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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Human Systems Integration Relationships Between Deep Space and Deepwater Exploration Challenges

NASA pursuit of human missions Beyond Earth Orbit (BEO) to the moon and eventually Mars will pose many new challenges. These missions are characterized by increased risks to human performance due to stress, fatigue, radiation exposure, and isolation. Fundamental changes in spaceflight operations will be required as well. A very critical part of future missions will be assisting the crew with problem-solving and contingency resolution using next-generation smart spacecraft systems. Human Systems Integration (HSI) must be included as part of the systems engineering process. Gateway1 will serve as part of the proving ground for maturing technology such as autonomous systems and space operations procedures to help meet moon mission goals and prepare humans for missions to Mars. For deep space missions, risk factors affecting humans such as mission duration, distance, and physiological/psychological effects, must be considered. A human is not a simple component but rather a system in a systems-of-systems application-a system influenced by cognitive and biological factors that are difficult to model/analyze. System complexity will demand an integrated approach that requires multiple viewpoints, including the understanding of the astronauts' capabilities and limitations to enhance safety, performance, and satisfaction on the interaction between all system users in a variety of environments to achieve acceptable mission goals and performance. HSI will play a vital role in the development of these future missions. This paper provides a discussion of HSI used at NASA and the critical role human factors engineering will play in the HSI process for future missions along with the challenges. Industries such as oil and gas (O&G) could benefit from the content of this paper to help improve the safety and operations of deepwater/oil and gas exploration activities. NASA engineering and human systems subject-matter expert personnel reviewed challenges reported in space-related environments for long space duration missions and identified similarities with the challenges encountered in deepwater exploration. The researchers noted the space industry's current solutions and proposed a system development view to solve future deepwater exploration challenges using HSI principles. This paper discusses the results of the review.

George Salazar↗
NASA NTRS2024

Flight Certification Approach for NASA's Space Launch System

NASA’s Space Launch System (SLS) vehicle was successfully launched on November 16, 2022, initiating the Artemis I mission to send the uncrewed Orion spacecraft to the Moon and further into space than any human-rated spacecraft had previously flown. Flight certification of the launch vehicle was part of the systems engineering and integration (SE&I) effort conducted by NASA to successfully certify the mission and begin a new era of human space exploration of the Moon and eventually Mars. This paper describes the SLS Program flight certification approach including the organization, processes, and reporting. This approach used traditional NASA SE&I milestone reviews and lessons learned from the Space Shuttle Program, as well as unique methods to certify the complex system, procedures, and personnel readiness. The approach utilized by the SLS Program to conduct flight certification for the Artemis I mission can be extended to address flight certification for other complex programs.

flight certification↗
DOE OSTI2022

MultiSector Dynamics: Advancing the Science of Complex Adaptive Human-Earth Systems

The field of MultiSector Dynamics (MSD) explores the dynamics and co-evolutionary pathways of human and Earth systems with a focus on critical goods, services, and amenities delivered to people through interdependent sectors. This commentary lays out core definitions and concepts, identifies MSD science questions in the context of the current state of knowledge, and describes ongoing activities to expand capacities for open science, leverage revolutions in data and computing, and grow and diversify the MSD workforce. Central to our vision is the ambition of advancing the next generation of complex adaptive human-Earth systems science to better address interconnected risks, increase resilience, and improve sustainability. This will require convergent research and the integration of ideas and methods from multiple disciplines. Understanding the tradeoffs, synergies, and complexities that exist in coupled human-Earth systems is particularly important in the context of energy transitions and increased future shocks.

Reed, Patrick↗
NASA NTRSDate not supplied

Capturing Complex Multivariate Time Series Interactions to Detect High-Risk Adverse Events During Flight

