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At least 901 records · Page 50

Gateway Lunar Habitat Modules as the Basis for a Modular Mars Transit Habitat

This paper provides a summary of the results from a recent concept study of various configurations for a Mars Transit Habitat. The designs considered are composed of modules based on published contractor concepts proposed for the lunar Gateway through NASA’s NextSTEP program. Using these Gateway concepts as a starting point for the design of a Mars Transit Habitat has potential advantages. Both Gateway and Mars Transit Habitats will have similar requirements for long-term operations in deep space, autonomous and remote operations when the crew is not onboard, and similar requirements for transferring crew to and from a planetary surface—the Moon and Mars respectively. The contractor designs for Gateway were traded against a monolithic transit habitat previously proposed by NASA’s Mars Integration Group. In addition, these concepts were considered for a “shakedown” mission for the transit habitat hardware in cislunar space to build confidence in new systems, including the advanced environmental control and life support systems needed for Mars missions. The results presented include overall vehicle configurations, mass, and volume estimates for the selected design concepts. Two concepts using large expandable modules are identified as leading candidates for a Mars Transit Habitat and the remaining elements are identified as representative of the habitable pressure vessels needed for safe haven configurations, logistics modules, surface habitats, rovers, and descent and ascent crew cabins in the overall Mars Architecture.

Smitherman, David↗

AutoTG: Reinforcement Learning-Based Symbolic Optimization for AI-Assisted Power Converter Design

Power converters are pervasive in modern electronic component design. They can be found in all electronic devices from household appliances and cellphone chargers to vehicles. Currently, designing new circuit topologies is hard because it requires human expertise based on experience and is difficult to automate. However, artificial-intelligence-assisted design can significantly facilitate the development of new power converters and/or improve the final result. Intelligently designed highly efficient power converters can have a significant effect on many important attributes, such as power efficiency, layout size, cost, heat dissemination, energy requirements, etc. We propose Autonomous Topology Generator (AutoTG), a reinforcement-learning-based framework that generates power converter topology candidates based on user specifications, optimized for user preferences. By modeling power converter design as a symbolic optimization problem, we sequentially sample components in an autoregressive manner until new topologies are formed, providing both the topology specification and the sizing (magnitude of each component parameter) of the proposed power converter. Here, we provide an empirical evaluation and show that AutoTG is able to generate varied high-efficiency topologies within component restrictions based on user input and show that previously unknown topologies can be found for further evaluation.

(AI)-based design↗

A Low-Flow Marine Hydrokinetic Turbine for a Floating Unmanned Mobile Platform

Design and fabrication of a marine hydrokinetic turbine for deployment from a floating unmanned autonomous mobile catamaran platform is described. The objective is to develop a low-flow current turbine for deployment from a floating mobile catamaran USV platform. An undershot water wheel has been selected as the turbine of choice and a WAM-V 16 catamaran has been selected as the USV platform. The concept of operation is that the USV platform would autonomously seek and navigate to a coastal location where coastal or tidal currents may be present, anchor at the location, and deploy the turbine to harness the current energy, convert it to electricity and store it in onboard battery banks. The prototype system being developed is targeted at supporting development of self-powered autonomous mobile recharge stations for unmanned aerial vehicles in coastal zones. Once implemented on the vehicle, open water tests are planned for a range of environmental conditions, involving tidal and coastal currents, and system configurations. The status of the ongoing effort will be discussed.

16 TIDAL AND WAVE POWER↗

Two-Dimensional Thomson Scattering in Laser-Produced Plasmas

We present two-dimensional (2D) optical Thomson scattering measurements of electron density and temperature in laser-produced plasmas. The novel instrument directly measures ne(x,y) and Te(x,y) in two dimensions over large spatial regions (cm2) with sub-mm spatial resolution, by automatically translating the scattering volume while the plasma is produced repeatedly by irradiating a solid target with a high-repetition-rate laser beam (10 J, ∼1012 W/cm2, 1 Hz). In this paper, we describe the design and motorized auto-alignment of the instrument and the computerized algorithm that autonomously fits the spectral distribution function to the tens-of-thousands of measured scattering spectra, and captures the transition from the collective to the non-collective regime with distance from the target. As an example, we present the first 2D scattering measurements in laser-driven shock waves in ambient nitrogen gas at a pressure of 0.13 mbar.

