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At least 109 records · Page 6

Field Tested Service Oriented Robotic Architecture: Case Study

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

Flueckiger, Lorenzo↗

Pilot Field Test: Performance of a Sit-to-Stand Test After Long-Duration Space Flight

BACKGROUND: Astronauts returning from the International Space Station are met by a team of recovery personnel typically providing physical assistance and medical support immediately upon landing. That is because long-duration spaceflight impacts astronauts' functional abilities. Future expeditions to planets or asteroids beyond the low Earth orbit, however, may require crewmembers to egress the vehicle and perform other types of physical tasks unassisted. It is therefore important to characterize the extent and longevity of functional deficits experienced by astronauts in order to design safe exploration class missions. Pilot Field Test (PFT) experiment conducted with participation of ISS crewmembers traveling on Soyuz expeditions 34S - 41S comprised several tasks designed to study the recovery of sensorimotor abilities of astronauts during the first 24 hours after landing and beyond. METHODS: The first test in the PFT battery sequence, and also the least demanding one from the sensorimotor perspective, was a Sit-to-Stand test. Test subjects were seated in the chair and had to stand up on command and remain standing for ten seconds. The subjects were instructed to stand up unassisted as quickly as they were able to, while maintaining postural control. Synchronized wireless inertial sensors mounted on the head, chest, lower back, wrists, and ankles were used to continuously log body kinematics. Crewmembers' blood pressure and heart rate were monitored and recorded with the Portapres and Polar systems. Each session was recorded with a digital video camera. During data collections occurring within the 24-hour postflight period, crewmembers were also asked to (1) evaluate their perceived motion sickness symptoms on a 20-point scale before and after completion of the test and (2) estimate how heavy they felt compared to their normal (preflight) body weight. Consent to participate in PFT was obtained from 18 crewmembers (11 US Orbital Segment [USOS] astronauts and 7 Russian cosmonauts). For 10 subjects, the first set of data was collected in the medical tent in Soyuz landing zone (1-2 hours after landing); the other 8 subjects were tested at the Kazakhstan deployment airport (4-5 hours after landing). 8 of the 11 astronauts were tested twice more within the first 24 hours postflight, at a refueling stop on the way to Houston (approximately 13 hours after landing) and at the Johnson Space Center (approximately 24 hours after landing). Later postflight data were collected in the first two weeks on some crewmembers. Finally, 6 astronauts were tested 60+ days after landing to establish a delayed baseline. RESULTS/DISCUSSION: Two of the 18 PFT participants felt too ill to attempt any tests in Kazakhstan (at either the landing zone or deployment airport). The remaining test subjects completed the Sit-to-Stand test and their reported motion sickness scores were unaffected by this task. The task completion times and body kinematics data analysis are currently underway. Preliminary analysis of astronaut data shows a steep improvement in the time to complete the task on the second data take, and in some cases, the trend continues through day six postflight. Head and trunk pitch angles and pitch rates were also examined and increases in all measures are evident throughout the observed recovery period (60+ days postflight). Interesting patterns of head and trunk pitch coordination have also emerged. One of the data analysis objectives is comparison of initial postflight performance and recovery of experienced crewmembers and first-time fliers. Another one - possible differences in performance between USOS and Russian crewmembers.

Kofman, I. S.↗

Field Testing of Utility Robots for Lunar Surface Operations

Since 2004, NASA has been working to return to the Moon. In contrast to the Apollo missions, two key objectives of the current exploration program is to establish significant infrastructure and an outpost. Achieving these objectives will enable long-duration stays and long-distance exploration of the Moon. To do this, robotic systems will be needed to perform tasks which cannot, or should not, be performed by crew alone. In this paper, we summarize our work to develop "utility robots" for lunar surface operations, present results and lessons learned from field testing, and discuss directions for future research.

