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DOE OSTI2026

Self-driving thin film laboratory: autonomous epitaxial atomic-layer synthesis via real-time computer vision analysis of electron diffraction

Emerging materials science platforms with the ability to make autonomous decisions on the fly are fundamentally changing the outlook and protocols for materials optimization and discovery. Because AI-driven self-navigating schemes can effectively reduce the total number of iterations needed to arrive at the "answer" (i.e. the best stochiometric composition for a desired physical property, optimum materials processing parameters, etc.) by significant margins, they have the potential to revolutionize materials and chemical manufacturing processes at large in research laboratory settings as well as in industrial plants. Here, we demonstrate a successful implementation of real-time closed-loop autonomous navigation of a multi-dimensional materials synthesis parameter space for fabricating phase-pure epitaxial films of a metastable phase of a functional oxide in a combinatorial pulsed laser deposition chamber. Sequential epitaxial growth iterations in search of the optimized recipe to stabilize the desired crystal phase were performed using frame-by-frame quantitative computer vision analysis of reflection high-energy electron diffraction (RHEED) images of the unit-cell level film being deposited. The autonomous scheme regularly resulted in > 30-fold reduction in the number of required experiments compared to a comprehensive mapping of the parameter space. The real-time workflow developed here can be readily extended to a variety of thin film synthesis platforms opening the door for self-driving atomic-level materials design as well as autonomous optimization of semiconductor manufacturing.

36 MATERIALS SCIENCE↗

NASA NTRS1984

Command and telemetry in autonomous spacecraft design

Some major steps are summarized in the evolution of autonomous design features for planetary exploration spacecraft. The control and data architectures for the Viking, Voyager, and Galileo spacecraft are considered. Telemetry and command capabilities are fundamental features of spacecraft design that have been successfully used for autonomous control. Also discussed is the Autonomous Redundancy and Maintenance Management Subsystem (ARMMS) concept. The software approach to autonomous control provides for modifications to the control process or the addition of new operating features during flight operations.

Turner, P. R.↗

NASA NTRS1986

General autonomic components of motion sickness

This report refers to a body of investigations directed toward the examination of autonomic nervous system responses to motion sickness. Heart rate, respiration rate, finger pulse volume, and basal skin resistance were measured on 127 men and women before, during, and after exposure to a nauseogenic rotating chair test. Significant changes in all autonomic responses were observed across the tests (p less than .05). Significant differences in autonomic responses among groups divided according to motion sickness susceptibility were also observed (p less than .05). Results suggest that the examination of autonomic responses as an objective indicator of motion sickness malaise is warranted and may contribute to the overall understanding of the syndrome.

Cowings, Patricia S.↗

NASA NTRS1989

Tele-autonomous systems: New methods for projecting and coordinating intelligent action at a distance

There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. It is asserted that a blending of human intelligence, modern information technology, remote control, and intelligent autonomous systems is required, and have coined the term tele-autonomous technology, or tele-automation, for methods producing intelligent action at a distance. Tele-automation goes beyond autonomous control by blending in human intelligence. It goes beyond tele-operation by incorporating as much autonomy as possible and/or reasonable. A new approach is discussed for solving one of the fundamental problems facing tele-autonomous systems: The need to overcome time delays due to telemetry and signal propagation. New concepts are introduced called time and position clutches, that allow the time and position frames between the local user control and the remote device being controlled, to be desynchronized respectively. The design and implementation of these mechanisms are described in detail. It is demonstrated that these mechanisms lead to substantial telemanipulation performance improvements, including the result of improvements even in the absence of time delays. The new controls also yield a simple protocol for control handoffs of manipulation tasks between local operators and remote systems.

Conway, Lynn↗

NASA NTRS1991

An introduction to autonomous control systems

The functions, characteristics, and benefits of autonomous control are outlined. An autonomous control functional architecture for future space vehicles that incorporates the concepts and characteristics described is presented. The controller is hierarchical, with an execution level (the lowest level), coordination level (middle level), and management and organization level (highest level). The general characteristics of the overall architecture, including those of the three levels, are explained, and an example to illustrate their functions is given. Mathematical models for autonomous systems, including 'logical' discrete event system models, are discussed. An approach to the quantitative, systematic modeling, analysis, and design of autonomous controllers is also discussed. It is a hybrid approach since it uses conventional analysis techniques based on difference and differential equations and new techniques for the analysis of the systems described with a symbolic formalism such as finite automata. Some recent results from the areas of planning and expert systems, machine learning, artificial neural networks, and the area restructurable controls are briefly outlined.

