynamics predictions yielded about two duct heights of model-form uncertainty. This was applied to a prediction of flight vehicle unstart margin at the Mach 6.5 flight condition. Building up all of the computational model uncertainty, including parametric uncertainty, verification errors, and the determined model-form uncertainty, a 95% probability level based confidence ratio, or a ratio of total uncertainty to a statistical margin measure, was found to be 0.31 for the flight system.

Thomas K West↗
NASA NTRS1993

Object-oriented Tools for Distributed Computing

Distributed computing systems are proliferating, owing to the availability of powerful, affordable microcomputers and inexpensive communication networks. A critical problem in developing such systems is getting application programs to interact with one another across a computer network. Remote interprogram connectivity is particularly challenging across heterogeneous environments, where applications run on different kinds of computers and operating systems. NetWorks! (trademark) is an innovative software product that provides an object-oriented messaging solution to these problems. This paper describes the design and functionality of NetWorks! and illustrates how it is being used to build complex distributed applications for NASA and in the commercial sector.

Adler, Richard M.↗
NASA NTRS2001

Teaching About the Sun-Earth Connection

This talk will be about the Sun: how it changes with time, its magnetic cycle, flares, and the solar wind. The solar wind and what space is like between the Sun and Earth will be presented. Also, the Earth, its magnetic field, how the solar wind interacts with the Earth, Aurora, and how these affect human systems will be discussed. These interactions dictate how we build our systems in space (communications satellites, GPS, etc), and some of our ground systems (power grids). Some simple classroom activities will be presented that can be done using new data from space that is available daily on the internet, and how you can use the internet to get space questions answered within about 1 day. Finally, some career opportunities for jobs related to space for the future will be discussed.

Poland, Arthur I.↗