Results for “Autonomous Design” — Page 69

NASA NTRSDate not supplied

Synthetic Failure Mode Generation for Resilience Analysis and Failure Mechanism Discovery

Traditional risk-based design processes seek to mitigate operational hazards by manually identifying possible faults and corresponding mitigation strategies—a tedious process which critically relies on the designer’s limited knowledge. Resilience-based design, on the other hand, seeks to embody generic hazard-mitigating properties in the system to mitigate unknown hazards, often by modelling the system's response to potential hazardous events. This work adapts this approach to the traditional risk-based design process to synthetically generate hazardous modes, by representing them as a unique combination of internal component health-states which can then be injected and simulated in a model of the system failure dynamics. The design process may then reduce the risk of unknown internal hazards by iteratively mitigating the effects of these modes. The performance of this approach is evaluated in a model of an autonomous rover, where cluster analysis shows that elaborating the space of synthetic faults in the drive system using this approach uncovers a wider range of possible hazardous trajectories and failure consequences within each trajectory. However, this increase in hazard information comes at a high computational expense, highlighting the need for advanced, efficient methods to search and sample the hazard space.

Simulation↗

NASA NTRSDate not supplied

Synthetic Failure Mode Generation for Resilience Analysis and Failure Mechanism Discovery

Traditional risk-based design processes seek to mitigate operational hazards by manually identifying possible faults and corresponding mitigation strategies—a tedious process which critically relies on the designer’s limited knowledge. Resilience-based design, on the other hand, seeks to embody generic hazard-mitigating properties in the system to mitigate unknown hazards, often by modelling the system's response to potential hazardous events. This work adapts this approach to the traditional risk-based design process to synthetically generate hazardous modes, by representing them as a unique combination of internal component health-states which can then be injected and simulated in a model of the system failure dynamics. The design process may then reduce the risk of unknown internal hazards by iteratively mitigating the effects of these modes. The performance of this approach is evaluated in a model of an autonomous rover, where cluster analysis shows that elaborating the space of synthetic faults in the drive system using this approach uncovers a wider range of possible hazardous trajectories and failure consequences within each trajectory. However, this increase in hazard information comes at a high computational expense, highlighting the need for advanced, efficient methods to search and sample the hazard space.

Simulation↗

NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics.

Dubowsky, Steven↗

NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating, the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics. This program was proposed and accepted as a three year research program, a period of time necessary to make the type of fundamental developments to make a significant contributions to space robotics. Unfortunately, less than a year into the program it became clear that the NASA Langley Research Center would be forced by budgetary constraints to essentially leave this area of research. As a result, the total funding we received under this grant represented approximately one year of the original, proposed and approved, funding. For some time, there was substantial uncertainty that even this very reduced level of funding would be provided. The spending of the reduced available funds was spread just over two years to provide the support to permit the MS students who had joined the program to receive their master's degree and terminate their studies in this area.

Dubowsky, Steven↗

NASA NTRS2005

Standardized Action Modules for Humanoid Robot Control

Humanoid robots could reduce the risks of hazardous work by replacing humans in dangerous environments and they could be useful helpers in environments designed primarily for humans. Currently, no robot is capable enough to fulfill either of these roles for any practical application, and the Humanoid Project at the Jet Propulsion Laboratory's Bio-Inspired Technologies and Systems group is striving to change that. For this summer, our goal was to endow a Fujitsu HOAP 2 humanoid robot with the necessary intelligence and knowledge to autonomously assemble a cubical frame structure from tubular bars and corner joints. Performing such a complicated task requires that the robot have a robust control architecture that allows for a multitude of abilities and Operation modes. We have designed and implemented a modular control architecture that allows reusability of existing code and the integration of work by many team members into the larger control system while providing an easy way to implement later improvements. Such a control system has allowed us to achieve important milestones in the humanoid robot assembly task.