Fong, Terrence↗

Pilot Field Test: Recovery from a Simulated Fall and Quiet Stance Stability After Long-Duration Space Flight

Astronauts returning from the International Space Station (ISS) are met by a team of recovery personnel typically providing physical assistance and medical support immediately upon landing. That is because long-duration spaceflight impacts astronauts' functional abilities. Future expeditions to planets or asteroids beyond the low Earth orbit, however, may require crewmembers to egress the vehicle and perform other types of physical tasks unassisted. It is therefore important to characterize the extent and longevity of functional deficits experienced by astronauts in order to design safe exploration class missions. Pilot Field Test (PFT) experiment conducted with participation of ISS crewmembers traveling on Soyuz expeditions 34S - 41S comprised several tasks designed to study the recovery of sensorimotor abilities of astronauts during the first 24 hours after landing and beyond.

Kofman, I. S.↗

Field Test: Results from the One Year Mission

The One Year Mission was designed to aid in determining the effect that extending the duration on orbit aboard the International Space Station (ISS) would have on a number of biological and physiological systems. Two crewmembers were selected to participate in this endeavor, one U.S. On-Orbit Segment (USOS) astronaut and one Russian cosmonaut. The Neuroscience and Cardiovascular and Vision Laboratories at the Johnson Space Center and the Sensory-Motor and Countermeasures Division within the Institute for Biomedical Problems were selected to investigate vestibular, sensorimotor and cardiovascular function with the two long-duration crewmembers using the established methodology developed for the Field Test (FT).

Reschke, M. F.↗

Development and Field Test Results of Distributed Ground Sensor Fusion Based Object Tracking

Autonomous operations are a crucial aspect in the context of Advanced Air Mobility and other emerging aviation markets. In order to enable this autonomy, an accurate and detailed understanding of the positions of the various vehicles in the air is necessary. Full localization independent of on-board sensors makes the system suitable for noncooperative vehicles. This paper focuses on the object tracking part that relies on distributed ground-based RF and other sensor fusion, considering specific properties and limitations of different sensor types. Results show satisfactory performance in nominal scenarios with full coverage for some sensor types, but RF signals are challenging because of their nature. This paper includes the results from simulations as well as field tests to support the observations and conclusions.

sensor fusion↗

Evaluation of the Simple Safe Site Selection (S4) Hazard Detection Algorithm Using Helicopter Field Test Data

Small scale terrain hazards, such as rocks, slopes, and craters, can pose significant risk to landing spacecraft and rover or payload deployment. Onboard Hazard Detection and Avoidance (HDA) systems scan and analyze the landing area for these hazards in real time during descent, and divert the spacecraft to the safest touchdown site. The computationally efficient Simple Safe Site Selection (S4) algorithm combined with a flash LIDAR is an HDA system geared towards small robotic spacecraft. Rather than creating and analyzing a digital elevation map (DEM) from potentially many overlapping range images, S4 operates directly on a single flash LIDAR image. Extending prior work that has analyzed S4 performance for Mars landing using extensive simulations, this paper evaluates S4 performance using actual flash LIDAR images of an artificial hazard field acquired during a 2014 helicopter field test in Death Valley, CA. In particular, we describe LIDAR characterization and calibration, creation of ground truth elevation and safety maps, creation of ground truth sensor poses, actual S4 algorithm processing, and performance analysis. The results show that the safety cost images produced by S4 are remarkably close to the ground truth safety map (computed offline by an HDA algorithm developed under the Autonomous Landing and Hazard Avoidance (ALHAT) project) at significantly reduced computational cost, confirming S4 as a viable candidate algorithm for onboard spacecraft HDA.

Luna, Michael E.↗

King City Asbestos Corporation (KCAC) Mine Carbon Mineralization Field Test (Final Combined Report)

