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At least 1,189 records · Page 66

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NASA NTRS2005

The Earth Science Afternoon Constellation: Preparing for Autonomous but Coordinated Operations

This paper describes how the challenges of coordinating the autonomous operations of geographically dispersed mission control centers for several small and large satellites are being overcome. The Earth Science Afternoon Constellation, also referred to as the "A-Train", is an international grouping of five NASA satellites (two major NASA EOS missions and three NASA/Earth System Science Pathfinder missions) and one French satellite orbiting in close proximity. This grouping of satellites provides scientists with the opportunity to perform coincident observations using data from two or more instruments on various satellites with measurements taken at approximately the same time. Three of the six missions are currently on-orbit, with the two missions expected to join the constellation later this year and one mission in 2007. The operational challenges are daunting for several reasons. There are several Mission Control Centers (widely separated on two continents), operating autonomously under tight budget constraints. All of the Mission Control Centers have reasons to be concerned about safety while flying in close proximity to other satellites, but most Centers did not have the resources or the desire to address this concern alone - the interfaces are too numerous and anticipated operations too costly. Clearly, an efficient approach was needed. This paper describes the steps taken to make this Earth science constellation a reality. Agreements were forged to allow the Mission Control Centers to maintain their autonomy, while ensuring their satellite's safety. Each member mission in the constellation operates independently in accordance with its own mission requirements, but the member missions have agreed to coordinate their operations, i.e., orbital positions and control to ensure the safety of the entire constellation. A centralized system was developed at NASA Goddard Space Flight Center to collect, analyze, and distribute ephemeris data used by each of the mission teams to determine the positions of the satellites in the constellation. The system issues warnings regarding possible dangerous configurations, eliminating the need for redundant capabilities at each Mission Control Center. On-orbit contingency situations were identified and analyzed; agreements were reached in advance of contingency operations to ensure that coordination between the Mission Control Centers can be handled expeditiously and fairly. In this manner, recovery from anomalous situations can be more quickly realized, thereby increasing the science return and reducing costs. The process used to develop these contingency procedures and the systems used to facilitate the contingency resolution are described as well.

Case, Warren↗

NASA NTRS1993

Hemodynamic and autonomic nervous system responses to mixed meal ingestion in healthy young and old subjects and dysautonomic patients with postprandial hypotension

BACKGROUND. Although postprandial hypotension is a common cause of falls and syncope in elderly persons and in patients with autonomic insufficiency, the pathophysiology of this disorder remains unknown. METHODS AND RESULTS. We examined the hemodynamic, splanchnic blood pool, plasma norepinephrine (NE), and heart rate (HR) power spectra responses to a standardized 400-kcal mixed meal in 11 healthy young (age, 26 +/- 5 years) and nine healthy elderly (age, 80 +/- 5 years) subjects and 10 dysautonomic patients with symptomatic postprandial hypotension (age, 65 +/- 16 years). Cardiac and splanchnic blood pools were determined noninvasively by radionuclide scans, and forearm vascular resistance was determined using venous occlusion plethysmography. In healthy young and old subjects, splanchnic blood volume increased, but supine blood pressure remained unchanged after the meal. In both groups, HR increased and systemic vascular resistance remained stable. Forearm vascular resistance and cardiac index increased after the meal in elderly subjects, whereas these responses were highly variable and of smaller magnitude in the young. Young subjects demonstrated postprandial increases in low-frequency HR spectral power, representing cardiac sympatho-excitation, but plasma NE remained unchanged. In elderly subjects, plasma NE increased after the meal but without changes in the HR power spectrum. Patients with dysautonomia had a large postprandial decline in blood pressure associated with no change in forearm vascular resistance, a fall in systemic vascular resistance, and reduction in left ventricular end diastolic volume index. HR increased in these patients but without changes in plasma NE or the HR power spectrum. CONCLUSIONS. 1) In healthy elderly subjects, the maintenance of blood pressure homeostasis after food ingestion is associated with an increase in HR, forearm vascular resistance, cardiac index, and plasma NE. In both young and old, systemic vascular resistance is maintained. 2) Dysautonomic patients with postprandial hypotension fail to maintain systemic vascular resistance after a meal. This impairment in vascular response to meal ingestion may underlie the development of postprandial hypotension. 3) The measurement of mean HR or plasma NE does not adequately characterize autonomic cardiac control. Power spectral analysis suggests an impairment in the postprandial autonomic modulation of HR in healthy elderly and dysautonomic subjects, possibly predisposing to hypotension when vascular compensation is inadequate.

