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At least 1,171 records · Page 65

A survey on the coordination of connected and automated vehicles at intersections and merging at highway on-ramps

Connected and automated vehicles (CAVs) have the potential to improve safety by reducing and mitigating traffic accidents. They can also provide opportunities to reduce transportation energy consumption and emissions by improving traffic flow. Vehicle communication with traffic structures and traffic lights can allow individual vehicles to optimize their operation and account for unpredictable changes. This paper summarizes the developments and the research trends in coordination with the CAVs that have been reported in the literature to date. In conclusion, remaining challenges and potential future research directions are also discussed.

33 ADVANCED PROPULSION SYSTEMS↗

Automating the U.S. Space Station's electrical power system

NASA's Lewis Research Center is developing a highly automated system for the generation, storage and distribution of electrical power aboard the projected Space Station. This autonomous power system will employ conventional algorithms, enhanced by expert systems, to schedule power, allocate energy, diagnose causes of failure, propose goals, prepare plans for their implementation, evaluate their consequences, and select optimum plans for their execution. While crew-interactive expert systems will be ready for the initial Space Station, total system autonomy is expected to require additional development time.

Dolce, James L.↗

A distributed telerobotics system for space operations

Robotic systems for space operations will require a combination of teleoperation, closely supervised autonomy, and loosely supervised autonomy. They may involve multiple robots, multiple controlling sites, and long communication delays. We have constructed a distributed telerobotics system as a framework for studying these problems. Our system is based on a modular interconnection scheme which allows the components of either manual or autonomous control systems to communicate and share information. It uses a wide area network to connect robots and operators at several different sites. This presentation will describe the structure of our system, the components used in our configurations, and results of some of our teleoperation experiments.

Wise, James D.↗

Space Robot Operating System (Space ROS)

Space Robot Operating System (Space ROS) is an open-source software framework for flight-quality robotic and autonomous space systems. It combines the benefits of open-source software and flight software best-practices into a single framework. Space ROS is predicated on ROS2 and is therefore reusable, modular and adoptable. As an open-source framework, it is accessible to the global space community. Space ROS is intended to be compliant with NASA flight software engineering practices in order to facilitate meeting mission and safety standards. Space ROS has fault management and real-time capabilities at its core.

Will Chambers↗

Adaptive Stress Testing: Finding Likely Failure Events with Reinforcement Learning

Finding the most likely path to a set of failure states is important to the analysis of safety-critical systems that operate over a sequence of time steps, such as aircraft collision avoidance systems and autonomous cars. In many applications such as autonomous driving, failures cannot be completely eliminated due to the complex stochastic environment in which the system operates.As a result, safety validation is not only concerned about whether a failure can occur, but also discovering which failures are most likely to occur. This article presents adaptive stress testing (AST), a framework for finding the most likely path to a failure event in simulation. We consider a general black box setting for partially observable and continuous-valued systems operating in an environment with stochastic disturbances. We formulate the problem as a Markov decision process and use reinforcement learning to optimize it. The approach is simulation-based and does not require internal knowledge of the system, making it suitable for black-box testing of large systems. We present different formulations depending on whether the state is fully observable or partially observable. In the latter case, we present a modified Monte Carlo tree search algorithm that only requires access to the pseudorandom number generator of the simulator to overcome partial observability. We also present an extension of the framework, called differential adaptive stress testing (DAST), that can find failures that occur in one system but not in another. This type of differential analysis is useful in applications such as regression testing, where we are concerned with finding areas of relative weakness compared to a baseline. We demonstrate the effectiveness of the approach on an aircraft collision avoidance application, where a prototype aircraft collision avoidance system is stress tested to find the most likely scenarios of near mid-air collision.

Verification and Validation↗

Concept synthesis of an equipment manipulation and transportation system EMATS

The European Columbus Scenario is established. One of the Columbus Elements, the Man Tended Free Flyer will be designed for fully autonomous operation in order to provide the environment for micro gravity facilities. The Concept of an autonomous automation system which perform servicing of facilities and deals with related logistic tasks is discussed.

