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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

A Power Takeoff Device for a Small Marine Hydrokinetic Turbine Deployed from an Unmanned Floating Platform

The design, development, and field-testing of a power takeoff (PTO) device equipped with a ball-type continuously-variable transmission (B-CVT) for a small marine hydrokinetic (MHK) turbine deployed from a floating unmanned autonomous mobile catamaran platform is described. The turbine is a partially-submerged multi-blade undershot waterwheel (USWW). The objective is to develop a PTO for the optimal conversion of the MHK energy harnessed by the turbine to electric power, which is stored in battery banks onboard the MHK platform. Modeling, simulation, and bench testing of the USWW and PTO show the feasibility of utilizing the B-CVT's variable gear ratio to decouple the USWW and generator speeds, maintaining the waterwheel within its optimal tip speed ratio (TSR) while varying the generator speed, thereby increasing the efficiency of the PTO. Results of bench and field testing in support of characterizing the power conversion capabilities of the PTO are described. The system being developed is in support of potential self-powered autonomous mobile recharge stations for unmanned aerial vehicles (U A V s) operating in coastal zones. Field tests of the complete MHK platform with 9 blades on the waterwheel and wheel sub mergences of 10 and 12 inches (full blade submergence) were performed. The overall proof-of-concept was successfully demonstrated, with the system satisfactorily capturing and converting water flow energy into electricity. The feasibility of utilizing the B-CVT as a means of increasing the PTO power capture capabilities and efficiency is analyzed.

Pimentel, Hugo↗
NASA NTRS1978

Correlation tracking for a Planetary Pointing and Tracking System

The Planetary Pointing and Tracking System (PPTS) is being developed to provide precision pointing for science platforms on future autonomous planetary spacecraft. The PPTS design approach using a CCD optical sensor for closed-loop control with respect to the target body, a gyro for inertial stabilization, and brushless dc torque motors for smooth and continuous platform articulation is essential for high resolution planetary imaging and automated science execution. An integral part of PPTS is the correlation tracker which has the potential to revolutionize autonomous guidance.

Assefi, T.↗
NASA NTRS2024

An Integrated Architecture Study for Autonomous Lunar Construction

Lunar construction is an expanding field within NASA’s Moon to Mars objectives that presents many challenges and requires innovative and reliable forms of autonomous operations on the surface of the Moon to further the technologies needed for human space exploration. Marshal Space Flight Center’s (MSFC) Advanced Concepts Office (ACO) addressed Lunar Infrastructure Objective LI-4 l by developing a Pre-Phase A, integrated architecture to inform a demonstration for lunar construction operations. The ACO study traded three architectures that would survey and prepare a construction area to build a landing pad out of lunar regolith using MMPACT (Moon-to-Mars Planetary Autonomous Construction Technology) platforms, rovers, and navigation outposts. The main trades examined navigation for the system/architecture, options for rover navigation, battery vs continuous tether power for the MMPACT robotic arm, and assigning site prep functionality to the rovers vs the platforms. Results of the study determined that the best options for the scenario provided would be local navigation (more accurate and continuous), a combination of Light Detection and Ranging (LiDAR) for initial site mapping with subsequent Smart Video Guidance Sensors (SVGS) to save power for construction, and using tethered power to decrease mission duration. The team also concluded that assigning site prep functionality to either the rovers or the platforms has benefits and challenges; future studies could explore having that functionality on both the rovers and platforms. Lastly, the team provided a Concept of Operations (ConOps) timeline that can be used in real-time ground demonstrations to explore the mission timeline, construction processes, autonomous operations, and communication systems that can be tested using MSFC’s lunar regolith field and Lunar Utilization Control Area (LUCA).

