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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.

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At least 1,027 records · Page 57
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Sky Event Reporting Metadata (VOEvent) Version 2.0

VOEvent [20] defines the content and meaning of a standard information packet for representing, transmitting, publishing and archiving information about a transient celestial event, with the implication that timely follow-up is of interest. The objective is to motivate the observation of targets-of-opportunity, to drive robotic telescopes, to trigger archive searches, and to alert the community. VOEvent is focused on the reporting of photon events, but events mediated by disparate phenomena such as neutrinos, gravitational waves, and solar or atmospheric particle bursts may also be reported. Structured data is used, rather than natural language, so that automated systems can effectively interpret VOEvent packets. Each packet may contain zero or more of the "who, what, where, when & how" of a detected event, but in addition, may contain a hypothesis (a "why") regarding the nature of the underlying physical cause of the event.

Seaman, Rob↗
NASA NTRS1986

Artificial intelligence for Space Station automation: Crew safety, productivity, autonomy, augmented capability

Artificial intelligence (AI) R&D projects for the successful and efficient operation of the Space Station are described. The book explores the most advanced AI-based technologies, reviews the results of concept design studies to determine required AI capabilities, details demonstrations that would indicate the existence of these capabilities, and develops an R&D plan leading to such demonstrations. Particular attention is given to teleoperation and robotics, sensors, expert systems, computers, planning, and man-machine interface.

Firschein, O.↗
DOE OSTI2018

Remote Robotic Equipment for Retrieval of High Level Waste to Support Environmental Closure - 18162

The Idaho Cleanup Project contractor, Fluor Idaho, LLC, is responsible for managing HLW calcine stored in the Calcined Solids Storage Facility at the Idaho Nuclear Technology and Engineering Center. The Idaho Nuclear Technology and Engineering Center is a DOE managed facility located at the INL Site in the remote portions of southeast Idaho. In 2016, DOE directed Fluor Idaho to develop and test a full-scale retrieval system to demonstrate the ability to safely retrieve HLW calcine from the Calcined Solids Storage Facility for future retrieval and processing. Removing HLW calcine from the State of Idaho is required by the 1995 Settlement Agreement, which mandates that DOE have HLW calcine ready to be moved out of Idaho by December 2035. Fluor Idaho is currently testing retrieval and transfer concepts to ensure that the Calcined Solids Storage Facility is placed in a final configuration that is protective of human health and the environment after HLW calcine has been removed to the maximum extent practical. This paper describes the full-scale prototype that will be used to prove retrieval and transfer system design capabilities, verify operating parameters, and establish a basis for calcine retrieval efficacy. Additionally, it describes the retrieval (bulk and residual) and visual monitoring systems that were designed and tested in 2017 and will continue to be tested with the full-scale prototype. Testing (i.e., full-scale mockup, bulk retrieval, residual clean-out, and visualization monitoring) performed by Fluor Idaho will demonstrate the maximum extent practical of HLW calcine removal that is achievable. This is critical to (1) establish criteria for ending calcine removal activities, (2) evaluate cost and benefits associated with performing additional removal, and (3) ensure clean up and closure standards under applicable requirements (e.g., statutes, orders, and agreements) are met. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1989

A verification library for multibody simulation software

A multibody dynamics verification library, that maintains and manages test and validation data is proposed, based on RRC Robot arm and CASE backhoe validation and a comparitive study of DADS, DISCOS, and CONTOPS that are existing public domain and commercial multibody dynamic simulation programs. Using simple representative problems, simulation results from each program are cross checked, and the validation results are presented. Functionalities of the verification library are defined, in order to automate validation procedure.

Kim, Sung-Soo↗
NASA NTRS2009

Using Thermal Radiation in Detection of Negative Obstacles

A method of automated detection of negative obstacles (potholes, ditches, and the like) ahead of ground vehicles at night involves processing of imagery from thermal-infrared cameras aimed at the terrain ahead of the vehicles. The method is being developed as part of an overall obstacle-avoidance scheme for autonomous and semi-autonomous offroad robotic vehicles. The method could also be applied to help human drivers of cars and trucks avoid negative obstacles -- a development that may entail only modest additional cost inasmuch as some commercially available passenger cars are already equipped with infrared cameras as aids for nighttime operation.