Zhang, Haiping (ORCID:0009000228133852)↗

Machine intelligence and autonomy for aerospace systems

The present volume discusses progress toward intelligent robot systems in aerospace applications, NASA Space Program automation and robotics efforts, the supervisory control of telerobotics in space, machine intelligence and crew/vehicle interfaces, expert-system terms and building tools, and knowledge-acquisition for autonomous systems. Also discussed are methods for validation of knowledge-based systems, a design methodology for knowledge-based management systems, knowledge-based simulation for aerospace systems, knowledge-based diagnosis, planning and scheduling methods in AI, the treatment of uncertainty in AI, vision-sensing techniques in aerospace applications, image-understanding techniques, tactile sensing for robots, distributed sensor integration, and the control of articulated and deformable space structures.

Heer, Ewald↗

Lunar exploration rover program developments

The Robotic All Terrain Lunar Exploration Rover (RATLER) design concept began at Sandia National Laboratories in late 1991 with a series of small, proof-of-principle, working scale models. The models proved the viability of the concept for high mobility through mechanical simplicity, and eventually received internal funding at Sandia National Laboratories for full scale, proof-of-concept prototype development. Whereas the proof-of-principle models demonstrated the mechanical design's capabilities for mobility, the full scale proof-of-concept design currently under development is intended to support field operations for experiments in telerobotics, autonomous robotic operations, telerobotic field geology, and advanced man-machine interface concepts. The development program's current status is described, including an outline of the program's work over the past year, recent accomplishments, and plans for follow-on development work.

Klarer, P. R.↗

Life Sciences Issues for a Mission to Mars

Session MP5 includes short reports on: (1) Cardiovascular Concerns for a Mars Mission: Autonomic and Biomechanical Effects; (2) Reducing the Risk of Space Radiation Induced Bioeffects: Vehicle Design and Protectant Molecules; (3) Musculoskeletal Issues for Long Duration Mission: Muscle Mass Preservation, Renal Stone Risk Factors, Countermeasures, and Contingency Treatment Planning; (4) Psychological Issues and Crew Selection for a Mars Mission: Maximizing the Mix for the Long Haul; and (5) Issues in Crew Health, Medical Selection and Medical Officer (CMO) Training for a Mission to Mars.

Source record↗

Target Tracking, Approach, and Camera Handoff for Automated Instrument Placement

This paper describes the target designation, tracking, approach, and camera handoff technologies required to achieve accurate, single-command autonomous instrument placement for a planetary rover. It focuses on robust tracking integrated with obstacle avoidance during the approach phase, and image-based camera handoff to allow vision-based instrument placement. It also provides initial results from a complete system combining these technologies with rover base placement to maximize arm manipulability and image-based instrument placement.

target tracking↗

Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

Regolith↗

Swamp Works: A New Approach to Develop Space Mining and Resource Extraction Technologies at the National Aeronautics Space Administration (NASA) Kennedy Space Center (KSC)

The first steps for In Situ Resource Utilization (ISRU) on target bodies such as the Moon, Mars and Near Earth Asteroids (NEA), and even comets, involve the same sequence of steps as in the terrestrial mining of resources. First exploration including prospecting must occur, and then the resource must be acquired through excavation methods if it is of value. Subsequently a load, haul and dump sequence of events occurs, followed by processing of the resource in an ISRU plant, to produce useful commodities. While these technologies and related supporting operations are mature in terrestrial applications, they will be different in space since the environment and indigenous materials are different than on Earth. In addition, the equipment must be highly automated, since for the majority of the production cycle time, there will be no humans present to assist or intervene. This space mining equipment must withstand a harsh environment which includes vacuum, radical temperature swing cycles, highly abrasive lofted dust, electrostatic effects, van der Waals forces effects, galactic cosmic radiation, solar particle events, high thermal gradients when spanning sunlight terminators, steep slopes into craters / lava tubes and cryogenic temperatures as low as 40 K in permanently shadowed regions. In addition the equipment must be tele-operated from Earth or a local base where the crew is sheltered. If the tele-operation occurs from Earth then significant communications latency effects mandate the use of autonomous control systems in the mining equipment. While this is an extremely challenging engineering design scenario, it is also an opportunity, since the technologies developed in this endeavor could be used in the next generations of terrestrial mining equipment, in order to mine deeper, safer, more economical and with a higher degree of flexibility. New space technologies could precipitate new mining solutions here on Earth. The NASA KSC Swamp Works is an innovation environment and methodology, with associated laboratories that uses lean development methods and creativity-enhancing processes to invent and develop new solutions for space exploration. This paper will discuss the Swamp Works approach to developing space mining and resource extraction systems and the vision of space development it serves. The ultimate goal of the Swamp Works is to expand human civilization into the solar system via the use of local resources utilization. By mining and using the local resources in situ, it is conceivable that one day the logistics supply train from Earth can be eliminated and Earth independence of a space-based community will be enabled.