Sarah Triana↗
DOE OSTI2026

Autonomous elemental characterization enabled by a low cost robotic platform built upon a generalized software architecture

Despite the rapidly growing applications of robots in industry, the use of robots to automate tasks in scientific laboratories is less prolific due to the lack of generalized methodologies and the high cost of hardware. This paper focuses on the automation of characterization tasks necessary for reducing cost while maintaining generalization and proposes a software architecture for building robotic systems in scientific laboratory environments. A dual-layer (Socket.IO and ROS) action server design is the basic building block, which facilitates the implementation of a web-based front end for user-friendly operation and the use of ROS Behavior Trees for convenient task planning and execution. A robotic platform for automating mineral and material sample characterization is built upon the architecture, with an open-source, low-cost three-axis computer numerical control gantry system serving as the main robot. A handheld laser induced breakdown spectroscopy (LIBS) analyzer is integrated with a 3D printed adapter, enabling (1) automated 2D chemical mapping and (2) autonomous sample measurement (with the support of an RGB-Depth camera). We demonstrate the utility of automated chemical mapping by scanning the surface of a spodumene-bearing pegmatite core sample with a 1071-point dense hyperspectral map acquired at a rate of 1520 bits per second. Furthermore, we showcase the autonomy of the platform in terms of perception, dynamic decision-making, and execution, through a case study of LIBS measurement of multiple mineral samples. The platform enables controlled and autonomous chemical quantification in the laboratory that complements field-based measurements acquired with the same handheld device, linking resource exploration and processing steps in the supply chain for lithium-based battery materials.

Cao, Xuan [Lawrence Berkeley National Laboratory (↗
DOE OSTI2023

Editorial: Deep-sea observation equipment and exploration technology

The increasing interest in deep-sea exploration is a crucial catalyst for driving advancements in deep-sea observation technology research. Numerous sophisticated sensors have been developed to facilitate comprehensive studies in deep-sea physics, chemistry, and geology. For example, cutting-edge small and compact seabed samplers are now employed on various platforms, such as Autonomous Underwater Vehicles (AUVs), Remotely Operated Vehicles (ROVs), and Human-Operated Vehicles (HOVs), enabling observation of the hadal zone. Additionally, Micro-electromechanical systems (MEMS) sensors are routinely utilized for ocean wave observation. This Research Topic aims to foster new insights into ocean exploration and observation technology, including ocean sensor technology, ocean observation platforms, and ocean observation reliability technology.

47 OTHER INSTRUMENTATION↗
NASA NTRS2001

A New Centimeter-Level Real-Time Global Navigation and Positioning Capability with GPS

NASA/JPL has developed a new, precise, global, GPS-based capability for real-time terrestrial and space platform navigation. It has been demonstrated on Earth's surface and is 10 times more accurate than other real-time GPS-based systems. The new system poses certain advantages for Earth science remote sensing, including: the onboard generation of science data products in real-time, sensor control and reduction of data transmission bandwidth, improved environmental forecasting, autonomous and intelligent platform control, operations cost savings, and technology transfer and commercial partnership opportunities. The system's measurement capabilities and applications, demonstrated orbit accuracies, and precision LEO and spacecraft positioning and timing are highlighted.

real time↗
NASA NTRS2003

Experimental Evaluation of Verification and Validation Tools on Martian Rover Software

To achieve its science objectives in deep space exploration, NASA has a need for science platform vehicles to autonomously make control decisions in a time frame that excludes intervention from Earth-based controllers. Round-trip light-time is one significant factor motivating autonomy capability, another factor is the need to reduce ground support operations cost. An unsolved problem potentially impeding the adoption of autonomy capability is the verification and validation of such software systems, which exhibit far more behaviors (and hence distinct execution paths in the software) than is typical in current deepspace platforms. Hence the need for a study to benchmark advanced Verification and Validation (V&V) tools on representative autonomy software. The objective of the study was to access the maturity of different technologies, to provide data indicative of potential synergies between them, and to identify gaps in the technologies with respect to the challenge of autonomy V&V. The study consisted of two parts: first, a set of relatively independent case studies of different tools on the same autonomy code, second a carefully controlled experiment with human participants on a subset of these technologies. This paper describes the second part of the study. Overall, nearly four hundred hours of data on human use of three different advanced V&V tools were accumulated, with a control group that used conventional testing methods. The experiment simulated four independent V&V teams debugging three successive versions of an executive controller for a Martian Rover. Defects were carefully seeded into the three versions based on a profile of defects from CVS logs that occurred in the actual development of the executive controller. The rest of the document is structured a s follows. In section 2 and 3, we respectively describe the tools used in the study and the rover software that was analyzed. In section 4 the methodology for the experiment is described; this includes the code preparation, seeding of defects, participant training and experimental setup. Next we give a qualitative overview of how the experiment went from the point of view of each technology; model checking (section 5), static analysis (section 6), runtime analysis (section 7) and testing (section 8). The find section gives some preliminary quantitative results on how the tools compared.