Antsaklis, Panos J.↗

NASA NTRS1993

An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation.

Lindley, Craig A.↗

NASA NTRS2000

Flight Control System Development for the BURRO Autonomous UAV

Developing autonomous flying vehicles has been a growing field in aeronautical research within the last decade and will continue into the next century. With concerns about safety, size, and cost of manned aircraft, several autonomous vehicle projects are currently being developed; uninhabited rotorcraft offer solutions to requirements for hover, vertical take-off and landing, as well as slung load transportation capabilities. The newness of the technology requires flight control engineers to question what design approaches, control law architectures, and performance criteria apply to control law development and handling quality evaluation. To help answer these questions, this paper documents the control law design process for Kaman Aerospace BURRO project. This paper will describe the approach taken to design control laws and develop math models which will be used to convert the manned K-MAX into the BURRO autonomous rotorcraft. With the ability of the K-MAX to lift its own weight (6000 lb) the load significantly affects the dynamics of the system; the paper addresses the additional design requirements for slung load autonomous flight. The approach taken in this design was to: 1) generate accurate math models of the K-MAX helicopter with and without slung loads, 2) select design specifications that would deliver good performance as well as satisfy mission criteria, and 3) develop and tune the control system architecture to meet the design specs and mission criteria. An accurate math model was desired for control system development. The Comprehensive Identification from Frequency Responses (CIFER(R)) software package was used to identify a linear math model for unloaded and loaded flight at hover, 50 kts, and 100 kts. The results of an eight degree-of-freedom CIFER(R)-identified linear model for the unloaded hover flight condition are presented herein, and the identification of the two-body slung-load configuration is in progress.

Colbourne, Jason D.↗

NASA NTRS2001

Algorithms for Autonomous GS Orbit Determination and Formation Flying

This final report for our study of autonomous Global Positioning System (GPS) satellite orbit determination comprises two sections. The first is the Ph.D. dissertation written by Michael C. Moreau entitled, "GPS Receiver Architecture for Autonomous Navigation in High Earth Orbits." Dr. Moreau's work was conducted under both this project and a NASA GSRP. His dissertation describes the key design features of a receiver specifically designed for autonomous operation in high earth orbits (HEO). He focused on the implementation and testing of these features for the GSFC PiVoT receiver. The second part is a memo describing a robust method for autonomous initialization of the orbit estimate given very little a priori information and sparse measurements. This is a key piece missing in the design of receivers for HEO.

Moreau, Michael C.↗

NASA NTRS2002

A Flight Deck Decision Support Tool for Autonomous Airborne Operations

NASA is developing a flight deck decision support tool to support research into autonomous operations in a future distributed air/ground traffic management environment. This interactive real-time decision aid, referred to as the Autonomous Operations Planner (AOP), will enable the flight crew to plan autonomously in the presence of dense traffic and complex flight management constraints. In assisting the flight crew, the AOP accounts for traffic flow management and airspace constraints, schedule requirements, weather hazards, aircraft operational limits, and crew or airline flight-planning goals. This paper describes the AOP and presents an overview of functional and implementation design considerations required for its development. Required AOP functionality is described, its application in autonomous operations research is discussed, and a prototype software architecture for the AOP is presented.

Ballin, Mark G.↗

NASA NTRS2003

An Autonomous Control System for an Intra-Vehicular Spacecraft Mobile Monitor Prototype

This paper presents an overview of an ongoing research and development effort at the NASA Ames Research Center to create an autonomous control system for an internal spacecraft autonomous mobile monitor. It primary functions are to provide crew support and perform intra- vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the mission roles and high-level functional requirements for an autonomous mobile monitor. The mobile monitor prototypes, of which two are operational and one is actively being designed, physical test facilities used to perform ground testing, including a 3D micro-gravity test facility, and simulators are briefly described. We provide an overview of the autonomy framework and describe each of its components, including those used for automated planning, goal-oriented task execution, diagnosis, and fault recovery. A sample mission test scenario is also described.