Resource Extraction↗

Astrobee Robot Software: A Modern Software System for Space

Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This paper presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot. The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). The software runs on three interconnected smart phone class processors. We present the software approach, infrastructure required, and main software components. The Astrobee Robot Software embrace modern software practices while respecting flight constraints. The paper concludes with the lessons learned, including examples usage of the software. Several research teams are already using the Astrobee Robot Software to develop novel projects that will fly on Astrobee.

Astrobee↗

Modeling Principles Using the Relation Between Lagrange Multipliers and Bond Graphs

Final document is attached. Modeling dynamic systems by bond graphs has become state of the art technology since hundreds of researchers around the world have incorporated the technology in many fields of engineering and science. The legacy of its invertor Prof. Henry Paynter at MIT in 1959 is now a fundamental and practical technique to understand reality by building computer models. This paper addresses a particular aspect of this technology when modeling of mechanical systems require relaxation of constraints by means of Lagrange principles. Lagrange's equations are a useful means of describing and solving systems with kinematic constraints. Lagrange multipliers are variables used in equations to find the extremes of multivariate functions. Here we explore the relation of Lagrange multipliers to solve modeling difficulties of a space vehicle with equations with dependent derivatives. Lagrange multipliers were used in conjunction with bond graphs to simulate a system where joints of kinematic linkages produce dependent derivatives. NASA's Morpheus Project lunar lander was used as a case study. The Morpheus Project is a terrestrial test vehicle designed to fly the terminal descent trajectory of a lunar lander to advance the Autonomous Landing Hazard Avoidance Technology (ALHAT). An objective of this study is to apply the modeling approach herein to capture the dynamic movement of the lander as the propellant is sloshed and consumed. This paper expands further the analysis presented by (Granda, J J. Nguyen, L, Carlson, T, Sahragard-Monfared, G., Fornalski, E., Brocker 2016). Using an automated approach bond graph models of state space equations were generated using the Computer Aided Modeling Program (CAMPG). Integral causality models and derivative causality models were considered in order to find the simpler solution for the mathematical dependencies produced in modeling this vehicle.

Granda, Jose J.↗

Astrobee Robot Software: Enabling Mobile Autonomy on the ISS

Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This slides presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot.The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). We present the software approach, infrastructure required, and main software components.

Fluckiger, Lorenzo↗

Instrument technologies for the detection of extraterrestrial intersteller robotic probes.

In the continuing endeavor to detect evidence of ETI (Extraterrestrial Intelligence) in the solar neighborhood, instrument technologies now exist that allow the formation of a scientific method to carry out a search for interstellar robotic probes of possible extraterrestrial origin. The range of currently observable probe features/manifestations will be shown and how they influence search space, instrument selection and deployment. Autonomous instrument platforms (i.e. robotic observatories) to search for anomalous energy signatures can be designed and assembled using Commercial off-the-shelf (COTS) hardware and software. The COTS approach to observatory design provides an economical, flexible and robust path toward collecting reliable data. The present variety of COTS instruments permits the necessary observational sensitivity , bandwidth and embedded processing speed to establish a nearby robotic probe detection envelope. A survey of these instrument technologies will be presented and how they can be applied to the challenge of collecting enough scientific data on anomalous observational phenomena to determine whether or not a robotic probe was detected

Stride, Scot Lloyd↗

The New Generation of Autonomous Star Trackers

The most accurate instrument for spacecraft attitude determination is a star tracker. However, these first-genereation designs are limited to outputting positions of a few stars in sensor-referenced coordinates and require extensive external processing.

pointing↗

Thermal Operability Improvements for the Mars 2020 Rover Surface Mission

The Mars 2020 Rover is scheduled to land on Mars on February 18, 2021. One of the primary mission objectives for the Mars 2020 Rover is to perform in-situ science and collect a set of Martian regolith samples for possible future return to Earth. In order to meet mission requirements, 20 samples must be collected, assessed, and sealed during the prime mission (1.5 Martian years, approximately 1000 Sols). This requires that the Mars 2020 Rover operate in a much more efficient and autonomous manner than its predecessor, the Mars Science Laboratory (MSL) Rover, Curiosity. The thermal designs of both Curiosity and the Mars 2020 Rover utilize warmup heaters to bring the actuators and cameras, located on the outside of the vehicle, up to their operating temperatures prior to use. These heaters consume energy during the mission. The Rover energy balance, between energy production and consumption, must be maintained in order to keep the mission moving safely forward. Increased efficiency in the way this warmup heater energy is allocated and used in the Mars 2020 Rover operations plan will result in more energy available for science and engineering activities. This paper discusses the improvements that were made in both hardware and software to improve the way the Mars 2020 Rover will operate thermally on Mars.