Non-NASA Center↗

NASA NTRS2012

Intelligent Optical Systems Using Adaptive Optics

Until recently, the phrase adaptive optics generally conjured images of large deformable mirrors being integrated into telescopes to compensate for atmospheric turbulence. However, the development of smaller, cheaper devices has sparked interest for other aerospace and commercial applications. Variable focal length lenses, liquid crystal spatial light modulators, tunable filters, phase compensators, polarization compensation, and deformable mirrors are becoming increasingly useful for other imaging applications including guidance navigation and control (GNC), coronagraphs, foveated imaging, situational awareness, autonomous rendezvous and docking, non-mechanical zoom, phase diversity, and enhanced multi-spectral imaging. The active components presented here allow flexibility in the optical design, increasing performance. In addition, the intelligent optical systems presented offer advantages in size and weight and radiation tolerance.

Clark, Natalie↗

NASA NTRS2000

2nd & 3rd Generation Vehicle Subsystems

This paper contains viewgraph presentation on the "2nd & 3rd Generation Vehicle Subsystems" project. The objective behind this project is to design, develop and test advanced avionics, power systems, power control and distribution components and subsystems for insertion into a highly reliable and low-cost system for a Reusable Launch Vehicles (RLV). The project is divided into two sections: 3rd Generation Vehicle Subsystems and 2nd Generation Vehicle Subsystems. The following topics are discussed under the first section, 3rd Generation Vehicle Subsystems: supporting the NASA RLV program; high-performance guidance & control adaptation for future RLVs; Evolvable Hardware (EHW) for 3rd generation avionics description; Scaleable, Fault-tolerant Intelligent Network or X(trans)ducers (SFINIX); advance electric actuation devices and subsystem technology; hybrid power sources and regeneration technology for electric actuators; and intelligent internal thermal control. Topics discussed in the 2nd Generation Vehicle Subsystems program include: design, development and test of a robust, low-maintenance avionics with no active cooling requirements and autonomous rendezvous and docking systems; design and development of a low maintenance, high reliability, intelligent power systems (fuel cells and battery); and design of a low cost, low maintenance high horsepower actuation systems (actuators).

Source record↗

NASA NTRS2008

Human Factors in Training

Future space missions will be significantly longer than current Shuttle missions and new systems will be more complex than current systems. Increasing communication delays between crews and Earth-based support means that astronauts need to be prepared to handle the unexpected on their own. As crews become more autonomous, their potential span of control and required expertise must grow to match their autonomy. It is not possible to train for every eventuality ahead of time on the ground, or to maintain trained skills across long intervals of disuse. To adequately prepare NASA personnel for these challenges, new training approaches, methodologies, and tools are required. This research project aims at developing these training capabilities. Training efforts in FY07 strongly focused on crew medical training, but also began exploring how Space Flight Resource Management training for Mission Operations Directorate (MOD) Flight Controllers could be integrated with systems training for optimal Mission Control Center operations. Beginning in January 2008, the training research effort will include team training prototypes and tools. The Training Task addresses Program risks that lie at the intersection of the following three risks identified by the Project: 1) Risk associated with poor task design; 2) Risk of error due to inadequate information; 3) Risk associated with reduced safety and efficiency due to poor human factors design.

Barshi, Immanuel↗

DOE OSTI2018

Engineering Scale Testing of Robotic Inspection Tools for Double Shell Tanks at Hanford - 18349