Dorais, Gregory A.↗

NASA NTRS2003

Autonomous Aircraft Operations using RTCA Guidelines for Airborne Conflict Management

A human-in-the-loop experiment was performed at the NASA Langley Research Center to study the feasibility of DAG-TM autonomous aircraft operations in highly constrained airspace. The airspace was constrained by a pair of special-use airspace (SUA) regions on either side of the pilot's planned route. Traffic flow management (TFM) constraints were imposed as a required time of arrival and crossing altitude at an en route fix. Key guidelines from the RTCA Airborne Conflict Management (ACM) concept were applied to autonomous aircraft operations for this experiment. These concepts included the RTCA ACM definitions of distinct conflict detection and collision avoidance zones, and the use of a graded system of conflict alerts for the flight crew. Three studies were conducted in the course of the experiment. The first study investigated the effect of hazard proximity upon pilot ability to meet constraints and solve conflict situations. The second study investigated pilot use of the airborne tools when faced with an unexpected loss of separation (LOS). The third study explored pilot interactions in an over-constrained conflict situation, with and without priority rules dictating who should move first. Detailed results from these studies were presented at the 5th USA/Europe Air Traffic Management R&D Seminar (ATM2003). This overview paper focuses on the integration of the RTCA ACM concept into autonomous aircraft operations in highly constrained situations, and provides an overview of the results presented at the ATM2003 seminar. These results, together with previously reported studies, continue to support the feasibility of autonomous aircraft operations.

Krishnamurthy, Karthik↗

NASA NTRS2004

Autonomous Vegetation Cover Scene Classification of EO-1 Hyperion Hyperspectral Data

The Autonomous Sciencecraft Experiment (ASE) is a JPL-led, New Millennium Program mission containing new technology in the form of software to be flown on the Earth Observer-1 (EO-1) satellite in early 2004. This new technology will facilitate an artificially intelligent machine with autonomous science-driven capabilities. Among the ASE flight software is a set of onboard science algorithms designed for autonomous data processing, primarily based on change detection from observation to observation. Using the output from these algorithms, ASE has the ability to autonomously modify the EO-1 observation plan, retargeting itself for a more in-depth observation of a scientific event in progress. Furthermore, intelligent and selective information down-linking will maximize return of the most valuable scientific data. Among the algorithms developed for use on ASE is a Lava-Vegetation (L-V) detection algorithm. This algorithm can effectively identify the initial location and extent of lava and vegetation coverage based on spectral shape. Comparison of several different observations, all classified via this algorithm, can make change detection possible.

Lee, R. J.↗

NASA NTRS2004

Agent Technology, Complex Adaptive Systems, and Autonomic Systems: Their Relationships

To reduce the cost of future spaceflight missions and to perform new science, NASA has been investigating autonomous ground and space flight systems. These goals of cost reduction have been further complicated by nanosatellites for future science data-gathering which will have large communications delays and at times be out of contact with ground control for extended periods of time. This paper describes two prototype agent-based systems, the Lights-out Ground Operations System (LOGOS) and the Agent Concept Testbed (ACT), and their autonomic properties that were developed at NASA Goddard Space Flight Center (GSFC) to demonstrate autonomous operations of future space flight missions. The paper discusses the architecture of the two agent-based systems, operational scenarios of both, and the two systems autonomic properties.

Truszkowski, Walt↗

NASA NTRS2004

Pilot In Command: A Feasibility Assessment of Autonomous Flight Management Operations

Several years of NASA research have produced the air traffic management operational concept of Autonomous Flight Management with high potential for operational feasibility, significant system and user benefits, and safety. Among the chief potential benefits are demand-adaptive or scalable capacity, user flexibility and autonomy that may finally enable truly successful business strategies, and compatibility with current-day operations such that the implementation rate can be driven from within the user community. A concept summary of Autonomous Flight Management is provided, including a description of how these operations would integrate in shared airspace with existing ground-controlled flight operations. The mechanisms enabling the primary benefits are discussed, and key findings of a feasibility assessment of airborne autonomous operations are summarized. Concept characteristics that impact safety are presented, and the potential for initially implementing Autonomous Flight Management is discussed.