The overall objective of the KCAC carbon mineralization project is to determine the most successful approaches to CO 2 mineralization of asbestos-bearing serpentinite rocks and mine waste at the closed KCAC asbestos mine. The objectives of Budget Period 1 (BP1) are to characterize the site including, mineralogical and geochemical variability in site materials, baseline conditions including CO 2 flux and local climate, and to establish the designs for the second, experimental phase of the project. As described in Section 3 of this report, all tasks outlined in the Statement of Project Objective (SOPO) have been completed or are on schedule to be completed by the end of BP1. As described in Section 4, all success criteria and milestones have been met or will be met by the end of BP1. We conclude that the findings of BP1 strongly support moving to the second phase of the project to investigate methods to increase the rate of CO 2 mineralization. CO 2 flux monitoring during BP1 established an estimated baseline uptake of CO 2 over the 142,193 m 2 KCAC mine site of 147 and 179 metric tons CO 2 /yr using dynamic closed chamber and eddy covariance monitoring methods, respectively. Mineralogical analysis shows that the loose surficial waste material contains pyroaurite and minor hydromagnesite, indicating past carbon mineralization. Sediment samples at depths below 60 cm contained ~3 wt% brucite and localized high brucite contents of ~24 wt% were measured at depth, indicating significant unreacted material at relatively shallow depths. Together, these results demonstrate that despite prolonged exposure to the atmosphere, reactive material is still present and accessible and is naturally taking up atmospheric CO 2 . However, these natural rates are still well below rates that can be achieved by applying practices that can accelerate the CO 2 mineralization reaction. Designs for the Field-Testing Phase (BP2) of the project have been established, incorporating the findings of BP1. Based on results to date we have selected two methods to accelerate the rate of CO 2 mineralization, which we refer to as the Tilling Method and the Greenhouse Method. We hypothesize that these methods can increase the CO 2 mineralization rate by up to 5 times greater than the natural background rate measured in BP1. An Initial Lifecyle Assessment (LCA) and techno-economic analysis (TEA) were conducted for these two methods. The LCA concluded that the baseline version of the Greenhouse and Tilling methods at commercial scale are expected to achieve a CDR efficiency of 97% and 71%, respectively (cumulative, over 30 years of operation). Incorporating the net CO 2 removal rates calculated in the LCA, the TEA found the levelized, 30-year costs of the baseline Greenhouse and Tilling methods to be $\$$95/t-CO 2 and $\$$119/t-CO 2 , respectively, and that costs could be brought to well below $\$$100/t-CO 2 for either method by scaling up the volume of rock utilized. An initial EH&S Risk Assessment, evaluating the potential EH&S risks of the proposed carbon mineralization methods at commercial scale, was completed by LLNL EH&S professionals for these two methods.

58 GEOSCIENCES↗

Development and testing of laser Doppler system components for wake vortex monitoring. Volume 1: Scanner development, laboratory and field testing and system modeling

A servo-controlled range/elevation scanner for the laser Doppler velocimeter (LDV) was developed and tested in the field to assess its performance in detecting and monitoring aircraft trailing vortices in an airport environment. The elevation scanner provides a capability to manually point the LDV telescope at operator chosen angles from 3.2 deg. to 89.6 deg within 0.2 deg, or to automatically scan the units between operator chosen limits at operator chosen rates of 0.1 Hz to 0.5 Hz. The range scanner provides a capability to manually adjust the focal point of the system from a range of 32 meters to a range of 896 meters under operator control, or to scan between operator chosen limits and at rates from 0.1 Hz to 6.9 Hz. The scanner controls are designed to allow simulataneous range and elevation scanning so as to provide finger scan patterns, arc scan patterns, and vertical line scan patterns. The development and testing of the unit is discussed, along with a fluid dynamic model of the wake vortex developed in a laser Doppler vortex sensor simulation program.

Wilson, D. J.↗

Field Testing of a Pneumatic Regolith Feed System During a 2010 ISRU Field Campaign on Mauna Kea, Hawaii

Lunar In Situ Resource Utilization (ISRU) consists of a number of tasks starting with mining of lunar regolith, followed by the transfer of regolith to an oxygen extraction reactor and finally processing the regolith and storing of extracted oxygen. The transfer of regolith from the regolith hopper at the ground level to an oxygen extraction reactor many feet above the surface could be accomplished in different ways, including using a mechanical auger, bucket ladder system or a pneumatic system. The latter system is commonly used on earth when moving granular materials since it offers high reliability and simplicity of operation. In this paper, we describe a pneumatic regolith feed system, delivering feedstock to a Carbothermal reactor and lessons learned from deploying the system during the 2010 ISRU field campaign on the Mauna Kea, Hawaii.

