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All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Software Defined Radio Architecture Contributions to Next Generation Space Communications

Space communications architecture concepts, comprising the elements of the system, the interactions among them, and the principles that govern their development, are essential factors in developing National Aeronautics and Space Administration (NASA) future exploration and science missions. Accordingly, vital architectural attributes encompass flexibility, the extensibility to insert future capabilities, and to enable evolution to provide interoperability with other current and future systems. Space communications architectures and technologies for this century must satisfy a growing set of requirements, including those for Earth sensing, collaborative observation missions, robotic scientific missions, human missions for exploration of the Moon and Mars where surface activities require supporting communications, and in-space observatories for observing the earth, as well as other star systems and the universe. An advanced, integrated, communications infrastructure will enable the reliable, multipoint, high-data-rate capabilities needed on demand to provide continuous, maximum coverage for areas of concentrated activity. Importantly, the cost/value proposition of the future architecture must be an integral part of its design; an affordable and sustainable architecture is indispensable within anticipated future budget environments. Effective architecture design informs decision makers with insight into the capabilities needed to efficiently satisfy the demanding space-communication requirements of future missions and formulate appropriate requirements. A driving requirement for the architecture is the extensibility to address new requirements and provide low-cost on-ramps for new capabilities insertion, ensuring graceful growth as new functionality and new technologies are infused into the network infrastructure. In addition to extensibility, another key architectural attribute of the space communication equipment's interoperability with other NASA communications systems, as well as those communications and navigation systems operated by international space agencies and civilian and government agencies. In this paper, we review the philosophies, technologies, architectural attributes, mission services, and communications capabilities that form the structure of candidate next-generation integrated communication architectures for space communications and navigation. A key area that this paper explores is from the development and operation of the software defined radio for the NASA Space Communications and Navigation (SCaN) Testbed currently on the International Space Station (ISS). Evaluating the lessons learned from development and operation feed back into the communications architecture. Leveraging the reconfigurability provides a change in the way that operations are done and must be considered. Quantifying the impact on the NASA Space Telecommunications Radio System (STRS) software defined radio architecture provides feedback to keep the standard useful and up to date. NASA is not the only customer of these radios. Software defined radios are developed for other applications, and taking advantage of these developments promotes an architecture that is cost effective and sustainable. Developments in the following areas such as an updated operating environment, higher data rates, networking and security can be leveraged. The ability to sustain an architecture that uses radios for multiple markets can lower costs and keep new technology infused.

Lessons Learned↗
NASA NTRS2017

Next-Generation RS-25 Engines for the NASA Space Launch System

The utilization of heritage RS-25 engine, also known as the Space Shuttle Main Engine (SSME), has enabled rapid progress in the development and certification of the NASA Space Launch System (SLS) toward operational flight status. The RS-25 brings design maturity and extensive experience gained through 135 missions, 3000+ ground tests, and over a million seconds total accumulated hot-fire time. In addition, there were also over a dozen functional flight assets remaining from the Space Shuttle program that could be leveraged to support the first four flights. Beyond these initial SLS flights, NASA must have a renewed supply of RS-25 engines that must reflect program affordability imperatives as well as technical requirements imposed by the SLS Block-1B vehicle (i.e., 111% RPL power level, reduced service life). Recognizing the long lead times needed for the fabrication, assembly and acceptance testing of flight engines, design activities are underway at NASA and the RS-25 engine provider, Aerojet Rocketdyne, to improve system affordability and eliminate obsolescence concerns. This paper describes how the achievement of these key objectives are enabled largely by utilizing modern materials and fabrication technologies, but also by innovations in systems engineering and integration (SE&I) practices.

Ballard, Richard O.↗
NASA NTRS1983

Overview of NASA space station activities

The architecture, functions, and human activities on-board a space station are discussed. A manned presence is regarded as essential for innovative actions and successful exploitation of weightless conditions. The station itself could be a cluster of modules for habitation, power, operations, docking, experimentation, and storage. Additionally, the station could provide an interface for free-flying platforms and teleoperated satellite services, as well as a base for establishing space-based manufacturing facilities. NASA has projected timelines that include initial development funding in 1987, full capabilities before the year 2000, and initial costs for minimum capabilities of $7.5-9 billion. Architecture, mission requirements, trade-offs, and concepts are currently being defined as a prelude to systems development. Attention is being given to participation by both the DoD and other governments, and to defining the capabilities of the station, including habitability, closed-loop life-support system, the scope of science application and data transfer, and the power requirements.