Waste found in the annulus of the AY-102 double-shell tank (DST) at Hanford has prompted the need for the development of inspection tools that are able to access confined spaces around and underneath the tanks. During the last year, Florida International University (FIU) has been developing inspection tools that are capable of accessing the tank floors through the air supply line, the air refractory channels and the drain lines. This effort has led to the development of a pneumatic pipe crawler and a miniature rover. In this paper, updates to the inspection tool designs and the full scale testing of both systems are presented. The tools provide visual feedback for the operator, carrying with them onboard cameras and light sources. The images are streamed back live via a tether, which also provides power to the devices. To increase the sensing capabilities of both tools, temperature, humidity and radiation sensor modules are being integrated onto the developed systems, and can be interchanged depending on the inspection objectives. The miniature rover measures 7 cm in length and 3.8 cm in width, and travels upside down on the bottom of the tank to avoid debris accumulated in the channels. The video is also being processed real-time to provide control of the unit semi-autonomously. The pipe crawler measures approximately 76 cm in length and 6.4 cm in diameter, and travels using pneumatic actuators that emulate the peristaltic movement contractions typical of worm type robots. A full-scale sectional mock-up of the DST foundation, refractory system and annulus is currently being developed as a test-bed for the testing of the inspection tools. The intention of the test-bed is to demonstrate the viability of using both inspection tools in configurations similar to the actual tank. The test-bed includes a 2.43 m wide section of both tank liners, refractory channels and concrete foundation with drain slots. The test-bed is designed to be modular so that various plate thicknesses can be easily utilized and different refractory configurations can be incorporated. Currently, the refractory channels are of the tree type structure with turns that are approximately 30 degrees. Both inspection tools were demonstrated in the mock-up facility. The miniature rover ran successfully through the drain slots from the annulus to central plenum and had no issues making the 90-degree turns. The peristaltic crawler was able to navigate through the 7.62 cm air supply line from the annulus to the central plenum. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2017

Overview of Intelligent Power Controller Development for the Deep Space Gateway

Intelligent, or autonomous, control of a spacecraft is an enabling technology that must be developed for deep space human exploration. NASAs current long term human space platform, the International Space Station, which is in Low Earth Orbit, is in almost continuous communication with ground based mission control. This allows near real-time control of all the vehicle core systems, including power, to be controlled by the ground. As focus shifts from Low Earth Orbit, communication time-lag and communication bandwidth limitations beyond geosynchronous orbit does not permit this type of operation. This presentation contains ongoing work at NASA to develop an architecture for autonomous power control and the vehicle manager which monitors, coordinates, and delegates to all the on-board subsystems to enable autonomous control of the complete spacecraft.

power management↗

NASA NTRSDate not supplied

Human Capabilities Assessments for Autonomous Missions: A Multi-Team Research Effort to Reduce Risk in the Human-System Integration Architecture for Future Deep-Space Missions

In future exploration missions beyond low earth-orbit, crew will have to execute complex operations and respond to off-nominal events, without real-time support from Mission Control. It is anticipated that increased reliance on automated systems, including human-centric vehicle and information architecture, will need to be designed to support the crew; increased risk to performance, health, and safety may occur if these are not implemented appropriately. The Human Factors and Behavioral Performance Element (HFBP) in the NASA Human Research Program supports research to characterize and mitigate such human health and performance risks, including the Risk of Adverse Outcome Due to Inadequate Human Systems Integration Architecture (HSIA). The HSIA risk addresses the integration of onboard capability and the crew roles and responsibilities necessary to enable the crew to respond effectively and efficiently in the increasingly autonomous mission operations environment. In 2017, HFBP released the “Human Capabilities Assessments for Autonomous Missions” (HCAAM) research topic to address HSIA related questions. HCAAM is a major NASA research effort that has assembled a multidisciplinary team from seven institutions to work closely with design and engineering efforts on research towards developing and refining human performance standards, guidelines and automation tools. The scientific focus is on quantitative assessment of human capabilities relevant to future deep-space missions during which earth/spacecraft communication is so delayed and intermittent that the crew must be able to function autonomously. The integrated strategy of the HCAAM project characterizes human capabilities and limitations related to potential performance decrements during long duration exploration mission spaceflight as relevant to both routine and complex task performance; defines system characteristics that reduce the likelihood or impact of potential decrements in human performance capabilities; performs integrated assessment of intelligent system responses within the context of an operational environment with relevant NASA tools, systems, and data structures in order to determine positive or negative interactions and validate recommended approaches; and proposes specific updates to existing standards and guidelines for inclusion in NASA handbooks for the design of future spacecraft intelligent systems that provide crew performance assessment/feedback, and to also serve as decision-support aids for the onboard crew (i.e., NASA-STD-3001, and NASA/SP-Human Integration Design Handbook (HIDH)). The scientific research vectors being addressed by the seven HCAAM teams include: - crew task performance (accuracy, efficiency) (crew + automation) - crew performance (accuracy, efficiency) - crew Situation Awareness - procedure design and multi-modal enhancement - concurrent tasking (mixed manual + some level of autonomy) - task handover - crew self-planning and time-lining - task design - trust in automation, real-time calibration - human multi-sensory feedback and guidance - human trust in on-board software-based intelligent assistants - virtual assistants The presentation will highlight plans and progress made in each of these research areas as well as the methods by which surrogate astronaut crews in the NASA JSC HERA spaceflight analog facility will function as human test subjects for all of the HCAAM research projects.