Brat, Guillaume↗
NASA NTRS2011

Mission Level Autonomy for USSV

On-water demonstration of a wide range of mission-proven, advanced technologies at TRL 5+ that provide a total integrated, modular approach to effectively address the majority of the key needs for full mission-level autonomous, cross-platform control of USV s. Wide baseline stereo system mounted on the ONR USSV was shown to be an effective sensing modality for tracking of dynamic contacts as a first step to automated retrieval operations. CASPER onboard planner/replanner successfully demonstrated realtime, on-water resource-based analysis for mission-level goal achievement and on-the-fly opportunistic replanning. Full mixed mode autonomy was demonstrated on-water with a seamless transition between operator over-ride and return to current mission plan. Autonomous cooperative operations for fixed asset protection and High Value Unit escort using 2 USVs (AMN1 & 14m RHIB) were demonstrated during Trident Warrior 2010 in JUN 2010

maritime autonomy↗
DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗
NASA NTRS1993

Performance of the NASA 30 cm Ion Thruster

A 30 cm diameter xenon ion thruster is under development at NASA to provide an ion propulsion option for missions of national interest, and is being proposed for use on the USAF/TRW Space Surveillance, Tracking and Autonomous Repositioning (SSTAR) platform to validate ion propulsion. The thruster incorporates innovations in design, materials, and fabrication techniques compared to those employed in conventional ion thrusters. Specific development efforts include thruster design optimizations, component life testing and validation, vibration testing, and performance characterizations. Under this test program, the ion thruster will be brought to engineering model development status. This paper discusses the performance and power throttling test data for the NASA 30 cm diameter xenon ion thruster over an input power envelope of 0.7 to 4.9 kW, and corresponding thruster lifetime expectations.

Patterson, Michael J.↗
NASA NTRS1996

STS-72 Mission Highlights Resource Tape

The flight crew of the STS-72 Space Shuttle Orbiter Endeavour Cmdr. Brian Duffy, Pilot Brent W. Jett, and Mission Specialists; Leroy Chiao, Daniel T. Barry, Winston E. Scott, and Koichi Wakata (NASDA) present an overview of their mission, whose primary objective is the retrieval of two research satellites. The major activities of the mission will include retrieval of the Japanese Space Flyer Unit (SFU), which was launched aboard a Japanese H-2 rocket to conduct a variety of microgravity experiments. In addition, the STS-72 crew will deploy the AST-Flyer, a satellite, that will fly free of the Shuttle for about 50 hours. Four experiments on the science platform will operate autonomously before the satellite is retrieved by Endeavour's robot arm. Three of Endeavour's astronauts will conduct a pair of spacewalks during the mission to test hardware and tools that will be used in the assembly of the Space Station. Video footage includes the following: prelaunch and launch activities; the crew eating breakfast; shuttle launch; retrieval of the Japanese Space Flyer Unit (SFU); suit-up and EVA-1; EVA-2; crew members performing various physical exercises; various earth views; and the night landing of the shuttle at KSC.

Source record↗
NASA NTRS2019

Astrobee Free Flyers: Integrated and Tested. Ready for Launch!