The reduction of aviation safety metrics below target thresholds continue to drive down the number of aviation fatalities and accidents. To meet future safety demands, sustained efforts by aviation agencies promoting safety assurance processes and systems have prompted ongoing research on identifying and mitigating in-flight risks. With the projected increase in passenger load factor and rollout of more autonomous systems into the national airspace, the need to detect high-risk events in-time or ahead-of-time is becoming increasingly crucial. New anomaly detection and precursor identification algorithms will need to scale to different airframes, levels of autonomy, and system complexity. While the pervasiveness of deep learning has resulted in the development of performant anomaly detection methods, these sophisticated models currently suffer from low end-user interpretability. Building off our previous work on identifying adverse events in multivariate flight data during descent, we propose a data-driven approach for detecting in-flight adverse events caused by the complex interplay of flight variables. Our approach utilizes ordinal patterns of important aircraft stability variables (e.g., airspeed and descent rate) to capture multivariate flight dynamics that can be used to predict the onset of unstable approaches, a high-risk adverse event that can occur during approach. Through the use of ordinal patterns, we aim to create more interpretable detection models of in-flight adverse events that can be translated to future autonomous systems without difficulty. Our analysis shows the presence of distinct ordinal pattern distributions that can be used to predict unstable approaches 1 minute ahead of time with an accuracy of 0.69 and a recall of 0.73 and 30 seconds ahead with an accuracy of 0.70 and a recall of 0.86.

Risk detection↗
DOE OSTI2022

Machine learning of consistent thermodynamic models using automatic differentiation

In this study, we propose a data-driven method to describe consistent equations of state (EOS) for arbitrary systems. Complex EOS are traditionally obtained by fitting suitable analytical expressions to thermophysical data. A key aspect of EOS is that the relationships between state variables are given by derivatives of the system free energy. In this work, we model the free energy with an artificial neural network and utilize automatic differentiation to directly learn the derivatives of the free energy. We demonstrate this approach on two different systems, the analytic van der Waals EOS and published data for the Lennard-Jones fluid, and we show that it is advantageous over direct learning of thermodynamic properties (i.e., not as derivatives of the free energy but as independent properties), in terms of both accuracy and the exact preservation of the Maxwell relations. Furthermore, the method implicitly provides the free energy of a system without explicit integration.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
NASA NTRS1998

A Formal Approach for Designing and Evaluating Procedures

Operator interaction with modern control systems is a topic of great concern in high-risk industries such as nuclear power and commercial aviation. The issues associated with such systems focus on the ability of the operators (e.g., pilots) to achieve mission goals safely while containing failures. Operators must be able to interact safely and reliably with highly automatic and complex systems across the full spectrum of possible operating conditions, including normal, abnormal, and emergency situations. In environments such as commercial aviation, operator interaction with the machine is specified through a set of standard operating procedures (SOP). A procedure represents a collective agreement on the 'best' way to perform a given task. The intent of this paper is to suggest a formal methodology, for designing and evaluating procedures, that is both reliable and systematic. Our approach involves two major elements: a model of the machine and a list of the operator's task specifications (goals). We use formal modeling paradigms for describing the system and super-imposing on it the operator's tasks. Such paradigms, based on recent frameworks such as Statecharts and Hierarchical Hybrid Machines appear to be adequate methods for analyzing operator interaction with modern control systems. To illustrate this methodology, we model and analyze the sequence of actions for an emergency procedure. The procedure, Irregular Engine Start, for a medium-range aircraft, specifies the sequence of immediate actions that must be performed by the crew to avoid an uncontrolled rise in engine temperature during start-up. A model of engine behavior during a hot start is constructed. It also describes the various actions that can be taken by the crew and the resulting outcomes. The model is then opened up as a tree of all possible action sequences. This action tree allows us to trace the correct sequences necessary to achieve the desired end-goal (secure and shut down of the engine). In conclusion, we argue that the current process of designing and evaluating procedures can be improved. We discuss the implications of this approach for designing and evaluating this and other types of procedures. We conclude with insights about the benefits and limitation of this methodology, and offer suggestions for future research.