Csaszar, Ambrus↗

DOE OSTI2023

Rapid design of top-performing metal-organic frameworks with qualitative representations of building blocks

Abstract Data-driven materials design often encounters challenges where systems possess qualitative (categorical) information. Specifically, representing Metal-organic frameworks (MOFs) through different building blocks poses a challenge for designers to incorporate qualitative information into design optimization, and leads to a combinatorial challenge, with large number of MOFs that could be explored. In this work, we integrated Latent Variable Gaussian Process (LVGP) and Multi-Objective Batch-Bayesian Optimization (MOBBO) to identify top-performing MOFs adaptively, autonomously, and efficiently. We showcased that our method (i) requires no specific physical descriptors and only uses building blocks that construct the MOFs for global optimization through qualitative representations, (ii) is application and property independent, and (iii) provides an interpretable model of building blocks with physical justification. By searching only ~1% of the design space, LVGP-MOBBO identified all MOFs on the Pareto front and 97% of the 50 top-performing designs for the CO 2 working capacity and CO 2 /N 2 selectivity properties.

36 MATERIALS SCIENCE↗

DOE OSTI2026

Perspectives for artificial intelligence in bioprocess automation

Recent advances in artificial intelligence (AI) have rapidly changed the lab automation landscape, promoting self-driving laboratories (SDLs) that enable autonomous scientific discovery. These trends are increasingly applied in bioprocess development, yet bioprocessing faces unique challenges - biological complexity, regulatory and safety requirements, and multiscale experimentation - that distinguish it from other automation domains. Rather than pursuing full autonomy, we foresee that hybrid SDLs, combining AI-driven decision-making with sustained human oversight, represent the most practical near-term trajectory. This review examines three interconnected perspectives: (i) hybrid human-machine decision-making for bioprocessing; (ii) laboratory design considerations in the era of AI; and (iii) scale-up challenges when transitioning from screening to manufacturing. We highlight critical gaps in data standardization and the required community efforts necessary to realize autonomous bioprocess innovation.

Helleckes, Laura Marie↗

NASA NTRSDate not supplied

Bootstrapping Multi-Agent Unmanned Aerial Vehicle (UAV) System Integration Using Ground-Based Assets: Lessons Learned

In support of the Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) project, a fleet of unmanned ground vehicles (UGVs) was developed as a test and evaluation (T\&E) platform to reduce system integration gaps between simulation and live flight hardware. While simulation and hardware-in-the-loop bench testing provide adequate environments for preliminary validation, differences in system deployment architecture, software interfaces, and hardware infrastructure increase the risks to safety, property, and the project. Given ATTRACTOR’s goal of establishing a basis of certification of trust and trustworthiness in multi-agent autonomous systems, bridging these gaps was critical to successful project execution and feasibility assessment. In this paper we present the UGV fleet and its role in speeding up system integration, smoothing the transition from simulation to flight, and providing researchers an easy-to-use hardware test bed. An overview of the hardware and software on-board the vehicles is provided along with supporting infrastructure. The system integration process is documented including results in supporting both the overarching design reference mission (DRM) of ATTRACTOR and individual research efforts conducted since the creation of the fleet. Finally, we discuss the practical lessons learned regarding the testing, deployment, and operation of multi-agent autonomous systems.

Matthew P. Vaughan↗

NASA NTRS2009

Tele-Supervised Adaptive Ocean Sensor Fleet

The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.

Lefes, Alberto↗

NASA NTRS1985

Socio-technical integration of the workplace

The objective of socio-technical theory and design is to provide the best match between the social system and the technical system. The achievement of a best match makes optimal use of the resources of both systems. Implementation of this theory is best served when there is involvement by the user organization. The involvement relative to the introduction of new technology in the organization is extremely significant. Employee involvement is critical to effective participative management. The trends toward participative management and employee involvement have taken various forms. These have included quality circles, semi-autonomous teams and adhoc action teams. It is noteworthy to point out, as these processes have evolved, the role of a facilitator has become more prevalent. The facilitation of the socio-technical design system in industrial engineering is described.