HCAAM VNSCOR↗

NASA NTRSDate not supplied

NASA Small Spacecraft Technology (SST) Program - Recent and Upcoming Technology Demonstrations and Development Efforts

The Small Spacecraft Technology (SST) program within NASA’s Space Technology Mission Directorate, expands the ability to execute unique missions through rapid development and demonstration of capabilities for small spacecraft applicable to exploration, science and the commercial space sector. Through targeted development and frequent in space testing, the program: • Enables execution of missions at much lower cost than previously possible • Substantially reduces the time required for development of spacecraft • Enables new mission architectures through the use of small spacecraft • Expands the reach of small spacecraft to new destinations and challenging new environments • Enables the augmentation of existing assets and future missions with supporting small spacecraft. The program achieves its objectives through: • Identification and investment in the development of new subsystem technologies to enhance or expand the capabilities of small spacecraft • Sponsorship of flight demonstrations of new technologies, capabilities and applications for small spacecraft • Promotion of the use of small spacecraft as platforms for testing and demonstrating technologies and capabilities that might have more general applications in larger-scale spacecraft and systems Technologies funded by the program that are key to advancing the utility and capability of small spacecraft were demonstrated in 2022 and 2023. Notable on-orbit demonstrations include the following. • The Cislunar Autonomous Positioning System Technology Operations and Navigation Experiment’s (CAPSTONE) navigation technology that was demonstrated for the first time in 2023 could provide autonomous onboard navigation information for future lunar missions, minimizing or eliminating human-in-the-loop mission operations. • The optical communications technology also demonstrated in 2023 by the TeraByte InfraRed Delivery (TBIRD) payload that launched on Pathfinder Technology Demonstrator-3, achieved 200 gigabit per second (Gbps) throughput on a space-to-ground optical link between a satellite in orbit and Earth, the highest data rate ever achieved by optical communications technology. • The precision laser pointing performance of NASA’s CubeSat Infrared CrossLink A (CLICK) spacecraft’s fine steering mirror control system was successfully demonstrated. This element of the laser communications system will be used to demonstrate two-way crosslink communication in low-Earth orbit by CLICK B/C anticipated to launch in late 2024. Investments in subsystem technology development through funding to university, industry, and other government partners in a number of areas will be discussed. Among others, topic areas include propulsion, autonomous swarm technology, edge computing, and thermal control. Additionally, the status of the CubeSat-alternative platform, DiskSat, strategies for accelerating the demonstration of technology payloads via the Realizing Rapid, Reduced-cost high-Risk Research (R5) project, and the status of recently completed and upcoming on-orbit demonstrations will also be presented.

Roger C Hunter↗

NASA NTRS1986

Autonomous Orbital Calculation for Satellites

Onboard orbital navigation system reduces dependence on Earth-tosatellite links. Report discusses mathematics of proposed navigation subsystem that keeps geostationary satellite in proper orbit without ground control. Subsystem uses data from Earth and Sun sensors to activate thrusters for station-keeping maneuvers. With sensors already on satellites for determining attitude, subsystem maintains satellite within 3 degrees of specified equatorial longitude for up to 6 months. With more accurate sensors, subsystem able to maintain orbit within 0.1 degrees.