Tilton, E. L., III↗
NASA NTRS1988

Robotic influence in the conceptual design of mechanical systems in space and vice versa - A survey

A survey of methods using robotic devices to construct structural elements in space is presented. Two approaches to robotic construction are considered: one in which the structural elements are designed using conventional aerospace techniques which tend to constrain the function aspects of robotics and one in which the structural elements are designed from the conceptual stage with built-in robotic features. Examples are presented of structural building concepts using robotics, including the construction of the SP-100 nuclear reactor power system, a multimirror large aperture IR space telescope concept, retrieval and repair in space, and the Flight Telerobotic Servicer.

Sanger, George F.↗
NASA NTRS1997

Performance Analysis of the NAS Y-MP Workload

This paper describes the performance characteristics of the computational workloads on the NAS Cray Y-MP machines, a Y-MP 832 and later a Y-MP 8128. Hardware measurements indicated that the Y-MP workload performance matured over time, ultimately sustaining an average throughput of 0.8 GFLOPS and a vector operation fraction of 87%. The measurements also revealed an operation rate exceeding 1 per clock period, a well-balanced architecture featuring a strong utilization of vector functional units, and an efficient memory organization. Introduction of the larger memory 8128 increased throughput by allowing a more efficient utilization of CPUs. Throughput also depended on the metering of the batch queues; low-idle Saturday workloads required a buffer of small jobs to prevent memory starvation of the CPU. UNICOS required about 7% of total CPU time to service the 832 workloads; this overhead decreased to 5% for the 8128 workloads. While most of the system time went to service I/O requests, efficient scheduling prevented excessive idle due to I/O wait. System measurements disclosed no obvious bottlenecks in the response of the machine and UNICOS to the workloads. In most cases, Cray-provided software tools were- quite sufficient for measuring the performance of both the machine and operating, system.

Bergeron, Robert J.↗
NASA NTRS2018

FUELEAP Model-Based System Safety Analysis

NASA researchers, in a partnership with Boeing, are investigating a fuel-cell powered variant of the X-57 “Maxwell” Mod-II electric propulsion aircraft, which is itself derived from a stock Tecnam P2006T. The “Fostering Ultra-Efficient Low-Emitting Aviation Power” (FUELEAP) project will replace the X-57 power subsystem with a hybrid Solid-Oxide Fuel Cell (SOFC) system to increase the potential range of the electric-propulsion aircraft while dramatically improving efficiency and emissions over stock internal-combustion engines. Our FUELEAP safety analysis faces two primary challenges. First, the Part 23 certificated Tecnam P2006T is undergoing significant modifications to host the hybrid electric-propulsion system, and the challenge is to assure that the safety inherent in the stock aircraft (and subsequently in X-57 Mod-II) is not compromised by changes in avionics, aircraft structural loading, weight and balance, or other considerations. Secondly, because the SOFC power system has little (if any) relevant in-service precedent, our challenge is to assure that we identify and mitigate all reasonably plausible hazards introduced by unique FUELEAP equipage. We are investigating and utilizing Model-Based Safety Analysis (MBSA) methods to help us address these FUELEAP safety challenges. We captured aircraft-level system hazard conditions using instances of a SysML hazard block via aircraft-level Functional Hazard Analysis (FHA). Then, using SysML models of the FUELEAP architecture, we related the hazard conditions to initiating system events and possible mitigations, such as design architecture modifications or operational constraints. We are continuing to define our approach to MBSA by developing a component-by-component inventory of local failure modes and tracing their possible contribution to hazard conditions. Finally, we are applying an argument-based approach to FUELEAP assurance. Through a FUELEAP “safety case,” we are providing an explicit argument for FUELEAP safety by associating assurance evidence with overarching safety claims through a structured argument.