Carter, G. L.↗

NASA NTRS1990

Lunar surface vehicle evolution - FY89-90 NASA studies

A return to the moon in the first decade of the next century, as called for by President Bush in his July 20, 1989 speech, will challenge the talents of the engineers and designers faced for the first time with the task of designing elements and systems for a 'permanent' extraterrestrial outpost. The set of surface vehicles for such a permanent outpost will require not only rovers for crew and science package transport, but autonomous rovers for site surveying and remote science, construction vehicles for outpost set-up and mining vehicles for using the resources of the moon to benefit the outpost. Studies conducted in FY 1989, including those supporting NASA's 90-day Study activity, and others continuing throughout FY 1990 are defining the lunar surface vehicle set in increasing detail. This paper describes recent work performed by NASA's Jet Propulsion Laboratory and Johnson Space Center, as well as by other supporting NASA installations in the definition of the lunar vehicle set. Classification of vehicle functions and mission requirements are first examined, and vehicle characteristics and reference designs are synthesized. The paper concludes with a discussion of current work and future goals.

Connolly, John F.↗

DOE OSTI2020

Colloidal Quantum Dot Photovoltaics: Current Progress and Path to Gigawatt Scale Enabled by Smart Manufacturing

Colloidal quantum dots (QDs) have lately been pursued with intense vigor for optoelectronic applications such as photovoltaics (PV), flexible electronics, displays, mid-infrared photodetectors, lasers, and single-photon emitters. These nanometer-sized semiconducting crystals can be suitably mass-produced and size-tuned via cost-effective solution-based synthetic routes to operate in the quantum size confinement regime, endowing them with a wide array of exotic optical and electronic properties. While the first potential market entry could be in displays and in niche applications such as “internet-of-things”, ultimately, the technology has the potential to influence large-scale terrestrial power generation, because it is amenable to high-throughput synthesis from Earth-abundant materials and large-area solution-based coating techniques and can be air-stable. In this Review, we chronicle the recent advances that have propelled QD PV toward commercialization and highlight potential areas for further progress. We present an account of the material compositions being explored as QDs and their various benefits, major chemical passivation and doping strategies that have been developed to allay QD surface traps, and advanced device designs deployed to maximize charge extraction. We also discuss pathways to >20% efficient QD PV and describe recent advances in high-precision and autonomous synthesis of such materials. With recent demonstrations of scalable synthesis of high-quality QDs, smart manufacturing of QDs and QD solids, and fabrication of stable solar cells under ambient conditions, we suggest that the technology is on the road to achieving maturity and technological relevance and that gigawatt per year distributed panel production sites may be within reach.

14 SOLAR ENERGY↗

DOE OSTI2022

On the frontiers of coupled extreme environments

Coupled extreme environments pose among the highest demands on materials, stressing the limits of temperature, pressure, electric and magnetic fields, atomic displacement rates, and chemical potentials that can be simultaneously sustained. Here, this issue highlights exciting new materials science methods that will enable rapid progress in what has traditionally been the most difficult materials arena. New opportunities in artificial intelligence, multi-physics simulations capabilities, the use of extreme conditions to synthesize novel materials, and our ability to interrogate materials under relevant conditions provide new avenues to understand and design new materials.

36 MATERIALS SCIENCE↗

NASA NTRS2001

Network Configuration Analysis for Formation Flying Satellites

The performance of two networks to support autonomous multi-spacecraft formation flying systems is presented. Both systems are comprised of a ten-satellite formation, with one of the satellites designated as the central or 'mother ship.' All data is routed through the mother ship to the terrestrial network. The first system uses a TCP/EP over ATM protocol architecture within the formation, and the second system uses the IEEE 802.11 protocol architecture within the formation. The simulations consist of file transfers using either the File Transfer Protocol (FTP) or the Simple Automatic File Exchange (SAFE) Protocol. The results compare the IP queuing delay, IP queue size and IP processing delay at the mother ship as well as end-to-end delay for both systems. In all cases, using IEEE 802.11 within the formation yields less delay. Also, the throughput exhibited by SAFE is better than FTP.