Depeuter, W.↗

NASA's Moon to Mars Autonomous Habitat Status

NASA is developing a strategy for sending humans to the Mars vicinity, known broadly as the Moon to Mars (M2M) Campaign. A critical part of this campaign is the development of in-space and surface habitation systems capable of substantially extending human presence beyond Low Earth Orbit (LEO). Mars missions feature an in-space transit habitat capable of supporting crews of four on ~850-1200-day missions, including transit to and from Mars and time in Mars orbit. Surface and transit habitats are complex elements which must keep crewmembers healthy and productive in deep-space environments with limited resources, long rescue times in contingency situations, and communication delays; all within constrained mass, volume, and power budgets. These habitats provide crew both living and workspace as well as most of the resources needed to support crew life. For deep space habitats, automation needs to be employed due to latency and for significant amounts of time when the habitats are uncrewed. Automation of systems is possible in space applications, but there are limitations. Outside of the Earth’s (or any) magnetosphere, radiation environments are harsh to both the physical hardware and the software components. Radiation (charged particles and ionizing electromagnetic waves) degrades and damages the hardware and causes single event upsets (SEUs) in software. If the hardware is damaged, data can be lost, or control actions not made. For software, SEUs cause algorithms to result in different solutions, or incorrect commands to be sent out. This means that algorithms and hardware used for deep space systems are different than what is used on Earth. Radiation-tolerant hardware is generations behind the current state-of-the-art hardware. Recent NASA missions, such as James Webb Space Telescope, continue to rely on older technologies such as the RAD750 processor, and the most advanced processors are still single core and less than 1.5 GHz. There have been attempts to use higher performance processors, but these often take multiple mitigation steps to handle the radiation environments, which limits the processing power and/or throughput. Current techniques for radiation mitigation have been redundancies, voting, physical separation of hardware, encasing materials, under-clocking hardware, and more. Some radiation mitigation techniques do provide benefits such as having a redundant system to improve the probability that a system will be available when needed. Autonomous software systems will have fewer interactions with humans on deep space missions and therefore need to be able to handle more off-nominal conditions. Microgravity also complicates the autonomous aspects of the mission because autonomous systems are usually built from known deterministic states, but microgravity causes physical objects to shift and move changing the location an autonomous system placed the object. Not only does the software need to be reliable and deterministic, losing resources due to a software error is not only costly but detrimental to reputation. The combination of having lower performance hardware and having to be able to verify and deterministically run software and an ever-changing environment makes deep space autonomous systems more complicated. Multiple gaps have been identified including verification of autonomous software algorithms (including artificial intelligence and machine learning), higher performance processors (graphics and general purpose), high speed networks (onboard and transmissions), memory, power distribution, data security, and variations from these. These gaps need to be closed for more advanced systems to be deployed and reduce the size, weight, and power impacts on the habitats.

Scott B. Tashakkor↗

Control System of Multi-Port Autonomous Reconfigurable Solar Power Plant (MARS) & HIL Platforms for Design

Multi-port autonomous reconfigurable solar power plant (MARS) provides an attractive alternative to connect photovoltaic (PV) and energy storage systems (ESSs) to high-voltage direct current (HVdc) links and high-voltage alternating current (ac) grids. In this paper, a unique hierarchical control system of MARS is proposed and evaluated. To evaluate the control system and associated algorithms in early-stage research of complex architectures like MARS, it is important to develop unique suitable hardware-in-the-loop (HIL) platforms. In this paper, the HIL platforms for MARS to evaluate the performance of the hierarchical control system and the control algorithms implemented are presented. Further, they help with the design process of control systems. The real-time simulation models and algorithms that are utilized for MARS in the HIL platforms are also discussed in the paper. The HIL experiments of the control system of MARS showcase the capability to provide continuity of operation under faults and frequency support to the power grid during loss of generation. They also showcase the stability of the proposed hierarchical control system of MARS.