Rankin, Arturo L.↗
NASA NTRSDate not supplied

The ARADS Project as an Astrobiological Survey Mission Prototype

An astrobiological survey prior to human arrival will be important for preservation of signs of any existing or past evidence of Martian life, to reduce the risk of unintentional forward contamination of Martian environments in which terrestrial microbes might be able to gain a foothold (e.g., [1]), and to potentially protect the health of any human crews and enable their safe return to Earth. Evaluating for the presence of life and biosignatures may become a critical-path Mars exploration precursor in the not-so-far future, circa 2030-35. The near-subsurface, with its potential combination of volatiles, vapor exchange with the surface, and shelter from surface radiation, will be a primary initial target for in-situ astrobiological investigation. Sample acquisition, drilling and sample handling are key elements of robotic missions that target the subsurface [2], as well as near-surface ground ice deposits. In the mid 2000s, the Mars Astrobiology Field Laboratory (AFL) was proposed as a follow-on mission concept to the Mars Science Laboratory (MSL)/Curiosity rover mission [3]. The AFL would have included precision drilling to 2m, automated sample handling and remote processing of cores. However, the AFL concept needed further development and maturation. The Atacama Rover Astrobiology Drilling Studies (ARADS) project concept [4] was in part AFL-inspired. The 2014 ARADS concept included a medium sized rover, with habitability instruments, including the Phoenix Wet Chemistry Laboratory (WCL) [5], and an enhanced version of the ExoMars Mars Organic Molecule Analyzer (MOMA) Laser Desorption-Linear Ion Trap Mass Spectrometer (LITMS) [6]. ARADS likewise included two biosignature detection instruments -- the Signs of Life Detector (SOLID) immunoassay instrument [7,8] and the Chemical Laptop-derived [9] Planetary In-Situ Capillary Electrophoresis System (PISCES), while mitigating Planetary Protection-relevant contamination issues [10]. ARADS project objectives were to demonstrate the potential science return for such a mission in the context of the search for evidence of life, and technically to demonstrate the feasibility of roving with drilling missions to Mars. ARADS technology goals targeted analog-site demonstrations of automated drilling and sampling, integrated with its mobile habitability and biosignature detection instruments. And ARADS science operations goals developed remote science, contamination mitigation, and communications methods to enable simulating AFL-like science operations with time delays, directed by a remote science team[11]. Five subsequent Mars analog site field demonstrations (in Chile’s hyperarid Atacama Desert, 2016-19) provided a step-by-step development pathway for the ARADS platform’s science capabilities and systems integration, culminating in an integrated remote roving mission simulation in the final ARADS year (2019).

biosignatures↗
NASA NTRS2005

Searching for Life with Rovers: Exploration Methods & Science Results from the 2004 Field Campaign of the "Life in the Atacama" Project and Applications to Future Mars Missions

The Life In The Atacama (LITA) project develops and field tests a long-range, solarpowered, automated rover platform (Zo ) and a science payload assembled to search for microbial life in the Atacama desert. Life is barely detectable over most of the driest desert on Earth. Its unique geological, climatic, and biological evolution have created a unique training site for designing and testing exploration strategies and life detection methods for the robotic search for life on Mars.

Cabrol, N. A.a↗
DOE OSTI2020

Development of the Intelligent, Preventive Infrared (IR) Inspection System Housed in Hybrid Robotic Platforms