Degani, Asaf↗
NASA NTRS2004

Evaluation of Open-Source Hard Real Time Software Packages

Reliable software is, at times, hard to find. No piece of software can be guaranteed to work in every situation that may arise during its use here at Glenn Research Center or in space. The job of the Software Assurance (SA) group in the Risk Management Office is to rigorously test the software in an effort to ensure it matches the contract specifications. In some cases the SA team also researches new alternatives for selected software packages. This testing and research is an integral part of the department of Safety and Mission Assurance. Real Time operation in reference to a computer system is a particular style of handing the timing and manner with which inputs and outputs are handled. A real time system executes these commands and appropriate processing within a defined timing constraint. Within this definition there are two other classifications of real time systems: hard and soft. A soft real time system is one in which if the particular timing constraints are not rigidly met there will be no critical results. On the other hand, a hard real time system is one in which if the timing constraints are not met the results could be catastrophic. An example of a soft real time system is a DVD decoder. If the particular piece of data from the input is not decoded and displayed to the screen at exactly the correct moment nothing critical will become of it, the user may not even notice it. However, a hard real time system is needed to control the timing of fuel injections or steering on the Space Shuttle; a delay of even a fraction of a second could be catastrophic in such a complex system. The current real time system employed by most NASA projects is Wind River's VxWorks operating system. This is a proprietary operating system that can be configured to work with many of NASA s needs and it provides very accurate and reliable hard real time performance. The down side is that since it is a proprietary operating system it is also costly to implement. The prospect of replacing this somewhat costly implementation is the focus of one of the SA group s current research projects. The explosion of open source software in the last ten years has led to the development of a multitude of software solutions which were once only produced by major corporations. The benefits of these open projects include faster release and bug patching cycles as well as inexpensive if not free software solutions. The main packages for hard real time solutions under Linux are Real Time Application Interface (RTAI) and two varieties of Real Time Linux (RTL), RTLFree and RTLPro. During my time here at NASA I have been testing various hard real time solutions operating as layers on the Linux Operating System. All testing is being run on an Intel SBC 2590 which is a common embedded hardware platform. The test plan was provided to me by the Software Assurance group at the start of my internship and my job has been to test the systems by developing and executing the test cases on the hardware. These tests are constructed so that the Software Assurance group can get hard test data for a comparison between the open source and proprietary implementations of hard real time solutions.

Mattei, Nicholas S.↗
NASA NTRS2010

Spinoff 2010

Topics covered include: Burnishing Techniques Strengthen Hip Implants; Signal Processing Methods Monitor Cranial Pressure; Ultraviolet-Blocking Lenses Protect, Enhance Vision; Hyperspectral Systems Increase Imaging Capabilities; Programs Model the Future of Air Traffic Management; Tail Rotor Airfoils Stabilize Helicopters, Reduce Noise; Personal Aircraft Point to the Future of Transportation; Ducted Fan Designs Lead to Potential New Vehicles; Winglets Save Billions of Dollars in Fuel Costs; Sensor Systems Collect Critical Aerodynamics Data; Coatings Extend Life of Engines and Infrastructure; Radiometers Optimize Local Weather Prediction; Energy-Efficient Systems Eliminate Icing Danger for UAVs; Rocket-Powered Parachutes Rescue Entire Planes; Technologies Advance UAVs for Science, Military; Inflatable Antennas Support Emergency Communication; Smart Sensors Assess Structural Health; Hand-Held Devices Detect Explosives and Chemical Agents; Terahertz Tools Advance Imaging for Security, Industry; LED Systems Target Plant Growth; Aerogels Insulate Against Extreme Temperatures; Image Sensors Enhance Camera Technologies; Lightweight Material Patches Allow for Quick Repairs; Nanomaterials Transform Hairstyling Tools; Do-It-Yourself Additives Recharge Auto Air Conditioning; Systems Analyze Water Quality in Real Time; Compact Radiometers Expand Climate Knowledge; Energy Servers Deliver Clean, Affordable Power; Solutions Remediate Contaminated Groundwater; Bacteria Provide Cleanup of Oil Spills, Wastewater; Reflective Coatings Protect People and Animals; Innovative Techniques Simplify Vibration Analysis; Modeling Tools Predict Flow in Fluid Dynamics; Verification Tools Secure Online Shopping, Banking; Toolsets Maintain Health of Complex Systems; Framework Resources Multiply Computing Power; Tools Automate Spacecraft Testing, Operation; GPS Software Packages Deliver Positioning Solutions; Solid-State Recorders Enhance Scientific Data Collection; Computer Models Simulate Fine Particle Dispersion; Composite Sandwich Technologies Lighten Components; Cameras Reveal Elements in the Short Wave Infrared; Deformable Mirrors Correct Optical Distortions; Stitching Techniques Advance Optics Manufacturing; Compact, Robust Chips Integrate Optical Functions; Fuel Cell Stations Automate Processes, Catalyst Testing; Onboard Systems Record Unique Videos of Space Missions; Space Research Results Purify Semiconductor Materials; and Toolkits Control Motion of Complex Robotics.