As of March 2019, four Astrobee free-flying robots have been integrated, tested and shipped to NASA’s Johnson Space Center, Texas, ready to be launched to space. Two of these Astrobee units (Honey and Bumble) will be launched to the International Space Station (ISS) on April 17, 2019, on the Cygnus NG-11 (Northrop Grumman) cargo resupply spacecraft from the Mid-Atlantic Regional Spaceport (MARS) launch facility, at NASA's Wallops Flight Facility, in Virginia, while the third unit (Queen) will be launched in mid-July 2019, with the cargo resupply mission Space-X 18, from Cape Canaveral, at NASA’s Kennedy Space Center. The primary purpose of the Astrobee system is to provide an autonomous and flexible platform for research on zero-g free-flying robotics, with the ability to accommodate guest researchers looking to utilize the unique capabilities of this platform in the microgravity of low earth orbit, and to advance the state of the art of guest science software and research payloads, which range from gecko-inspired adhesives for perching on smooth surfaces, to augmented reality interfaces to help astronauts and robots work together effectively, to RFID reader, performing inventory of RFID tagged items inside the ISS. Astrobee will also serve utility functions, such as free-flying cameras to record video and provide assistance during astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. In this paper we will give an overview of the status of the Astrobee system, which includes the docking station already launched and mounted in the JAXA JEM module of the ISS, the Astrobee robots, the Astrobee robotic arms, the ground data system (GDS) and the development of the several guest science payloads.

Carlino, Roberto↗
DOE OSTI2022

Failure Mechanism Traceability and Application in Human System Interface of Nuclear Power Plants using RESHA

In recent years, there has been considerable effort to modernize existing and new nuclear power plants with digital instrumentation and control systems (DI&C). However, there has also been considerable concern both by industry and regulatory bodies for the risk and consequence analysis of these systems. Of particular concern are digital common cause failures (CCFs) specifically related to software defects. These “misbehaviors” by the software can occur in both the control and monitoring of a system. While many new methods have been proposed to identify potential software failure modes, such as Systems-theoretic Process Analysis (STPA), Hazard and Consequence Analysis for Digital Systems (HAZCADS), etc., these methods are focused primarily on the control action pathway of a system. In contrast, the information feedback pathway lacks unsafe control actions (UCAs), which are typically related to software basic events; thus, assessment of software basic events in such systems is unclear. In this work, we present the idea of intermediate processors and unsafe information flow (UIF) to help safety analysts trace failure mechanisms in the feedback pathway and how they can be integrated into a fault tree for improved assessment capability. The concepts presented are demonstrated in two comprehensive case studies, a smart sensor integrated platform for unmanned autonomous vehicles and another on a representative advanced human system interface (HSI) for safety critical plant monitoring. The qualitative software basic events are identified, and a fault tree analysis is conducted based on a modified Redundancy-guided Systems-theoretic Hazard Analysis (RESHA) methodology. The case studies demonstrate the use of UIF and intermediate processors in the fault tree to improve traceability of software failures in highly complex digital instrumentation feedback. The improved method can also clarify fault tree construction when multiple component dependencies are present in the system.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2022

Failure Mechanism Traceability and Application in Human System Interface of Nuclear Power Plants using RESHA

In recent years, there has been considerable effort to modernize existing and new nuclear power plants with digital instrumentation and control systems (DI&C). However, there has also been considerable concern both by industry and regulatory bodies for the risk and consequence analysis of these systems. Of particular concern are digital common cause failures (CCFs) specifically related to software defects. These “misbehaviors” by the software can occur in both the control and monitoring of a system. While many new methods have been proposed to identify potential software failure modes, such as Systems-theoretic Process Analysis (STPA), Hazard and Consequence Analysis for Digital Systems (HAZCADS), etc., these methods are focused primarily on the control action pathway of a system. In contrast, the information feedback pathway lacks unsafe control actions (UCAs), which are typically related to software basic events; thus, assessment of software basic events in such systems is unclear. In this work, we present the idea of intermediate processors and unsafe information flow (UIF) to help safety analysts trace failure mechanisms in the feedback pathway and how they can be integrated into a fault tree for improved assessment capability. The concepts presented are demonstrated in two comprehensive case studies, a smart sensor integrated platform for unmanned autonomous vehicles and another on a representative advanced human system interface (HSI) for safety critical plant monitoring. The qualitative software basic events are identified, and a fault tree analysis is conducted based on a modified Redundancy-guided Systems-theoretic Hazard Analysis (RESHA) methodology. The case studies demonstrate the use of UIF and intermediate processors in the fault tree to improve traceability of software failures in highly complex digital instrumentation feedback. The improved method can also clarify fault tree construction when multiple component dependencies are present in the system.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2024