Robots and robotic systems that are designed for inspection, environmental study, and health and safety aid are becoming an increasing necessity. However, there is a number of challenges that accompany robots that are designed for these specific applications. These challenges include: navigating compact, enclosed spaces, travelling over multiple terrains and large obstacles, using the proper sensing and detection methods to assess an environment, and the use of lightweight and durable materials. The robotic platforms currently in development look at all of these challenges and attempt to overcome them. These designs specific use of hybrid robotic platforms, or platform that utilizes soft and rigid materials, allows for a more flexible platform and makes environments more navigable. To further improve the navigation of the platforms and environmental assessment, a novel infrared detection system is housed in the platforms to create a robot that can be used for the applications listed above and more. Objectives: Further develop two types of robotic platforms that utilize additive manufacturing, soft materials, and rigid materials. Continue the development of an intelligent and inhibitory infrared detection system based on an artificial intelligence (AI) algorithm. Continued study and fabrication of active soft materials designed for both sensing and actuation in hybrid robotic systems. Improve additive manufacturing fabrication to design rigid and semi-rigid components for hybrid robotic platforms. Transformable Wheel Robotic Platform: The chassis, wheels, tires and inspection system housing use different additive manufacturing techniques for fabrication. Continued work with additive manufacturing has lead to studies in metal-based printing and modular design and manufacturing. The new platform design with integrated electrical component printed. This will allow integration of the sensor housing onto the platform. Electrical components are being tested for battery life and performance. To improve this performance, such as integration of Lithium Polymer (LiPo) batteries. Snake Robotic Platform: The main focus of the development has centered around liquid-based soft actuators. That act on the principles of electrostatic and hydraulic actuation. A liquid dielectric sits between two compliant electrodes, contained by a flexible polymer shell. The electrodes and film gradually collapse toward each other from one corner of the electrode to the other. When the electrodes and film close together, a majority of the fluid is pushed into the area not covered by an electrode. A thin layer of the liquid dielectric remains between the electrode. The actuators will be stacked to cause large displacement, and move the linkages. The chassis of this platform uses purely additively manufactured linkages. Intelligent, Preventive IR Inspection System: Development of the AI for the system has lead to using a Scikit-Learn which assists in creating predictive models based on Regression, clustering, classification etc. To improve the infrared thermometry for low emissivity sources, work on the fabrication of a tandem photoconductive infrared thermometer was a main focus. Distance-Voltage-Temperature response data has been collected in the range of 7 cm - 100 cm and 200-400 deg. C. Modifications were made to the existing test bench to have a better control over the data. Automated data collection was realized using a Python code and an Arduino controlled stepper motor to increase the sample rate. A protective enclosure has been built around the setup to minimize the effect of the environment on the measurements. To better predict temperature, different AI models are being optimized. The regression model, LARS showed a high accuracy but had convergence issues and only works for the current test set-up. Results: The Transformable Wheel Robot has developed into a more flexible and modular platform. With the improvements to the current work, effort on the tire or soft gripper design been a large focus. The soft grippers will be interchange able to allow for increased performance in identified terrain types. The development of the liquid-based actuators allows the snake robotic platform to achieve the goals of being flexible and able to navigate confined spaces. However, there is room for improvement. Optimization work is currently being done in COMSOL Multiphysics. With the current IR system set-up the LARS model perfectly predicts the data; however, considering the mobility aspect of the project other models will allow for an optimized system. Testing of other model types is currently being done.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2017

Traverse Planning with Temporal-Spatial Constraints

We present an approach to planning rover traverses in a domain that includes temporal-spatial constraints. We are using the NASA Resource Prospector mission as a reference mission in our research. The objective of this mission is to explore permanently shadowed regions at a Lunar pole. Most of the time the rover is required to avoid being in shadow. This requirement depends on where the rover is located and when it is at that location. Such a temporal-spatial constraint makes traverse planning more challenging for both humans and machines. We present a mixed-initiative traverse planner which addresses this challenge. This traverse planner is part of the Exploration Ground Data Systems (xGDS), which we have enhanced with new visualization features, new analysis tools, and new automation for path planning, in order to be applicable to the Re-source Prospector mission. The key concept that is the basis of the analysis tools and that supports the automated path planning is reachability in this dynamic environment due to the temporal-spatial constraints.

temporal-spatial constraints↗
NASA NTRS1994

A Custom Robotic System for Inspecting HEPA Filters in the Payload Changeout Room at the NASA Kennedy Space Center

In this paper, the prime objective is to describe a custom 4-dof (degree-of-freedom) robotic arm capable of autonomously or telerobotically performing systematic HEPA filter inspection and certification in the Shuttle Launch Pad Payload Changeout Rooms (PCR's) on pads A and B at the Kennedy Space Center, Florida. This HEPA filter inspection robot (HFIR) has been designed to be easily deployable and is equipped with the necessary sensory devices, control hardware, software and man-machine interfaces needed to implement HEPA filter inspection reliably and efficiently without damaging the filters or colliding with existing PCR structures or filters. The main purpose of the HFIR is to implement an automated positioning system to move special inspection sensors in pre-defined or manual patterns for the purpose of verifying filter integrity and efficiency. This will ultimately relieve NASA Payload Operations from significant problems associated with time, cost and personnel safety, impacts realized during non-automated PCR HFIR filter certification.