Mease, K. D.↗

NASA NTRS2004

Performance of Off-the-Shelf Technologies for Spacecraft Cabin Atmospheric Major Constituent Monitoring

Monitoring the atmospheric composition of a crewed spacecraft cabin is central to successfully expanding the breadth and depth of first-hand human knowledge and understanding of space. Highly reliable technologies must be identified and developed to monitor atmospheric composition. This will enable crewed space missions that last weeks, months, and eventually years. Atmospheric composition monitoring is a primary component of any environmental control and life support system. Instrumentation employed to monitor atmospheric composition must be inexpensive, simple, and lightweight and provide robust performance. Such a system will ensure an environment that promotes human safety and health, and that the environment can be maintained with a high degree of confidence. Key to this confidence is the capability for any technology to operate autonomously, with little intervention from the crew or mission control personnel. A study has been conducted using technologies that, with further development, may reach these goals.

Tatara, J. D.↗

NASA NTRS2004

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

autonomous↗

NASA NTRS1986

Telerobotic assembly of space station truss structure

Discussed are methods of assembling the space station's structure utilizing only telerobotic devices, i.e.: (1) an approximately anthropomorphic telerobot with two dextrous arms; (2) the Shuttle Remote Manipulator System (SRNS); (3) various material handling machines. Timelines and task recommendations for autonomous operations are also included. Also described are some experimental results comparing two manipulator control devices.

Fischer, Grahme↗

NASA NTRS1989

Teleoperation experiments with a Utah/MIT hand and a VPL DataGlove

A teleoperation system capable of controlling a Utah/MIT Dextrous Hand using a VPL DataGlove as a master is presented. Additionally the system is capable of running the dextrous hand in robotic (autonomous) mode as new programs are developed. The software and hardware architecture used is presented and the experiments performed are described. The communication and calibration issues involved are analyzed and applications to the analysis and development of automated dextrous manipulations are investigated.

Clark, D.↗

NASA NTRS1993

Expanding the KATE toolbox

KATE (Knowledge-based Autonomous Test Engineer) is a model-based software system developed in the Artificial Intelligence Laboratory at the Kennedy Space Center for monitoring, fault detection, and control of launch vehicles and ground support systems. In order to bring KATE to the level of performance, functionality, and integratability needed for firing room applications, efforts are underway to implement KATE in the C++ programming language using an X-windows interface. Two programs which were designed and added to the collection of tools which comprise the KATE toolbox are described. The first tool, called the schematic viewer, gives the KATE user the capability to view digitized schematic drawings in the KATE environment. The second tool, called the model editor, gives the KATE model builder a tool for creating and editing knowledge base files. Design and implementation issues having to do with these two tools are discussed. It will be useful to anyone maintaining or extending either the schematic viewer or the model editor.

Thomas, Stan J.↗

NASA NTRS1994

Task-level control for autonomous robots

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

Simmons, Reid↗

NASA NTRS1994

Enhancements to the KATE model-based reasoning system

KATE (Knowledge-based Autonomous Test Engineer) is a model-based software system developed in the Artificial Intelligence Laboratory at the Kennedy Space Center for monitoring, fault detection, and control of launch vehicles and ground support systems. This report describes two software efforts which enhance the functionality and usability of KATE. The first addition, a flow solver, adds to KATE a tool for modeling the flow of liquid in a pipe system. The second addition adds support for editing KATE knowledge base files to the Emacs editor. The body of this report discusses design and implementation issues having to do with these two tools. It will be useful to anyone maintaining or extending either the flow solver or the editor enhancements.

Thomas, Stan J.↗

NASA NTRS2002

Development and Capabilities of Unique Structural Seal Test Rigs

High temperature structural seals are necessary in many aerospace and aeronautical applications to minimize any detrimental effects originating from undesired leakage. The NASA Glenn Research Center has been and continues to be a pioneer in the development and evaluation of these types of seals. The current focus for the development of structural seals is for the 3rd Generation Reusable Launch Vehicle (RLV), which is scheduled to replace the current space shuttle system around 2025. Specific areas of development under this program include seals for propulsion systems (such as the hypersonic air-breathing ISTAR engine concept based upon Rocket Based Combined Cycle technology) and control surface seals for spacecraft including the autonomous rescue X-38 Crew Return Vehicle and the X-37 Space Maneuver Vehicle.

DeMange, Jeffrey J.↗