14 SOLAR ENERGY↗

Broadband IR Measurements for Modis Validation

The primary objective of this research was the development and deployment of autonomous shipboard systems for infrared measurement of ocean surface skin temperature (SST). The focus was on demonstrating long-term, all-weather capability and supplying calibrated skin SST to the MODIS Ocean Science Team (MOCEAN). A secondary objective was to investigate and account for environmental factors that affect in situ measurements of SST for validation of satellite products. We developed and extensively deployed the Calibrated, InfraRed, In situ Measurement System, or CIRIMS, for at-sea validation of satellite-derived SST. The design goals included autonomous operation at sea for up to 6 months and an accuracy of +/- 0.1 C. We used commercially available infrared pyrometers and a precision blackbody housed in a temperature-controlled enclosure. The sensors are calibrated at regular interval using a cylindro-cone target immersed in a temperature-controlled water bath, which allows the calibration points to follow the ocean surface temperature. An upward-looking pyrometer measures sky radiance in order to correct for the non-unity emissivity of water, which can introduce an error of up to 0.5 C. One of the most challenging aspects of the design was protection against the marine environment. A wide range of design strategies to provide accurate, all-weather measurements were investigated. The CIRIMS uses an infrared transparent window to completely protect the sensor and calibration blackbody from the marine environment. In order to evaluate the performance of this approach, the design incorporates the ability to make measurements with and without the window in the optical path.

Jessup, Andrew T.↗

Gender differences in autonomic cardiovascular regulation: spectral, hormonal, and hemodynamic indexes

The autonomic nervous system drives variability in heart rate, vascular tone, cardiac ejection, and arterial pressure, but gender differences in autonomic regulation of the latter three parameters are not well documented. In addition to mean values, we used spectral analysis to calculate variability in arterial pressure, heart rate (R-R interval, RRI), stroke volume, and total peripheral resistance (TPR) and measured circulating levels of catecholamines and pancreatic polypeptide in two groups of 25 +/- 1.2-yr-old, healthy men and healthy follicular-phase women (40 total subjects, 10 men and 10 women per group). Group 1 subjects were studied supine, before and after beta- and muscarinic autonomic blockades, administered singly and together on separate days of study. Group 2 subjects were studied supine and drug free with the additional measurement of skin perfusion. In the unblocked state, we found that circulating levels of epinephrine and total spectral power of stroke volume, TPR, and skin perfusion ranged from two to six times greater in men than in women. The difference (men > women) in spectral power of TPR was maintained after beta- and muscarinic blockades, suggesting that the greater oscillations of vascular resistance in men may be alpha-adrenergically mediated. Men exhibited muscarinic buffering of mean TPR whereas women exhibited beta-adrenergic buffering of mean TPR as well as TPR and heart rate oscillations. Women had a greater distribution of RRI power in the breathing frequency range and a less negative slope of ln RRI power vs. ln frequency, both indicators that parasympathetic stimuli were the dominant influence on women's heart rate variability. The results of our study suggest a predominance of sympathetic vascular regulation in men compared with a dominant parasympathetic influence on heart rate regulation in women.