Knoblock, Eric J.↗

NASA NTRS2002

Sensing and perception challenges of planetary surface robotics

This expository paper describes sensing and perception issues facing the space robotics community concerned with deploying autonomous rovers on other planetary surfaces.

planetary rovers perception surface exploration se↗

NASA NTRS1985

Thermal microstructure measurement system

A thermal microstructure measurement system (TMMS) operates autonomously h its own internal power supply and telemeters data to a platform. A thermal array is mounted on a cross-braced frame designed to orient itself normal to existing currents with fixed sensor positioning bars protruding from the cross bars. A plurality of matched thermistors, conductivity probes and inclinometers are mounted on the frame. A compass and pressure transducer are contained in an electronics package suspended below the array. The array is deployed on a taut mooring below a subsurface float. Data are digitized, transmitted via cable to a surface buoy and then telemetered to the platform where the data is processed via a computer, recorded and/or displayed. The platform computer also sends commands to the array via telemetry.

Carver, Michael J.↗

NASA NTRS2009

Applications of Payload Directed Flight

Next generation aviation flight control concepts require autonomous and intelligent control system architectures that close control loops directly around payload sensors in manner more integrated and cohesive that in traditional autopilot designs. Research into payload directed flight control at NASA Ames Research Center is investigating new and novel architectures that can satisfy the requirements for next generation control and automation concepts for aviation. Tighter integration between sensor and machine requires definition of specific sensor-directed control modes to tie the sensor data directly into a vehicle control structures throughout the entire control architecture, from low-level stability- and control loops, to higher level mission planning and scheduling reasoning systems. Payload directed flight systems can thus provide guidance, navigation, and control for vehicle platforms hosting a suite of onboard payload sensors. This paper outlines related research into the field of payload directed flight; and outlines requirements and operating concepts for payload directed flight systems based on identified needs from the scientific literature.'

Ippolito, Corey↗

NASA NTRS2016

NASA's Orbital Debris Optical and IR Ground-Based Observing Program Utilizing the MCAT, UKIRT, and Magellan Telescopes

Characterizing debris in Earth-orbit has become increasingly important as the population growth rises steadily, posing greater and greater threats to active satellites with each passing year. Currently, the Joint Space Operations is tracking over 23,000 pieces of debris, ranging in size from 1-meter and larger in geosychronous orbits (GEO) to 10-cm and larger at low-Earth orbits (LEO). Model estimates suggest that there may be more than 500,000 pieces of spacecraft debris larger than 1 cm currently in orbit around the Earth. With such a small fraction of the total population being tracked, and new break-ups occurring in LEO, GEO, and Geo Transfer Orbits, new assets, techniques, and approaches for characterizing this debris are needed. With this in mind, NASA's Orbital Debris Program Office has actively tasked a suite of telescopes around the world. In 2015, the newly-built 1.3m optical Meter Class Autonomous Telescope (MCAT) came on-line on Ascension Island in the South Atlantic Ocean and is currently in its commissioning phase. MCAT is designed to track Earth-orbiting objects above 200km, conduct surveys at GEO, and work in tandem with a newly-installed Raven-class commercial-off-the-shelf system, a 0.4-meter telescope co-located on Ascension with a field-of-view similar to MCAT's and research-grade instrumentation designed to complement MCAT for observations taken either simultaneously or in tandem. The 3.8m infrared UKIRT telescope on Mauna Kea, Hawaii, has been heavily tasked throughout 2015 and into 2016, collecting data on individual targets as well as in survey modes to study both the general GEO population as well as an individual break-up event of a BRIZ-M Rocket body that occurred in January 2016. Data collected include photometry and spectroscopy in the near-Infrared (0.85-2.5 m) and the mid-infrared (8-16 m). Finally, the 6.5-m Baade Magellan telescope at Las Campanas Observatory in Chile was used to collect optical photometric survey data in October 2015 of two GEO Titan breakups, focusing on locations of possible debris concentrations as indicated by the NASA standard break-up model.

Lederer, Susan↗