MODELING, IMPLEMENTATION AND CONTROL OF A CVT BASED PTO FOR A SMALL SCALE MHK-TURBINE IN LOW FLOW SPEED OPERATION

Modeling, implementation, field testing and control of a power takeoff (PTO) device equipped with a ball-type continuously variable transmission (B-CVT) for a small marine hydrokinetic (MHK) turbine deployed from a floating unmanned autonomous mobile catamaran platform is described. The turbine is a partially submerged multi-blade undershot waterwheel (USWW). A validated numerical torque model for the MHK turbine has been derived and a speed controller has been developed, implemented and tested in the field. The dependance of the power generated as a function of number and submergence level of turbine blades has been investigated and the number of blades that maximizes power production is determined. Bench and field testing in support of characterizing the power conversion capabilities of MHK turbine and PTO are described. Detailed results of the final torque and power coefficient models, the controls architecture, and the MHK turbine performance with varying numbers of blades are provided.

Pimentel, Hugo↗
NASA NTRS1999

Autonomous Vision-Based Manipulation from a Rover Platform

Current rover designs use on-board manipulators to enhance their capabilities for planetary exploration and in-situ science. In this paper, we describe how these manipulators can be used to perform two types of operations: rock sample aquisition for return to earth and instrument placement for in-situ science meausrements.

autonomous manipulation rock acquisition instrumen↗
DOE OSTI2024

Low-Flow Marine Hydrokinetic Turbine for Small Autonomous Unmanned Mobile Recharge Stations

A prototype low-flow marine current turbine for deployment from a small unmanned mobile floating platform has been developed for autonomously seeking and harnessing tidal/coastal currents. The support platform is an unmanned surface vehicle (USV), in the form of a catamaran with two electric outboard motors and with capabilities for autonomous navigation. The USV utilized is a WAM-V 16 vehicle that has been developed separately with support from the Office of Naval Research (ONR) [1]. The marine current turbine is based on a freestream waterwheel (FSWW), also known as an undershot waterwheel (FSWW), mounted on the stern of the USV. The concept of operation involves the USV autonomously navigating to a designated marine current resource. Upon arrival, the USV anchors itself, aligns with the current, and deploys the FSWW turbine using a custom cable-lift mechanism. The turbine harnesses the local current, and an onboard power-take-off (PTO) device converts the mechanical energy into electricity, which is stored in an onboard battery bank. When energy harvesting is completed, the turbine and the anchor are retrieved and the USV navigates to a selected location. These unmanned at-sea platforms can provide power to other unmanned maritime systems. Specifically, in this project, the power generated onboard can be used to charge aerial drones via a custom flight deck that has been developed for the USV. The recharging capabilities offered by a fleet of such strategically placed recharging stations can significantly benefit aerial drones operating in the maritime domain by eliminating the need to travel back and forth to land or ship based charging stations. The project has resulted in the development of subcomponents, including the FSWW turbine, a novel PTO, an automated anchoring system for the USV, an automated turbine deployment system, and a flight deck with capabilities onboard the USV for landing, direct-contact charging and takeoff of aerial drones. The design and development of these subsystems have culminated in the overall prototype marine hydrokinetic platform (MHK Platform, Fig. 1). Comprehensive lab and field testing have been conducted to validate the functionality and performance of the platform and its components. The project demonstrates the potential for autonomous, unmanned systems to harness renewable energy from marine currents, and provide sustainable power solutions for maritime applications such as coastal surveillance and environmental monitoring; shoreline mapping; search and rescue; oceanographic research; inspection and maintenance of offshore energy installations like wind turbines and oil rigs; oil spill response; maritime disaster response; and aerial surveys, as well as facilitation of data transfer drones and shore stations.

16 TIDAL AND WAVE POWER↗
NASA NTRS2011

Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.

environmental sensing↗