Source record↗
DOE OSTI2023

Non-Empirical and Self-Interaction Corrections for DFTB: Towards Accurate Quantum Simulations for Large Mesoscale Systems (Final Report)

This project was comprised of two complementary (but parallel) thrusts: (1) implementing massively-parallelized computing hardware (with new computational hardware that may replace GPUs) in the density functional tight binding (DFTB) approach and (2) developing new capabilities in DFTB to calculate the electronic structure and dynamics of large chemical systems. While classical molecular dynamics can handle hundreds of thousands of atoms, it cannot provide a first-principles based description of chemical systems at the quantum level. At the other extreme, conventional Kohn-Sham DFT methods can probe the true quantum mechanical nature of chemical systems; however, these methods cannot tackle the large sizes and length scales relevant to dynamics simulations of realistic systems. The DFTB formalism utilized in this project provides a viable approach for probing these large systems at a quantum mechanical level of detail. However, to utilize the DFTB approach for accurate calculations of electronic properties, it is crucial to incorporate quantum-based corrections in DFTB since exchange-correlation effects can still remain very strong in these large systems. At the same time, enhancing the computational efficiency of DFTB is also essential since optimal computational performance is required for addressing the large size scales associated with realistic chemical systems. As such, the new non-empirical corrections and computing hardware enhancements implemented in this project will enable accurate and computationally efficient approaches to directly probe electronic properties in these large, complex systems.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Electron and Electron-Nuclear Dynamics of Open Quantum Subsystems

Leveraging an open-subsystem formulation of Density Functional Theory (DFT) we aim at describing periodic and molecular systems alike, including their electronic and nuclear dynamics. Subsystem DFT enables first principles simulations to approach realistic time- and length-scales, and most importantly sheds light on the dynamical behavior of complex systems. Taking subsystem DFT to the time domain allows us to inspect the electron dynamics of condensed-phase systems in real time. In liquids and interfaces, we observe all the relevant regimes proper of non-Markovian open quantum system dynamics, such as electronic energy transfer, and screening. In addition, the ab-initio modeling of system-bath interactions brought us to observe and justify the holographic time-dependent electron density theorem. Contrary to interactions between molecular (finite) systems, when molecules interact with metal or semiconductor surfaces the electron dynamics is strongly non-Markovian with dramatic repercussions to the molecule’s response to external perturbations. Metals and semiconductors typically have large polarizabilities, and even in a regime of low coupling their effect on impinging molecular species is significant–line broadening, peak shift, and intensity borrowing are observed, characterized, and explained in terms of inter-subsystem dynamical interactions and a many-body decomposition of the system’s density-density response function in a way that transcends the canons of Fermi Golden Rule.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS1992

End-to-end modelling of He II flow systems

A practical computer code has been developed which uses the accepted two-fluid model to simulate He II flow in complicated systems. The full set of equations are used, retaining the coupling between the pressure, temperature and velocity fields. This permits modeling He II flow over the full range of conditions, from strongly or weakly driven flow through large pipes, narrow channels and porous media. The system may include most of the components used in modern superfluid flow systems: non-ideal thermomechanical pumps, tapered sections, constrictions, lines with heated side walls and heat exchangers. The model is validated by comparison with published experimental data. It is applied to a complex system to show some of the non-intuitive feedback effects that can occur. This code is ready to be used as a design tool for practical applications of He II. It can also be used for the design of He II experiments and as a tool for comparison of experimental data with the standard two-fluid model.

Mord, A. J.↗
NASA NTRS2016

Assessment of the Impacts of ACLS on the ISS Life Support System Using Dynamic Simulations in V-HAB

The Advanced Closed Loop System (ACLS) is currently under development by Airbus Defense and Space and is slated for launch to the International Space Station (ISS) in 2017. The addition of new hardware into an already complex system such as the ISS life support system (LSS) always poses operational risks. It is therefore important to understand the impacts ACLS will have on the existing systems to ensure smooth operations for the ISS. This analysis can be done by using dynamic computer simulations and one possible tool for such a simulation is the Virtual Habitat (V-HAB). Based on MATLAB, V-HAB has been under development at the Institute of Astronautics of the Technical University of Munich (TUM) since 2004 and in the past has been successfully used to simulate the ISS life support systems. The existing V-HAB ISS simulation model treated the interior volume of the space station as one large, ideally-stirred container. This model was improved to allow the calculation of the atmospheric composition inside individual modules of the ISS by splitting it into twelve distinct volumes. The virtual volumes are connected by a simulation of the inter-module ventilation flows. This allows for a combined simulation of the LSS hardware and the atmospheric composition aboard the ISS. A dynamic model of ACLS is added to the ISS Simulation and several different operating modes for both ACLS and the existing ISS life support systems are studied and the impacts of ACLS on the rest of the system are determined. The results suggest that the US, Russian and ACLS CO2 systems can operate at the same time without impeding each other. Furthermore, based on the results of this analysis, the US and ACLS Sabatier systems can be operated in parallel as well to a achieve a very low CO2 concentration in the cabin atmosphere.