Woodham, Kurt P.↗
NASA NTRS1986

TAE Plus: A conceptual view of TAE in the space station era

The use of the Transportable Applications Executive (TAE) for prototyping user interfaces has been the prime force behind the new TAE research and development work. The Data Systems Technology Division at GSFC is developing prototypes of user interfaces for different functions involved in the operation, analysis and data communication of space station payloads. TAE is a valuable prototyping tool because it enables a developer to build an entire application user interface model and run it without writing a single line of application code. One force driving new development is the need to update TAE's user interface to support the latest interactive graphic device technology. The current TAE, TAE Classic, uses interface techniques designed for an 80x24 character monochrome alphanumeric terminal, but does not effectively utilize features such as windowing, graphics, color, and selection devices available on newer workstations. To meet our needs, development of a TAE Plus began in FY-86 and involves augmenting TAE with three different sets of tools: a user interface toolkit; an application toolkit; and run-time service subroutines. A phased approach is being used to develop TAE Plus. In the first phase, we have met the needs of the user community and provided some support for rapid prototyping by developing a TAE Facelift, which adds an enhanced TAE interface (with windowing, mouse interaction, pull-down menus, etc.) to a select set of graphic workstations. The TAE Facelift allows many new concepts to be tested quickly for feedback and performance. In the second phase, a fully-integrated user interface management system, TAE Plus, will be built that supports the separation of interface from application, with the concomitant ability to prototype and rapidly change interfaces. This robust functionality will support, in an integrated manner, an application's development cycle from the prototype step through to the fully operational system.

Szczur, Martha↗
DOE OSTI2021

Mol* Viewer: modern web app for 3D visualization and analysis of large biomolecular structures

Abstract Large biomolecular structures are being determined experimentally on a daily basis using established techniques such as crystallography and electron microscopy. In addition, emerging integrative or hybrid methods (I/HM) are producing structural models of huge macromolecular machines and assemblies, sometimes containing 100s of millions of non-hydrogen atoms. The performance requirements for visualization and analysis tools delivering these data are increasing rapidly. Significant progress in developing online, web-native three-dimensional (3D) visualization tools was previously accomplished with the introduction of the LiteMol suite and NGL Viewers. Thereafter, Mol* development was jointly initiated by PDBe and RCSB PDB to combine and build on the strengths of LiteMol (developed by PDBe) and NGL (developed by RCSB PDB). The web-native Mol* Viewer enables 3D visualization and streaming of macromolecular coordinate and experimental data, together with capabilities for displaying structure quality, functional, or biological context annotations. High-performance graphics and data management allows users to simultaneously visualise up to hundreds of (superimposed) protein structures, stream molecular dynamics simulation trajectories, render cell-level models, or display huge I/HM structures. It is the primary 3D structure viewer used by PDBe and RCSB PDB. It can be easily integrated into third-party services. Mol* Viewer is open source and freely available at https://molstar.org/.

Sehnal, David↗
DOE OSTI2022

High Throughput Computational Framework of Materials Properties for Extreme Environments

This project aims to establish a framework capable of efficiently predicting the properties of structural materials for service in harsh environments over a wide range of temperatures and over long periods of time. The approach is to develop and integrate high throughput first-principles calculations in combination with machine learning (ML) methods, perform high throughput CALPHAD (calculations of phase diagrams) modeling, and carry out finite element method (FEM) simulations. Relevant to high temperature service in fossil power system, nickel-based superalloys such as Inconel 740 and Haynes 282 as well as the associated (Ni-Cr-Co)-Al-C-Fe-Mn-Mo-Nb-Si-Ti system, were investigated. The present framework was built on the concept of phase-based property data, in which properties of individual phases are modeled as a function of internal and external independent variables. This project established an open-source infrastructure with the following capabilities: (1) High throughput implementation of first-principles calculations at finite temperatures and variable compositions using both accurate phonon calculations and the efficient Debye model for thermodynamic properties, elastic constants, diffusion coefficients, vacancy formation, stacking and twin faults, and dislocation mobility; i.e., using the developed code DFTTK; (2) Machine learning capabilities to predict the above properties so that the number of first-principles calculations can be significantly reduced; e.g., using the developed code SIPFENN; (3) High throughput CALPHAD modeling of the above properties as a function of temperature and composition using our unique capability based on ESPEI and PyCalphad; (4) New capabilities to predict the stress-strain behavior of individual phases; and (5) New models for tensile strength prediction in common FEM software with the crystal plasticity finite element simulations (CPFEM).

