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At least 1,063 records · Page 59

Robonaut 2 and Watson: Cognitive Dexterity for Future Exploration

Future exploration missions will dictate a level of autonomy never before experienced in human spaceflight. Mission plans involving the uncrewed phases of complex human spacecraft in deep space will require a coordinated autonomous capability to be able to maintain the spacecraft when ground control is not available. One promising direction involves embedding intelligence into the system design both through the employment of state-of-the-art system engineering principles as well as through the creation of a cognitive network between a smart spacecraft or habitat and embodiments of cognitive agents. The work described here details efforts to integrate IBM's Watson and other cognitive computing services into NASA Johnson Space Center (JSC)'s Robonaut 2 (R2) anthropomorphic robot. This paper also discusses future directions this work will take. A cognitive spacecraft management system that is able to seamlessly collect data from subsystems, determine corrective actions, and provide commands to enable those actions is the end goal. These commands could be to embedded spacecraft systems or to a set of robotic assets that are tied into the cognitive system. An exciting collaboration with Woodside provides a promising Earth-bound testing analog, as controlling and maintaining not normally manned off-shore platforms have similar constraints to the space missions described.

Badger, Julia M.↗

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↗

Inkjet Printing of Conductive Carbon Nanotubes

Systems and methods for forming conductive materials. The conductive materials can be applied using a printer in single or multiple passes onto a substrate. The conductive materials are composed of electrical conductors such as carbon nanotubes (including functionalized carbon nanotubes and metal-coated carbon nanotubes), grapheme, a polycyclic aromatic hydrocarbon (e.g. pentacene and bisperipentacene), metal nanoparticles, an inherently conductive polymer (ICP), and combinations thereof. Once the conductive materials are applied, the materials are dried and sintered to form adherent conductive materials on the substrate. The adherent conductive materials can be used in applications such as damage detection, particle removal, and smart coating systems.

Roberson, Luke B.↗

Influence of Load Profile on Biomechanics of the Squat and Deadlift

Long duration space travel will expose astronauts to extended periods of reduced gravity. Since gravity is not present to assist loading, astronauts will use resistive and aerobic exercise regimes for the duration of the space flight to counteract the effect reduced gravity has on the body. Astronauts will exercise on a flywheel based device on the second Orion Exploration Mission (EM2). The effect that the flywheel load profile has on biomechanics is unknown when compared to free weights or a simulated free weight profile. The purpose of this evaluation is to compare the differences in lower body kinematics and kinetics between the flywheel and free weight profile. Test subjects were instrumented with reflective markers for motion capture data collection while exercising on the Device for Aerobic and Resistive Training (DART) prototype developed by TDA Research, Inc. of Wheat Ridge, CO. Exercises performed were either the squat while wearing a harness or deadlift while grasping a T-bar, both of which interfaced with the DART through a rope cable. The DART, a motorized device controlled via software, is capable of producing different load profiles. Profiles include simulated free weights with adjustable eccentric overload capability and flywheel. Test variables included the applied device load and the load profile, both set through the DART software interface. Motion capture data was collected with a 12 camera system (Smart-DX, BTS Bioengineering, Brooklyn, NY). Bilateral ground reaction force data were collected with force plates (P6000, BTS Bioengineering). DART cable force was recorded through an internal load cell. Data was collected from a total of four test subjects. The three repetition maximum was determined for each test subject for both squat and deadlift. High, medium and low loads were determined based on this maximum. The test subject performed five repetitions of each exercise at each load and each test trial was repeated twice. Cadence was controlled during exercising. Biomechanical data were used to drive the models utilizing the OpenSim software platform. Subject specific models were scaled to match the anthropometrics of the test subjects and used to estimate the peak joint angle, joint range of motion, the peak joint moment and the joint moment impulse of the lower extremity joints and the lumbar joint.These are preliminary results because the data analysis is ongoing. There was a lot of inter-subject variability, however, in general, there was a greater peak lumbar flexion angle for the flywheel squat exercise. There was a trend towards a greater range of motion at the hip for the squat exercise with free weight. There was also a greater hip extension, lumbar extension and ankle plantar flexion impulse moment during the squat exercise with free weight. During the deadlift exercise, the peak knee flexion angle and peak knee extension moment were greater when using the free weight profile. For deadlift, the hip extension, lumbar extension and ankle plantar flexion impulse moment tended to be greater with the free weight profile. Overall, the kinematic and kinetic outcomes for the flywheel profile were either statistically the same as free weight profile in many cases, significantly reduced in a few cases, and rarely higher.