Spencer, James E., Jr.↗
DOE OSTI2022

Machine Learning on a Robotic Platform for the Design of Polymer–Protein Hybrids

Polymer–protein hybrids are intriguing materials that can bolster protein stability in non-native environments, thereby enhancing their utility in diverse medicinal, commercial, and industrial applications. One stabilization strategy involves designing synthetic random copolymers with compositions attuned to the protein surface, but rational design is complicated by the vast chemical and composition space. Here, a strategy is reported to design protein-stabilizing copolymers based on active machine learning, facilitated by automated material synthesis and characterization platforms. The versatility and robustness of the approach is demonstrated by the successful identification of copolymers that preserve, or even enhance, the activity of three chemically distinct enzymes following exposure to thermal denaturing conditions. Although systematic screening results in mixed success, active learning appropriately identifies unique and effective copolymer chemistries for the stabilization of each enzyme. Overall, this work broadens the capabilities to design fit-for-purpose synthetic copolymers that promote or otherwise manipulate protein activity, with extensions toward the design of robust polymer–protein hybrid materials.

36 MATERIALS SCIENCE↗
DOE OSTI2024

High-throughput measurements of CO 2 permeance and solubility in ionic liquid reveal a synergistic role of ionic interactions and void fractions

The factors that govern CO 2 solubility in ionic liquids (ILs) are of great interest for the development of new materials for CO 2 capture and utilization. The cationic functional group (i.e., imidazolium, pyrrolidinium, pyridinium, etc.), alkyl chain length of cation, degree of fluorination of anion, anion size, and the void fraction in IL are known to influence CO 2 solubility. However, a comprehensive explanation of how these factors collectively affect CO 2 solubility has not been developed yet. This knowledge gap is largely attributed to the lack of CO 2 solubility data for IL structures other than imidazolium based ILs. We report here an automated high-throughput (HT) setup for the measurement of CO 2 solubility in room-temperature ILs (RTILs) combining six different anions and nine different cations for a total of 19 different specific ranges of RTILs. The HT setup first dispenses up to 200 µL of RTILs in a 96-well microtiter plate and then utilizes a robotic arm to measure cyclic voltammogram (CV) in each well using maneuverable Ag electrodes. The Cottrell analysis of the CO 2 reduction CV peak provides a direct measurement of CO 2 permeance in RTILs, which yields Henry’s constant from the estimated diffusion coefficient of CO 2 . Henry’s constants thus obtained are in very good agreement with those reported earlier. The measured CO 2 permeance and Henry’s constant of all RTILs seem to follow a first-order dependence on void fraction and a second-order dependence on electrostatic interaction between anion and cation of IL, with some synergistic dependence on the product of a void fraction and electrostatic interaction, making them two important descriptors for the design of novel ILs.

CO2 Solubility↗
NASA NTRS1991

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗
NASA NTRS2004

Compact Microscope Imaging System with Intelligent Controls

The figure presents selected views of a compact microscope imaging system (CMIS) that includes a miniature video microscope, a Cartesian robot (a computer- controlled three-dimensional translation stage), and machine-vision and control subsystems. The CMIS was built from commercial off-the-shelf instrumentation, computer hardware and software, and custom machine-vision software. The machine-vision and control subsystems include adaptive neural networks that afford a measure of artificial intelligence. The CMIS can perform several automated tasks with accuracy and repeatability . tasks that, heretofore, have required the full attention of human technicians using relatively bulky conventional microscopes. In addition, the automation and control capabilities of the system inherently include a capability for remote control. Unlike human technicians, the CMIS is not at risk of becoming fatigued or distracted: theoretically, it can perform continuously at the level of the best human technicians. In its capabilities for remote control and for relieving human technicians of tedious routine tasks, the CMIS is expected to be especially useful in biomedical research, materials science, inspection of parts on industrial production lines, and space science. The CMIS can automatically focus on and scan a microscope sample, find areas of interest, record the resulting images, and analyze images from multiple samples simultaneously. Automatic focusing is an iterative process: The translation stage is used to move the microscope along its optical axis in a succession of coarse, medium, and fine steps. A fast Fourier transform (FFT) of the image is computed at each step, and the FFT is analyzed for its spatial-frequency content. The microscope position that results in the greatest dispersal of FFT content toward high spatial frequencies (indicating that the image shows the greatest amount of detail) is deemed to be the focal position.