, Ni-based superalloys↗
NASA NTRS1991

Design and operation of the U.S. Space Station Freedom Propulsion System

The propulsion functions for the U.S. Space Station Freedom (SSF) are accomplished by two separate systems, the Primary Propulsion System and the Supplemental Reboost System (SRS). The Primary Propulsion System includes self-contained hydrazine modules for station reboost, attitude control and contingency maneuvers. These Propulsion Modules contain reboost and attitude control thrusters, propellant storage, thermal conditioning and electronic controls. The modules are serviced on the ground and launched on the Space Shuttle as replacements for the on-orbit modules which have expended their propellant. The expended modules are returned to the ground for reservicing and subsequent reuse. The Supplemental Reboost System includes a Waste Gas Assembly and Resistojet Modules which are used for reboost maneuvers only. The Waste Gas Assembly contains waste gas storage, compressors and dryers and the Resistojet Modules contain multipropellant resistojet thrusters, electronic pressure regulators and power conditioning equipment.

Morano, Joseph S.↗
NASA NTRS2014

Reflections on Centaur Upper Stage Integration by the NASA Lewis (Glenn) Research Center

The NASA Glenn (then Lewis) Research Center (GRC) led several expendable launch vehicle (ELV) projects from 1963 to 1998, most notably the Centaur upper stage. These major, comprehensive projects included system management, system development, integration (both payload and stage), and launch operations. The integration role that GRC pioneered was truly unique and highly successful. Its philosophy, scope, and content were not just invaluable to the missions and vehicles it supported, but also had significant Agencywide benefits. An overview of the NASA Lewis Research Center (now the NASA Glenn Research Center) philosophy on ELV integration is provided, focusing on Atlas/Centaur, Titan/Centaur, and Shuttle/Centaur vehicles and programs. The necessity of having a stable, highly technically competent in-house staff is discussed. Significant depth of technical penetration of contractor work is another critical component. Functioning as a cohesive team was more than a concept: GRC senior management, NASA Headquarters, contractors, payload users, and all staff worked together. The scope, content, and history of launch vehicle integration at GRC are broadly discussed. Payload integration is compared to stage development integration in terms of engineering and organization. Finally, the transition from buying launch vehicles to buying launch services is discussed, and thoughts on future possibilities of employing the successful GRC experience in integrating ELV systems like Centaur are explored.

Launch Vehicle↗
NASA NTRS2015

Reflections on Centaur Upper Stage Integration by the NASA Lewis (Glenn) Research Center

The NASA Glenn (then Lewis) Research Center (GRC) led several expendable launch vehicle (ELV) projects from 1963 to 1998, most notably the Centaur upper stage. These major, comprehensive projects included system management, system development, integration (both payload and stage), and launch operations. The integration role that GRC pioneered was truly unique and highly successful. Its philosophy, scope, and content were not just invaluable to the missions and vehicles it supported, but also had significant Agency-wide benefits. An overview of the NASA Lewis Research Center (now the NASA Glenn Research Center) philosophy on ELV integration is provided, focusing on Atlas/Centaur, Titan/Centaur, and Shuttle/Centaur vehicles and programs. The necessity of having a stable, highly technically competent in-house staff is discussed. Significant depth of technical penetration of contractor work is another critical component. Functioning as a cohesive team was more than a concept: GRC senior management, NASA Headquarters, contractors, payload users, and all staff worked together. The scope, content, and history of launch vehicle integration at GRC are broadly discussed. Payload integration is compared to stage development integration in terms of engineering and organization. Finally, the transition from buying launch vehicles to buying launch services is discussed, and thoughts on future possibilities of employing the successful GRC experience in integrating ELV systems like Centaur are explored.