Bioengineering↗

Playbook for UAS: UX of Goal-Oriented Planning & Execution

We are evaluating Playbook for CASAS (Connected Autonomous Smart Aerospace Systems), a tool designed to aid first responders in disaster relief efforts. We are adapting an existing tool, Playbook, to support a future unmanned aircraft system (UAS) swarm demonstration. Playbook for CASAS will be used to plan, edit, and monitor simulated UAS swarms, and we are interested in evaluating the user experience of this prototype as well as developing recommendations for future UAS interfaces. Allocation of roles and responsibilities between human-automation systems is key to promoting productive cooperation between users and automation. Future interfaces, however, must allow for adaptive management of the swarm not a constant split in human-automation control. Our early research indicates that when a single pilot is controlling swarms of robotic agents, such as UAS or ground rovers, operators require a higher level, goal-based interface with usability at its core. Along with that high-level control, users can leverage sensors within the swarm to be notified when lower level actions must be taken by the pilot. First responders working in disaster relief efforts require a high level of situational awareness (SA) and precise control at key moments within a mission. This balance in operator workload paired with SA can lead to improved safety and mission outcomes. Our research below outlines leverage points as well as the balance between human involvement and autonomy in UAS interfaces.

UAS↗

Controllable Buoys and Networked Buoy Systems

Buoyant sensor networks are described, comprising floating buoys with sensors and energy harvesting capabilities. The buoys can control their buoyancy and motion, and can organize communication in a distributed fashion. Some buoys may have tethered underwater vehicles with a smart spooling system that allows the vehicles to dive deep underwater while remaining in communication and connection with the buoys.

Davoodi, Faranak↗

Blockchain Application Within a Multi-Sensor Satellite Architecture

With the thrust towards multi-sensor satellite architectures for earth and space exploration, such as constellations and swarms, new technologies are required to enable the transition to this future capability. One of the areas of interest is establishing secure, efficient and prioritized data and command communication pathways among ground and space-based sources for such systems. This paper presents early research results on the potential role, capabilities and value of blockchain usage within constellation and swarm satellite architectures. It demonstrates the use of blockchain's smart contract and distributed ledger capabilities for secure and prioritized multi-sensor satellite collaborative data exchanges, as well as the logging and tracking of command and control events. Adapting and utilizing this emerging technology will aid in addressing technology gaps expected from future constellation flight architectures, such as managing collective computational operations (correlation), dynamic and autonomous observation planning, time-critical events, and provenance tied to ground and space-based autonomous operations and control recordkeeping. In this scenario blockchain is applied in encrypted command transmittal to multiple, yet specific, entities enabling acknowledgement transmittals, performance scalability, and automatic event-based triggering.

Mital, Rohit↗

Nanobiotechnology in Space Applications

A sensor platform based on vertically aligned carbon nanofibers (CNFs) has been developed. Their inherent nanometer scale, high conductivity, wide potential window, good biocompatibility and well-defined surface chemistry make them ideal candidates as biosensor electrodes. Here, we report two studies using vertically aligned CNF nanoelectrodes for biomedical applications. CNF arrays are investigated as neural stimulation and neurotransmitter recording electrodes for application in deep brain stimulation (DBS). Polypyrrole coated CNF nanoelectrodes have shown great promise as stimulating electrodes due to their large surface area, low impedance, biocompatibility and capacity for highly localized stimulation. CNFs embedded in SiO2 have been used as sensing electrodes for neurotransmitter detection. Our approach combines a multiplexed CNF electrode chip, developed at NASA Ames Research Center, with the Wireless Instantaneous Neurotransmitter Concentration Sensor (WINCS) system, developed at the Mayo Clinic. Preliminary results indicate that the CNF nanoelectrode arrays are easily integrated with WINCS for neurotransmitter detection in a multiplexed array format. In the future, combining CNF based stimulating and recording electrodes with WINCS may lay the foundation for an implantable "smart" therapeutic system that utilizes neurochemical feedback control while likely resulting in increased DBS application in various neuropsychiatric disorders. In total, our goal is to take advantage of the nanostructure of CNF arrays for biosensing studies requiring ultrahigh sensitivity, high-degree of miniaturization, and selective biofunctionalization.