Non-NASA Center↗

Long-Duration Space Flight Provokes Pathologic Q-Tc Interval Prolongation

Space flight has a profound influence on the cardiovascular and autonomic nervous systems. Alterations in baroreflex function, plasma catecholamine concentrations, and arterial pressure regulation have been observed. Changes in autonomic regulation of cardiac function may lead to serious rhythm disturbances. In fact, ventricular tachycardia has been reported during long-duration space flight. The study aim was to determine the effects of space flight on cardiac conduction. Methods and Results: Electrocardiograms (ECGs) and serum electrolytes were obtained before and after short-duration (SD) (4-16 days) and long-duration (LD) (4-6 months) missions. Holter recordings were obtained from 3 different subjects before, during and after a 4-month mission. P-R, R-R, and Q-T intervals were measured manually in a random, blinded fashion and Bazzet's formula used to correct the Q-T interval (Q-Tc). Space flight had no clinically significant effect on electrolyte concentrations. P-R and RR intervals were decreased after SD flight (p<0.05) and recovered 3 days after landing. In the same subjects, P-R and Q-Tc intervals were prolonged after LD flight (p<0.01). Clinically significant Q-Tc prolongation (>0.44 sec) occurred during the first month of flight and persisted until 3 days after landing (p<0.01). Conclusions - Space flight alters cardiac conduction with more ominous changes seen with LD missions. Alterations in autonomic tone may explain ECG changes associated with space flight. Primary cardiac changes may also contribute to the conduction changes with LD flight. Q-Tc prolongation may predispose astronauts to ventricular arrhythmias during and after long-duration space flight.

D'Aunno, DOminick S.↗

Fiber Bragg Grating Sensor System for Monitoring Smart Composite Aerospace Structures

Lightweight, electromagnetic interference (EMI) immune, fiber-optic, sensor- based structural health monitoring (SHM) will play an increasing role in aerospace structures ranging from aircraft wings to jet engine vanes. Fiber Bragg Grating (FBG) sensors for SHM include advanced signal processing, system and damage identification, and location and quantification algorithms. Potentially, the solution could be developed into an autonomous onboard system to inspect and perform non-destructive evaluation and SHM. A novel method has been developed to massively multiplex FBG sensors, supported by a parallel processing interrogator, which enables high sampling rates combined with highly distributed sensing (up to 96 sensors per system). The interrogation system comprises several subsystems. A broadband optical source subsystem (BOSS) and routing and interface module (RIM) send light from the interrogation system to a composite embedded FBG sensor matrix, which returns measurand-dependent wavelengths back to the interrogation system for measurement with subpicometer resolution. In particular, the returned wavelengths are channeled by the RIM to a photonic signal processing subsystem based on powerful optical chips, then passed through an optoelectronic interface to an analog post-detection electronics subsystem, digital post-detection electronics subsystem, and finally via a data interface to a computer. A range of composite structures has been fabricated with FBGs embedded. Stress tensile, bending, and dynamic strain tests were performed. The experimental work proved that the FBG sensors have a good level of accuracy in measuring the static response of the tested composite coupons (down to submicrostrain levels), the capability to detect and monitor dynamic loads, and the ability to detect defects in composites by a variety of methods including monitoring the decay time under different dynamic loading conditions. In addition to quasi-static and dynamic load monitoring, the system can capture acoustic emission events that can be a prelude to structural failure, as well as piezoactuator-induced ultrasonic Lamb-waves-based techniques as a basis for damage detection.

Moslehi, Behzad↗

Risk of Cardiac Rhythm Problems During Spaceflight

NASA has concerns regarding the incidence and clinical significance of cardiac arrhythmias that could occur during long-term exposure to the spaceflight environment, such as on the International Space Station (ISS) or during a prolonged (e.g., up to 3 years) sojourn to Mars or on the Moon. There have been some anecdotal reports and a few documented cases of cardiac arrhythmias in space, including one documented episode of non-sustained ventricular tachycardia. The potential catastrophic nature of a sudden cardiac death in the remote space environment has led to concerns from the early days of the space program that spaceflight might be arrhythmogenic. Indeed, there are known and well-defined changes in the cardiovascular system with spaceflight: a) plasma volume is reduced, b) left ventricular mass is decreased, and c) the autonomic nervous system adapts to the weightless environment. Combined, these physiologic adaptations suggest that changes in cardiac structure and neuro-humoral environment during spaceflight could alter electrical conduction, although the evidence supporting this contention consists mostly of minor changes in QT interval (the time between the start of the Q wave and the end of the T wave on an electrocardiogram tracing) in a small number of astronauts after long-duration spaceflight. Concurrent with efforts by NASA Medical Operations to refine and improve screening techniques relevant to arrhythmias and cardiovascular disease, as NASA enters the era of exploration-class missions it will be critical to determine with the highest degree of certainty whether spaceflight by itself alters cardiac structure and function sufficiently to increase the risk of arrhythmias.