Centaur↗
DOE OSTI2020

Semantic Interoperability to Enable Smart, Grid-Interactive Efficient Buildings

Achieving a widespread transition to grid-interactive, efficient buildings (GEBs) depends critically on there being sufficient interoperability among connected building systems. While many critical elements already exist at the technical interoperability level (TCP/IP, BACnet, etc.), a lack of interoperability in the semantic level hinders streamlined integration of interdependent applications. Semantics refers to expressing information about “things” in a way that can be consistently understood by applications. Key components of formalized semantics include identifying what a “thing” is (its “type”), defining general information about that “thing” (its characteristics or properties), and defining the appropriate relationships of that “thing” to other “things” (its function or role in a larger system). Although this might seem initially trivial, the success of smart building applications is highly dependent on maintaining consistent notions of the “things” being self-descriptive. Without semantic interoperability, it is technically difficult, labor-intensive, and cost-prohibitive to enable three key objectives of GEBs: optimizing performance, identifying faults, and delivering grid services. Industry, academia, and standards bodies have invested effort in developing information models to facilitate semantic interoperability, however, they have not been widely adopted across the U.S. commercial building portfolio. This paper will present a pathway to drive semantic interoperability through a three-pronged approach to be led by the DOE Building Technologies Office in partnership with NIST and multiple national laboratories comprising: 1) industry engagement and coordination across existing efforts; 2) a semantic interoperability standard that empowers building owners to identify and require interoperable attributes when procuring equipment and applications; 3) tools to assist in implementation and a test framework that can verify compliance of products with semantic interoperability specifications. This strategic approach is designed to accelerate the timeline for adoption of semantic interoperability standards. The intent is to reduce soft costs associated with implementing advanced controls, fault detection and diagnostics, and other smart building technologies as a necessary step in achieving an energy efficient smart grid future.

semantic interoperability, Semantic modeling, inte↗
DOE OSTI2023

Safer Foundation Solar Demands Skill Collaborative

The milestones and accomplishments achieved in Safer’s Solar Demands Skill Training program required a collective effort of stakeholders. The ability to achieve the desired results and impact lives of the population we serve works best when collaborating with community stakeholders such as community-based organizations, faith-based organizations, community activists, local law enforcement, community residents, employers, and elected and appointed officials. We are working harder than ever to place clients in-demand careers and high-growth industry sectors. Our employer engagement with high growth sectors continues to increase, we have been able to deepen our relationships in this space by providing in demand stackable credential training. Launched our initiative in the green job space by partnering with organizations like ComEd, the Department of Energy, community-based organizations, faith-based organizations, and manufacturers that helped to train clients in the green jobs and renewable energy space. By the end of the year, we will have completed our tenth cohort of photovoltaic solar installation training. The training has been used as a foundation for solar panel installers to acquire new skills in in the green jobs career pathways, such as sales and customer service. It has also served as a pipeline to union-level trade positions through the skills participants obtained through partnership engagement. Safer Foundation's policy and advocacy team plays a major role in expanding opportunities for people with records to over one hundred occupations, including the trades. This reform has allowed many to secure living wage employment, reducing the high recidivism rate within Illinois. Safer continues to build our social enterprise with Reconstructive Technology Partners (RTP). RTP is introducing people with records to the construction trades such as solar, carpentry and electrical through residential remodeling of homes on smaller construction projects. Understanding the need to have a greater community presence, outreach was extended to a boots on the ground model, including, but not limited to door-to-door engagement, DE-EE0008571 Safer Foundation Page 4 of 29 local radio broadcasting and print ads in local newspapers. We continue to seek innovative ways to increase Safer Foundations' presence in the renewable energy space. Outreach efforts gave us an opportunity to share critical reentry information and opportunities about our PV installer program. Giving us reach with local and national audiences alike. We launched a systematic approach to improving client data and client tracking through an evidence-based practices initiative. That implemented an agency wide cross-functional data management system. The system supported our goal of reviewing, evaluating, and making recommendations to improve operational processes, program delivery, information sharing, and more. Played a significant part in the success of the solar program. Finally, economists around the nation agree that there is a significant labor shortage. The shortage directly threatens our ability to sustain our economic growth; if employers do not have access to the workers they need, it can lead to a shutdown in the economic recovery. The demand for Safer Foundation services is more important and impactful than ever. We will continue to build upon our 50 years of experience to address the challenges ahead and serve more people in a better way. We are confident we will accomplish beautiful things that benefit everyone involved because together, we are powerful.