Koehne, Jessica E.↗

Carbon Nanomaterials for Biosensing Applications

A sensor platform based on vertically aligned carbon nanofibers (CNFs) has been developed. Their inherent nanometer scale, high conductivity, wide potential window, good biocompatibility and well-defined surface chemistry make them ideal candidates as biosensor electrodes. Here, we report two studies using vertically aligned CNF nanoelectrodes for biomedical applications. CNF arrays are investigated as neural stimulation and neurotransmitter recording electrodes for application in deep brain stimulation (DBS). Polypyrrole coated CNF nanoelectrodes have shown great promise as stimulating electrodes due to their large surface area, low impedance, biocompatibility and capacity for highly localized stimulation. CNFs embedded in SiO2 have been used as sensing electrodes for neurotransmitter detection. Our approach combines a multiplexed CNF electrode chip, developed at NASA Ames Research Center, with the Wireless Instantaneous Neurotransmitter Concentration Sensor (WINCS) system, developed at the Mayo Clinic. Preliminary results indicate that the CNF nanoelectrode arrays are easily integrated with WINCS for neurotransmitter detection in a multiplexed array format. In the future, combining CNF based stimulating and recording electrodes with WINCS may lay the foundation for an implantable “smart” therapeutic system that utilizes neurochemical feedback control while likely resulting in increased DBS application in various neuropsychiatric disorders. In total, our goal is to take advantage of the nanostructure of CNF arrays for biosensing studies requiring ultrahigh sensitivity, high-degree of miniaturization, and selective biofunctionalization.

Carbon Nanomaterials for Biosensing Applications↗

Orbiting Rainbows: Optical Manipulation of Aerosols and the Beginnings of Future Space Construction

Our objective is to investigate the conditions to manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an ultra-lightweight surface with useful and adaptable electromagnetic characteristics, for instance, in the optical, RF, or microwave bands. Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. See Figure 1 for a scenario of application of this concept. The solution that we propose is to construct an optical system in space in which the nonlinear optical properties of a cloud of micron-sized particles are shaped into a specific surface by light pressure, allowing it to form a very large and lightweight aperture of an optical system, hence reducing overall mass and cost. Other potential advantages offered by the cloud properties as optical system involve possible combination of properties (combined transmit/receive), variable focal length, combined refractive and reflective lens designs, and hyper-spectral imaging. A cloud of highly reflective particles of micron-size acting coherently in a specific electromagnetic band, just like an aerosol in suspension in the atmosphere, would reflect the Sun's light much like a rainbow. The only difference with an atmospheric or industrial aerosol is the absence of the supporting fluid medium. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft clouds to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exoplanet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exoplanet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities.

Space Construction↗

Further Development Of Aperture: A Precise Extremely Large Reflective Telescope Using Re-Configurable Elements: NASA Innovative Advanced Concepts (NIAC) - Phase II

One of the pressing needs for space ultraviolet-visible astronomy is a design to allow larger mirrors than the James Webb Space Telescope primary. The diameter of the rocket fairing limits the mirror diameter such that all future missions calling for mirrors up to 16 meters in diameter or larger will require a mirror that is deployed post-launch. In response to the deployment requirement, we address the issues of this concept called "A Precise Extremely Large Reflective Telescope Using Reconfigurable Elements (APERTURE) with both hardware experiments and software simulations... We designed and built several fixtures with O-rings to hold a membrane. We established a coating process to make a membrane that was coated on one side with Cr and the other side with Cr-Terfenol-D-NiCo. The Terfenol-D (T-D hereafter) is the MSM (Magnetic Smart Memory) we use. We bought and established a procedure for measuring a deformation over time and purchased a Shack Hartmann system from Imagine Optic (https://www.imagine-optic.com). The first substrate we used was DuPont (TM) Kapton® polyimide film. Due to material creep, we found the stability over a 48-hour period with a Kapton substrate was not as good as desired (greater than 1 micron). We then switched to CP1 Polyimide. We found the CP1 much more stable to creep, being stable from about 3 hours to 48 hours to within a measurement error to below approximately 0.1 micron. We produced a 13 micron maximum deviation on a 50-millimeter-diameter piece of CP1 (25 microns thick). The T-D coating was about 2 microns, and the other layers, about 10 nanometers. The magnetic field at the base was about 0.1 teslas. We can make the T-D film at least 5 times thicker and the magnetic field at least 5 times stronger, and hence make deformations as much as 25 times larger. We have a formed a collaboration produced at the NIAC (NASA Innovative Advanced Concepts) mid-term review with Dr. Ron Shiri of Goddard Space Flight Center (GSFC) to explore making controlled deviations on lambda/14-lambda/20 scales which are required to bring a surface to the diffraction limit. We carried out only preliminary work on Si using a Coordinate Measuring Machine (CMM), which produced deviations on the 1 micron level. We are still working on a program to bring to GSFC a flat enough (radius of curvature greater than 10 microns) -coated a Si piece with Cr, T-D, NiCo. Then we plan to carry out tests with an interferometer. Further, we formed a new collaboration with Prof. Rajan Vaidyanathan of the University of Central Florida to replace the CP1 with a shape memory alloy (SMA). With his collaboration, we acquired new Federal funding outside of NASA to explore the use of SMAs (we use NiTi). Our preliminary results indicate that we can produce deformations greater than 1 micron on approximately 100 microns thick. Furthermore we have shown that the NiTi can deploy to better than 1 micron of its set original and then trained shape.