McDowell, Mark↗
DOE OSTI2014

Fully Automated Laser Ablation Liquid Capture Sample Analysis using NanoElectrospray Ionization Mass Spectrometry

RATIONALE: Laser ablation provides for the possibility of sampling a large variety of surfaces with high spatial resolution. This type of sampling when employed in conjunction with liquid capture followed by nanoelectrospray ionization provides the opportunity for sensitive and prolonged interrogation of samples by mass spectrometry as well as the ability to analyze surfaces not amenable to direct liquid extraction. METHODS: A fully automated, reflection geometry, laser ablation liquid capture spot sampling system was achieved by incorporating appropriate laser fiber optics and a focusing lens into a commercially available, liquid extraction surface analysis (LESA ) ready Advion TriVersa NanoMate system. RESULTS: Under optimized conditions about 10% of laser ablated material could be captured in a droplet positioned vertically over the ablation region using the NanoMate robot controlled pipette. The sampling spot size area with this laser ablation liquid capture surface analysis (LA/LCSA) mode of operation (typically about 120 m x 160 m) was approximately 50 times smaller than that achievable by direct liquid extraction using LESA (ca. 1 mm diameter liquid extraction spot). The set-up was successfully applied for the analysis of ink on glass and paper as well as the endogenous components in Alstroemeria Yellow King flower petals. In a second mode of operation with a comparable sampling spot size, termed laser ablation/LESA , the laser system was used to drill through, penetrate, or otherwise expose material beneath a solvent resistant surface. Once drilled, LESA was effective in sampling soluble material exposed at that location on the surface. CONCLUSIONS: Incorporating the capability for different laser ablation liquid capture spot sampling modes of operation into a LESA ready Advion TriVersa NanoMate enhanced the spot sampling spatial resolution of this device and broadened the surface types amenable to analysis to include absorbent and solvent resistant materials.

alstroemeria↗
NASA NTRS1993

Mass storage at NSA

The need to manage large amounts of data on robotically controlled devices has been critical to the mission of this Agency for many years. In many respects this Agency has helped pioneer, with their industry counterparts, the development of a number of products long before these systems became commercially available. Numerous attempts have been made to field both robotically controlled tape and optical disk technology and systems to satisfy our tertiary storage needs. Custom developed products were architected, designed, and developed without vendor partners over the past two decades to field workable systems to handle our ever increasing storage requirements. Many of the attendees of this symposium are familiar with some of the older products, such as: the Braegen Automated Tape Libraries (ATL's), the IBM 3850, the Ampex TeraStore, just to name a few. In addition, we embarked on an in-house development of a shared disk input/output support processor to manage our every increasing tape storage needs. For all intents and purposes, this system was a file server by current definitions which used CDC Cyber computers as the control processors. It served us well and was just recently removed from production usage.

Shields, Michael F.↗
NASA NTRS2014

NASA's Automated Rendezvous and Docking/Capture Sensor Development and Its Applicability to the GER

This paper will address how a common Automated Rendezvous and Docking/Capture (AR&D/C) sensor suite can support Global Exploration Roadmap (GER) missions, and discuss how the model of common capability development to support multiple missions can enable system capability level partnerships and further GER objectives. NASA has initiated efforts to develop AR&D/C sensors, that are directly applicable to GER. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. NASA's AR&D/C sensor development path could benefit the International Exploration Coordination Group (ISECG) and support the GER mission scenario by providing a common sensor suite upon which GER objectives could be achieved while minimizing development costs. The paper will describe the concepts of operations of these missions and how the common sensors are utilized by each mission. It will also detail the potential partnerships and contribution of the International community in the development of this common AR&D/C sensor suite.

Hinkel, Heather↗