Lee, Stuart M. C.↗

Study and development of techniques for automatic control of remote manipulators

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

Shaket, E.↗

The sympathetic nervous system and the physiologic consequences of spaceflight: a hypothesis

Many of the physiologic consequences of weightlessness and the cardiovascular abnormalities on return from space could be due, at least in part, to alterations in the regulation of the autonomic nervous system. In this article, the authors review the rationale and evidence for an autonomic mediation of diverse changes that occur with spaceflight, including the anemia and hypovolemia of weightlessness and the tachycardia and orthostatic intolerance on return from space. This hypothesis is supported by studies of two groups of persons known to have low catecholamine levels: persons subjected to prolonged bedrest and persons with syndromes characterized by low circulating catecholamines (Bradbury-Eggleston syndrome and dopamine beta-hydroxylase deficiency). Both groups exhibit the symptoms mentioned. The increasing evidence that autonomic mechanisms underlie many of the physiologic consequences of weightlessness suggests that new pharmacologic approaches (such as administration of beta-blockers and/or sympathomimetic amines) based on these findings may attenuate these unwanted effects.

short duration↗

Oscillations in nonlinear feedback systems.

It is shown how some basic ideas from system theory and differential geometry can be used to establish new results concerning the existance of oscillations for autonomous feedback systems. The conditions obtained are expressed in terms of the frequency response characteristic of the open-loop system and certain general properties of the nonlinearity.

Williamson, D.↗

Global Monitoring of Clouds and Aerosols Using a Network of Micro-Pulse Lidar Systems

Long-term global radiation programs, such as AERONET and BSRN, have shown success in monitoring column averaged cloud and aerosol optical properties. Little attention has been focused on global measurements of vertically resolved optical properties. Lidar systems are the preferred instrument for such measurements. However, global usage of lidar systems has not been achieved because of limits imposed by older systems that were large, expensive, and logistically difficult to use in the field. Small, eye-safe, and autonomous lidar systems are now currently available and overcome problems associated with older systems. The first such lidar to be developed is the Micro-pulse lidar System (MPL). The MPL has proven to be useful in the field because it can be automated, runs continuously (day and night), is eye-safe, can easily be transported and set up, and has a small field-of-view which removes multiple scattering concerns. We have developed successful protocols to operate and calibrate MPL systems. We have also developed a data analysis algorithm that produces data products such as cloud and aerosol layer heights, optical depths, extinction profiles, and the extinction-backscatter ratio. The algorithm minimizes the use of a priori assumptions and also produces error bars for all data products. Here we present an overview of our MPL protocols and data analysis techniques. We also discuss the ongoing construction of a global MPL network in conjunction with the AERONET program. Finally, we present some early results from the MPL network.

Welton, Ellsworth J.↗

EDEN: a payload dedicated to neurovestibular research for Neurolab

The European Space Agency contributes to the Neurolab mission through the delivery of the ESA Developed Elements for Neurolab (EDEN). Those elements include one set supporting the Autonomic Nervous System experiment and one set supporting the Neurovestibular (so-called ATLAS) experiment. This second set is called the Visual and Vestibular Investigation System (VVIS). This paper describes the main characteristics of the VVIS and its various subsystems. The scientific objectives and operational constraints of the ATLAS experiment to be carried out with this equipment during Neurolab are presented to underline the correspondence between the VVIS design and the scientific requirements. Further scientific and technical perspectives for the VVIS, particularly within the scope of the International Space station, are also proposed.

Non-NASA Center↗