Putz, Daniel↗
NASA NTRS2016

Assessment of the Impacts of ACLS on the ISS Life Support System using Dynamic Simulations in V-HAB

The Advanced Closed Loop System (ACLS) is currently under development by Airbus Defense and Space and is slated for launch to the International Space Station (ISS) in 2017. The addition of new hardware into an already complex system such as the ISS life support system (LSS) always poses operational risks. It is therefore important to understand the impacts ACLS will have on the existing systems to ensure smooth operations for the ISS. This analysis can be done by using dynamic computer simulations and one possible tool for such a simulation is Virtual Habitat (V-HAB). Based on Matlab (Registered Trademark) V-HAB has been under development at the Institute of Astronautics of the Technical University Munich (TUM) since 2006 and in the past has been successfully used to simulate the ISS life support systems. The existing V-HAB ISS simulation model treated the interior volume of the space station as one large ideally-stirred container. This model was improved to allow the calculation of the atmospheric composition inside the individual modules of the ISS by splitting it into ten distinct volumes. The virtual volumes are connected by a simulation of the inter-module ventilation flows. This allows for a combined simulation of the LSS hardware and the atmospheric composition aboard the ISS. A dynamic model of ACLS is added to the ISS simulation and different operating modes for both ACLS and the existing ISS life support systems are studied to determine the impacts of ACLS on the rest of the system. The results suggest that the US, Russian and ACLS CO2 systems can operate at the same time without impeding each other. Furthermore, based on the results of this analysis, the US and ACLS Sabatier systems can be operated in parallel as well to achieve the highest possible CO2 recycling together with a low CO2 concentration.

Puetz, Daniel↗
DOE OSTI2020

Exploiting Chemistry and Molecular Systems for Quantum Information Science

The power of chemistry to prepare new compositions of matter has driven the quest for new approaches to solve problems having global societal impact, such as renewable energy, healthcare, and information science. In the latter case, the intrinsic quantum nature of molecules offers intriguing new possibilities to advance the emerging field of Quantum Information Science (QIS). In this Perspective, we discuss how chemical systems and reactions can impact quantum computing, communication, and sensing. Hierarchical molecular design and synthesis, from small molecules to supramolecular assemblies, combined with new spectroscopic probes of quantum coherence and theoretical modeling of complex systems, offer a broad range of possibilities to realize practical QIS applications.

quantum computing, Spectrocopy, computational chem↗
DOE OSTI2023

Hydropower representation in water and energy system models: a review of divergences and call for reconciliation

Abstract Reservoir-based hydropower systems represent key interactions between water and energy systems and are being transformed under policy initiatives driven by increasing water and energy demand, the desire to reduce environmental impacts, and interacting effects of climate change. Such policies are often guided by complex system models, whereby divergence in system representations can potentially translate to incompatible planning outcomes, thereby undermining any planning that may rely on them. We review different approaches and assumptions in hydropower representation in water and energy systems. While the models and issues are relevant globally, the review focuses on applications in California given its extensive development of energy and water models for policy planning, but discusses the extent to which these observations apply to other regions. Structurally, both water-driven and energy-driven management models are similar. However, in energy models, hydropower is often represented as a single-priority output. Water management models typically allocate water for competing priorities, which are generally uninformed by dynamic electricity load demand, and often result in a lower priority for hydropower. In water models, constraints are increasingly resolved for non-energy components (e.g. inflow hydrology and non-energy water demand); few analogues exist for energy models. These limitations may result in inadequate representations of each respective sector, and vastly different planning outcomes for the same facilities between the two different sectors. These divergent modeling approaches manifest themselves in California where poorly reconciled outcomes may affect decisions in hydropower licensing, electricity grid flexibility and decarbonization, and planning for environmental water. Fully integrated water-energy models are computationally intensive and specific to certain regions, but better representation of each domain in respective efforts would help reconcile divergences in planning and management efforts related to hydropower across energy and water systems.