Wing, David J.↗

NASA NTRS2004

Autonomous Multi-Sensor Coordination: The Science Goal Monitor

Many dramatic earth phenomena are dynamic and coupled. In order to fully understand them, we need to obtain timely coordinated multi-sensor observations from widely dispersed instruments. Such a dynamic observing system must include the ability to Schedule flexibly and react autonomously to sciencehser driven events; Understand higher-level goals of a sciencehser defined campaign; Coordinate various space-based and ground-based resources/sensors effectively and efficiently to achieve goals. In order to capture transient events, such a 'sensor web' system must have an automated reactive capability built into its scientific operations. To do this, we must overcome a number of challenges inherent in infusing autonomy. The Science Goal Monitor (SGM) is a prototype software tool being developed to explore the nature of automation necessary to enable dynamic observing. The tools being developed in SGM improve our ability to autonomously monitor multiple independent sensors and coordinate reactions to better observe dynamic phenomena. The SGM system enables users to specify what to look for and how to react in descriptive rather than technical terms. The system monitors streams of data to identify occurrences of the key events previously specified by the scientisther. When an event occurs, the system autonomously coordinates the execution of the users' desired reactions between different sensors. The information can be used to rapidly respond to a variety of fast temporal events. Investigators will no longer have to rely on after-the-fact data analysis to determine what happened. Our paper describes a series of prototype demonstrations that we have developed using SGM and NASA's Earth Observing-1 (EO-1) satellite and Earth Observing Systems' Aqua/Terra spacecrafts' MODIS instrument. Our demonstrations show the promise of coordinating data from different sources, analyzing the data for a relevant event, autonomously updating and rapidly obtaining a follow-on relevant image. SGM was used to investigate forest fires, floods and volcanic eruptions. We are now identifying new Earth science scenarios that will have more complex SGM reasoning. By developing and testing a prototype in an operational environment, we are also establishing and gathering metrics to gauge the success of automating science campaigns.

Koratkar, Anuradha↗

NASA NTRS2004

Formal Methods for Autonomic and Swarm-based Systems

Swarms of intelligent rovers and spacecraft are being considered for a number of future NASA missions. These missions will provide MSA scientist and explorers greater flexibility and the chance to gather more science than traditional single spacecraft missions. These swarms of spacecraft are intended to operate for large periods of time without contact with the Earth. To do this, they must be highly autonomous, have autonomic properties and utilize sophisticated artificial intelligence. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm type of missions NASA is considering. This mission will explore the asteroid belt using an insect colony analogy cataloging the mass, density, morphology, and chemical composition of the asteroids, including any anomalous concentrations of specific minerals. Verifying such a system would be a huge task. This paper discusses ongoing work to develop a formal method for verifying swarm and autonomic systems.

Rouff, Christopher↗

NASA NTRS2004

Development and Evaluation of an Airborne Separation Assurance System for Autonomous Aircraft Operations

NASA Langley Research Center is developing an Autonomous Operations Planner (AOP) that functions as an Airborne Separation Assurance System for autonomous flight operations. This development effort supports NASA s Distributed Air-Ground Traffic Management (DAG-TM) operational concept, designed to significantly increase capacity of the national airspace system, while maintaining safety. Autonomous aircraft pilots use the AOP to maintain traffic separation from other autonomous aircraft and managed aircraft flying under today's Instrument Flight Rules, while maintaining traffic flow management constraints assigned by Air Traffic Service Providers. AOP is designed to facilitate eventual implementation through careful modeling of its operational environment, interfaces with other aircraft systems and data links, and conformance with established flight deck conventions and human factors guidelines. AOP uses currently available or anticipated data exchanged over modeled Arinc 429 data buses and an Automatic Dependent Surveillance Broadcast 1090 MHz link. It provides pilots with conflict detection, prevention, and resolution functions and works with the Flight Management System to maintain assigned traffic flow management constraints. The AOP design has been enhanced over the course of several experiments conducted at NASA Langley and is being prepared for an upcoming Joint Air/Ground Simulation with NASA Ames Research Center.

Barhydt, Richard↗

NASA NTRS2005

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete subsystems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Alhorn, Dean C.↗