Re-Configurable Elements↗

CNS Simulation Tool Development for Increasingly Complex Airspace Operation Evaluation

As unmanned aircraft operations continue to grow and new vehicles such as air taxi, supersonic aircraft and high-altitude long endurance aircraft seek access to the airspace, it is anticipated that National Airspace System (NAS) operations will increase in density and complexity. To manage the influx, demand and safe integration of these new aircraft and missions into the NAS, a careful evaluation of existing and new operational concepts, vehicle characteristics and technology performance is required. Communications, Navigation and Surveillance (CNS) technologies operating in the NAS have evolved to meet changing needs of the Air Traffic Control System and the vehicles operating in the airspace. Today's CNS systems have been architected to deliver critical services to a carefully designed airspace configuration and to serve airborne vehicles equipped with standardized systems that enable global air navigation. The introduction of new vehicles is projected to expand NAS operations beyond today's configuration to include a new breed of aircraft operating from non-conventional aerodromes, resulting in a mix of vehicles operating in the same airspace. To enable this expansion, it is anticipated that modeling and simulation will play an important role in the evaluation of new management concept of operations.In this regard, NASA is developing simulation capabilities that will enable the evaluation of new concepts of operation and CNS technology performance in an increasingly dense, high-tempo operational environment. The NASA Glenn Research Center is working on the development of CNS simulation capabilities intended to support the integrated evaluation of operational concepts and emerging technologies. This presentation describes simulation capability development efforts that, together with other simulation tools, will enable evaluation of new concepts and technologies for the integration of new vehicles and services into the NAS. [Also discussed: NASA Shadow Mode Assessment using Realistic Technologies for the National Airspace System (SMART NAS)]

Surveillance↗

Carbon Nanofiber Nanoelectrode Arrays for Neural Implant Devices

A sensor platform based on vertically aligned carbon nanofibers (CNFs) has been developed. Their inherent nanometer scale, high conductivity, wide potential window, good biocompatibility and well-defined surface chemistry make them ideal candidates as biosensor electrodes. Here, we report two studies using vertically aligned CNF nanoelectrodes for biomedical applications. CNF arrays are investigated as neural stimulation and neurotransmitter recording electrodes for application in deep brain stimulation (DBS). Polypyrrole coated CNF nanoelectrodes have shown great promise as stimulating electrodes due to their large surface area, low impedance, biocompatibility and capacity for highly localized stimulation. CNFs embedded in SiO2 have been used as sensing electrodes for neurotransmitter detection. Our approach combines a multiplexed CNF electrode chip, developed at NASA Ames Research Center, with the Wireless Instantaneous Neurotransmitter Concentration Sensor (WINCS) system, developed at the Mayo Clinic. Preliminary results indicate that the CNF nanoelectrode arrays are easily integrated with WINCS for neurotransmitter detection in a multiplexed array format. In the future, combining CNF based stimulating and recording electrodes with WINCS may lay the foundation for an implantable smart therapeutic system that utilizes neurochemical feedback control while likely resulting in increased DBS application in various neuropsychiatric disorders. In total, our goal is to take advantage of the nanostructure of CNF arrays for biosensing studies requiring ultrahigh sensitivity, high-degree of miniaturization, and selective biofunctionalization.

carbon nanotubes↗

Capability Considerations for Enhancing Safety on Long Duration Crewed Missions: Insights from a Technical Interchange Meeting on Autonomous Crew Operations

As future flight crews on long duration deep space missions are expected to operate more autonomously, considerations must be given to onboard capabilities and human-computer teaming that will fortify the safety net traditionally provided by the Mission Control Center. In August 2018, the Human Factors and Behavioral Performance Element of NASA's Human Research Program convened a Technical Interchange Meeting (TIM) on Autonomous Crew Operations at NASA Ames Research Center to address how intelligent technologies can be utilized to augment crew capabilities to support real-time anomaly response. In this paper, we highlight three topic areas discussed at the TIM that have direct implications for future crew anomaly response capabilities: smart structures, cognitive assistants, and manpower.

autonomous crew operations↗

Autonomy @ NASA for Aeronautics

NASA has been exploring the use of artificial intelligence technologies to improve vehicle and airspace capabilities for over 20 years. This research has ranged from the use of neural nets to allow adaptive control, to autonomous rotorcraft operations, to real-time prognostics, to an eventual goal of autonomous vehicles operating in an autonomous airspace, in the context of smart communities. Examples of past research and future directions in autonomy for aeronautics will be presented.