Craft, Jack↗

Field Testing of a Hierarchical Model-Free Transactive Control Strategy in a Residential House

Demand response plays an important role in addressing the uncertain, intermittent, and variable nature of renewable energy sources. However, to be effective, it requires a significant amount of demand load flexibility, in which buildings are important flexible assets for electricity systems. In this regard, many transactive control tools have been developed to harness this demand flexibility. Yet, such tools are mostly simulation-based or deal with a single load, which may not be sufficient to demonstrate their effectiveness. Towards this end, this paper presents a field implementation and testing of a hierarchical model-free transactive control strategy using residential building thermostatically controlled loads. The transactive control implementation incorporates elements of virtual battery, game theory, and model-free control mechanisms. Experimental field-testing results are provided to demonstrate the effectiveness of the proposed transactive control strategy.

Olama, Mohammed M.↗

Field Test Best Practices

This report can be used as a resource for advice on every stage of field research in residential buildings. It can be used as a reference document to find descriptions of specific types of common measurements and tricks of the trade, or as a primer on home field research providing a basic education on the subject. The report begins with descriptions of field experiment design and discusses advantages and disadvantages of different types of data acquisition systems. The bulk of the paper describes the common measurements needed in residential field work, the hardware options for making the measurements, and field notes on with tips, tricks, and cautions.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Near field testing of LARC multiple beam antenna

Near field antenna measurements as an alternative to far field measurements are discussed. Most of the serious shortcomings of far field measurements can be alleviated using near field techniques. The near field data can be used as a direct diagnostic of antenna performance before the integration by the aperture which can make it difficult to isolate the cause of far field pattern anomalies.

Lang, G. J.↗

Evaluation of a Wave Powered Water Pump Performance by Ocean Field Testing and WEC-Sim Modeling

This submission from AMEC (the Atlantic Marine Energy Center) includes data from an ocean field deployment of a wave powered water pump in March 2023. The wave pump is an upweller device, designed to enhance macroalgal aquaculture. The wave pump device was deployed off the coast of Isles of Shoals Appledore Island in Maine, USA. The data were collected using a custom-built DAQ module comprised of Arduino Unos. GPS time stamp accompanies the data. The data are volumetric flow rate from the wave pump, and relative motion of the device between float and spar buoys. Flow rate is measured by flow meter, and relative motion is measured by lidar. Calibration data for the lidar and flow meter sensors are included. This data set also includes synchronous Sofar Spotter buoy data from a mooring approximately 300 feet away from the wave pump mooring. Video data from the deployment are included from both on-board the device sporadically throughout the deployment, and from a webcam for a short duration of the deployment. Hydrophone data were also taken co-currently, and are available by contacting Martin Wosnik at the University of New Hampshire. The Matlab code used to process the field data is incorporated. A biological assessment is included which aided the NEPA consultation process, prior to conducting the field deployment. A WEC-Sim numerical model of the wave pump, and a re-design effort are part of this work. Code used to validate the WEC-Sim model from the field data are also included.

16 TIDAL AND WAVE POWER↗

Far-Field Antenna Pattern From a Near-Field Test

Plane/polar geometry simplifies measurement of near-field data for this antenna and allows a determination of far-field pattern by Jacobi-Bessel series expansion of data. Measuring probe is an undersized, dielectrically loaded and open-ended waveguide with a far-field pattern similar to that of a small magnetic dipole in its forward directions, making it unnecessary to rotate probe in direction similar to antenna rotation.

Rahmat-Samii, Y.↗

The Mobile Agents Integrated Field Test: Mars Desert Research Station April 2003

The Mobile Agents model-based, distributed architecture, which integrates diverse components in a system for lunar and planetary surface operations, was extensively tested in a two-week field "technology retreat" at the Mars Society s Desert Research Station (MDRS) during April 2003. More than twenty scientists and engineers from three NASA centers and two universities refined and tested the system through a series of incremental scenarios. Agent software, implemented in runtime Brahms, processed GPS, health data, and voice commands-monitoring, controlling and logging science data throughout simulated EVAs with two geologists. Predefined EVA plans, modified on the fly by voice command, enabled the Mobile Agents system to provide navigation and timing advice. Communications were maintained over five wireless nodes distributed over hills and into canyons for 5 km; data, including photographs and status was transmitted automatically to the desktop at mission control in Houston. This paper describes the system configurations, communication protocols, scenarios, and test results.

Clancey, William J.↗