Lee, Chern-Jiin↗

A 100 kW-Class Technology Demonstrator for Space Solar Power

A first step in the development of solar power from space is the flight demonstration of critical technologies. These fundamental technologies include efficient solar power collection and generation, power management and distribution, and thermal management. In addition, the integration and utilization of these technologies into a viable satellite bus could provide an energy-rich platform for a portfolio of payload experiments such as wireless power transmission (WPT). This paper presents the preliminary design of a concept for a 100 kW-class free-flying platform suitable for flight demonstration of technology experiments. Recent space solar power (SSP) studies by NASA have taken a stepping stones approach that lead to the gigawatt systems necessary to cost-effectively deliver power from space. These steps start with a 100 kW-class satellite, leading to a 500 kW and then a 1 MW-class platform. Later steps develop a 100 MW bus that could eventually lead to a 1-2 GW pilot plant for SSP. Our studies have shown that a modular approach is cost effective. Modular designs include individual laser-power-beaming satellites that fly in constellations or that are autonomously assembled into larger structures at geosynchronous orbit (GEO). Microwave power-beamed approaches are also modularized into large numbers of identical units of solar arrays, power converters, or supporting structures for arrays and microwave transmitting antennas. A cost-effective approach to launching these modular units is to use existing Earth-to-orbit (ETO) launch systems, in which the modules are dropped into low Earth orbit (LEO) and then the modules perform their own orbit transfer to GEO using expendable solar arrays to power solar electric thrusters. At GEO, the modules either rendezvous and are assembled robotically into larger platforms, or are deployed into constellations of identical laser power-beaming satellites. Since solar electric propulsion by the modules is cost-effective for both self-transport of the modules from LEO to GEO, and for on-orbit stationkeeping and repositioning capability during the satellite’s lifetime, this technology is also critical in technology development for SSP. The 100 kW-class technology demonstrator will utilize advanced solar power collection and generation technologies, power management and distribution, advanced thermal management, and solar electric propulsion. State-of-the-art solar concentrators, highly efficient multi-junction solar cells, integrated thermal management on the arrays, and innovative deployable structure design and packaging make the 100 kW satellite feasible for launch on one existing launch vehicle. Early SSP studies showed that a major percentage of the on-orbit mass for power-beaming satellites was from massive power converters at the solar arrays, at the bus, at the power transmitter, or at combinations of these locations. Higher voltage mays and power management and distribution (PMAD) systems reduce or eliminate the need for many of these massive power converters, and could enable direct-drive of high-voltage solar electric thrusters. Lightweight, highly efficient thermal management systems are a critical technology that must be developed and flown for SSP feasibility. Large amounts of power on satellites imply that large amounts of waste heat will need to be managed. In addition, several of the more innovative lightweight configurations proposed for SSP satellites take advantage of solar concentrators that are intractable without advanced thermal management technologies for the solar arrays. These thermal management systems include efficient interfaces with the WPT systems or other high-power technology experiments, lightweight deployable radiators that can be easily integrated into satellite buses, and efficient reliable thermal distribution systems that can pipe heat from the technology experiments to the radiators. In addition to demonstrating the integration and use of these mission-critical technologies, the 100 kw-class satellite will provide a large experiment deck for a portfolio of technology experiments. Current plans for this technology demonstrator allow 2000 kg of payload capability and up to 100 kW of power. The technology experiments could include one or more wireless power transmission demonstrations, either to the Earth’s surface or to a suitable space-based receiver. Technology experiments to quantify the on-orbit performance of critical technologies for SSP or space exploration are welcomed. In addition, the technology experiments provide an opportunity for international cooperation, to advance technology readiness levels of SSP technologies that require flight demonstration. This paper will present the preliminary design for a 100 kW solar-powered satellite and a variety of technology experiments that may be suitable for flight demonstration. In addition, a space-to-Earth-surface WPT experiment will be discussed.

Connie Carrington↗