Rheinheimer, David E. (ORCID:0000000315259069)↗
NASA NTRS2002

Timeliner: Automating Procedures on the ISS

Timeliner has been developed as a tool to automate procedural tasks. These tasks may be sequential tasks that would typically be performed by a human operator, or precisely ordered sequencing tasks that allow autonomous execution of a control process. The Timeliner system includes elements for compiling and executing sequences that are defined in the Timeliner language. The Timeliner language was specifically designed to allow easy definition of scripts that provide sequencing and control of complex systems. The execution environment provides real-time monitoring and control based on the commands and conditions defined in the Timeliner language. The Timeliner sequence control may be preprogrammed, compiled from Timeliner "scripts," or it may consist of real-time, interactive inputs from system operators. In general, the Timeliner system lowers the workload for mission or process control operations. In a mission environment, scripts can be used to automate spacecraft operations including autonomous or interactive vehicle control, performance of preflight and post-flight subsystem checkouts, or handling of failure detection and recovery. Timeliner may also be used for mission payload operations, such as stepping through pre-defined procedures of a scientific experiment.

Brown, Robert↗
NASA NTRS2015

Continued Advancement of Supported Liquid Membranes for Carbon Dioxide Control in Extravehicular Activity Applications

The Development of a new, robust, portable life support system (PLSS) is currently a high NASA priority in order to support longer and safer extravehicular activity (EVA) missions that will be necessary as space travel extends to near-Earth asteroids and eventually Mars. One of the critical PLSS functions is maintaining the carbon dioxide (CO2) concentration in the suit at acceptable levels. The Metal Oxide (MetOx) canister has a finite CO2 adsorption capacity and therefore in order to extend mission times, the unit would have to be larger and heavier, which is undesirable; therefore new CO2 control technologies must be developed. While recent work has centered on the use of alternating sorbent beds that can be regenerated during the EVA, this strategy increases the system complexity and power consumption. A simpler approach is to use a membrane that vents CO2 to space but retains oxygen(O2). A membrane has many advantages over current technology: it is a continuous system with no theoretical capacity limit, it requires no consumables, and it requires no hardware for switching beds between absorption and regeneration. Conventional gas separation membranes do not have adequate selectivity for use in the PLSS, but the required performance could be obtained with a supported liquid membrane (SLM), which consists of a microporous film filled with a liquid that selectively reacts with CO2 over oxygen (O2). In a recently completed Phase II Small Business Innovative Research project, Reaction Systems developed a new reactive liquid that has effectively zero vapor pressure, making it an ideal candidate for use in an SLM. Results obtained with the SLM in a flat sheet configuration with representative pressures of CO2, O2, and water (H2O) have shown that the CO2 permeation rate and CO2/O2 selectivity requirements have been met. In addition, the SLM vents moisture to space very effectively. The SLM has also been prepared and tested in a hollow fiber form, which will be necessary to meet size requirements in the PLSS. In initial tests, the required CO2 permeance values have been obtained, while the current CO2/O2 selectivity values are somewhat lower than needed. However, the performance of the SLM is a strong function of the method used to impregnate the sorbent in the hollow fiber walls and rapid progress is being made in that area.

Wickham, David T.↗
NASA NTRS2021

Inertial Transfer Concept for Autonomous In-Space Assembly

Rocket payload and fairing size have placed strict mass and volume limitations on single launch in-space structures. These limitations are what motivates In-Space Assembly (ISA)and where Inertial Transfer has potential to improve or augment ISA capabilities by utilizing an efficient multi-agent autonomous system to transport untethered payloads. Adoption of an inertial transfer approach significantly reduces system complexity, energy and time needed for assembly compared to conventional ISA capabilities, increasing the likelihood of early adoption for assembly. The Inertial Transfer concept is presented including autonomy capabilities, potential risks, and three system configurations. These configurations are based on the autonomous system’s available sensor coverage that tracks the payload’s state. Participating agents have well-defined roles, expectations, and assumptions in their physical organization and coordination of actions depending the mode of operation. The sensor information available to participating agents is considered as it affects the uncertainty in the estimated state and theactions required to capture the payload.

Multi-Agent↗