Van Dalsem, William R.↗

After LM: NASA Lunar Lander Concepts Beyond Apollo

As this document is being compiled in 2019, NASA is once again planning a return to the Moon, and new lunar lander designs are being generated. Compared to Apollo, crews are projected to be larger (at least four per mission) and stay times longer (beginning at 6.5 days). However, it is expected that the landers will look much like the designs in this document because, as stated in the introduction, lunar lander design is a response to the simple physics that governs the tasks they are asked to perform. Design is also a living thing. New crewed lander designs will continue to emerge up until the point that humans return to the Moon, and even beyond. New players from different countries and commercial providers will create new designs based on new technologies and new requirements. Until some breakthrough technology or new physics principle is created, each lander will respond to the current physics of lunar landing. There may come a time, generations from now, when future engineers are paging through a digital copy of this catalog and reflecting on the early work of lunar lander designers. “Those Apollo guys were really smart, given that they started with nothing as a reference. The Lunar Module – now THAT was a great lunar lander design.”

Altair spacecraft↗

A Fast All-Sky Radiation Model for Solar Applications with Narrowband Irradiances on Tilted Surfaces (FARMS-NIT): Part II. The Cloudy-Sky Model

The Fast All-sky Radiation Model for Solar applications with Narrowband Irradiances on Tilted surfaces (FARMSNIT) reported in Part I of this study is enhanced to include the requirements for cloudy-sky conditions. Surface radiances in 2002 narrow-wavelength bands from 0.28 to 4.0 μm are analytically computed by solving the radiative transfer equation for five independent photon paths accounting for clear-sky absorption, Rayleigh scattering, and cloud absorption and scattering. The Simple Model of the Atmospheric Radiative Transfer of Sunshine (SMARTS) is used to provide the optical thickness of the clear-sky atmosphere. Unlike Part I, which approximates the computation of aerosol scattering using the single-scattering phase function, the cloud transmittance and reflectance are efficiently retrieved from a comprehensive look-up table pre-computed by a 32-stream DIScrete Ordinates Radiative Transfer (DISORT) model for possible cloud conditions as well as solar and viewing geometries. A resolution analysis is performed to assess the optimal balance between the computational efficiency and accuracy in the development of the look-up table. Model simulations by DISORT and TMYSPEC are used to evaluate the performance of FARMS-NIT under cloudy-sky conditions. Compared to DISORT, FARMS-NIT yields 2–3% uncertainties on average, but it substantially reduces the computational time because of the independent computation of cloud properties and the implementation of the look-up table. In contrast to TMYSPEC, which uses successive steps to empirically compute plane-of-array (POA) irradiances and spectral irradiances, FARMS-NIT directly solves spectral radiances from the radiative transfer equation, which profoundly increases the accuracy in surface irradiances, especially over inclined photovoltaics (PV) panels.

Xie, Yu↗

The Intelligent Landing System for Safe and Precise Landing on Europa

Europa, the smallest of Jupiter’s Galilean moons, is thought to harbor a vast liquid water ocean beneath its icy crust, making it one of the most scientifically intriguing targets for a robotic surface sampling mission in our Solar System. However, autonomously landing a spacecraft safely and precisely on Europa poses unique challenges, such as very little existing high-resolution reconnaissance imagery, a surface expected to be very rough and hazardous over a wide range of scales, an extremely intense ionizing radiation environment, and very limited lander resources for mass and volume. To address these challenges, we propose a novel Intelligent Landing System (ILS) combining four Guidance, Navigation & Control (GN&C) sensing functions – velocimetry, altimetry, map-relative localization, and hazard detection – that would together enable safe and precise landing on Europa’s surface. The ILS is a smart sensor system, combining an inertial measurement unit (IMU), a monocular, passive-optical camera, and a light detection and ranging (Li-DAR) sensor with dedicated computing resources as well as an onboard 3D terrain map. The ILS leverages more than a decade of technology development from programs such as the Lander Vision System, currently baselined on the Mars 2020 mission. This paper provides a detailed description of the proposed ILS architecture and concept of operations, as well as select preliminary simulation results to assess performance and robustness.

Trawny, Nikolas↗