14 SOLAR ENERGY↗
DOE OSTI2021

Heterogeneous creep deformation behavior of functionally graded transition joints (GTJs)

Dissimilar metal welds (DMWs) made between ferritic steels and austenitic alloys are used extensively in high-temperature power plant components. These DMWs experience premature creep failure in the ferritic steel’s heat affected zone (HAZ), close to the weld interface. Steep variations in microstructure and chemical composition across the dissimilar weld interface have been the contributing factors for the failure. Graded transition joints (GTJs), developed by functionally grading the chemical composition in layers, have been proposed as potential candidates to replace DMWs. In this research, GTJ coupons were fabricated between 2.25Cr-1Mo steel and Alloy 800H base material using two filler materials: (i) Inconel 82 and (ii) P87. These samples were aged at 600°C for 2000h to accelerate high-temperature microstructural evolution seen in service conditions, before subjecting them to short-term (~1 month) creep tests. Surface strains were measured using digital image correlation (DIC) technique to extract creep strain rates at different locations within GTJs. Both the GTJs exhibited heterogeneous creep strain distribution. Creep strain accumulated in the FGHAZ of 2.25Cr-1Mo steel, similar to type IV failure associated with Cr-Mo steel weldments. Microstructure based creep model framework was developed to describe the discrete creep strain rates observed in various 2.25Cr-1Mo steel regions of GTJs.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Novel ceramic capacitors with ultrahigh energy density and efficiency (Final Technical Report)

Antiferroelectric ceramics are a special class of material that have shown great potential as the dielectric in electrical capacitors due to their high energy- and power-density. During each charge-discharge cycle, the ceramic undergoes transformation to a ferroelectric phase and resumes its antiferroelectric phase. The hysteresis associated with the transitions leads to a mediocre energy efficiency and service lifetime of antiferroelectric capacitors and, hence, their almost absence in commercial products. Under the support of this research project, we first formulated a universal lattice-compatibility theory that included electrostatic polarization energy along with elastic energy and thermal energy to understand the origin of the hysteresis in antiferroelectric oxides. Guided by this compatibility theory, we conducted high-throughput density functional theory (DFT) calculations to assess chemical modifiers and their effect on crystal structures of 400+ PbZrO 3 -based compositions. Down-selected compositions were experimentally validated for their suppressed hysteresis and higher energy efficiency. The verified low-hysteresis compositions were then expanded to an antiferroelectric ceramic library with nearly 500 new compositions (more than 1,500 samples) using high-throughput experiments involving ceramic synthesis and property screening. The large quantity of data generated (theory and experimental) in these tasks were processed by machine-learning techniques and identified trends were fed to the next iteration. In the end, we successfully discovered four compositions with near-zero hysteresis, yielding a world-record energy efficiency of 98.2% at an energy density of 3.0 J/cm 3 . Furthermore, our antiferroelectric ceramic capacitor reaches 79.5 million charge-discharge cycles lifetime, a factor of 80 enhancement over previous antiferroelectric ceramics with large hysteresis. These research accomplishments have not only met the milestones set in the SOPO, but also led to two patent filings, three journal publications (one of them was in Advanced Materials, impact factor 29.4), and nine oral presentations at various venues. Through the course of the project, three postdocs, four Ph.D. students, and one M.S. student were trained. In short, our project established a new methodology in searching next-generation functional ceramics on the fundamental side and discovered several high-efficiency antiferroelectric compositions for capacitors on the applied side. Once fabricated into the multilayer form for commercial applications, these ceramic capacitors can potentially enable the high temperature high power density DC-link capacitors that are critical for the next generation inverters in electric vehicles. The project also significantly contributed to the nation’s workforce development in the STEM fields.

36 MATERIALS SCIENCE↗
NASA NTRS1990

Evolution of the Flight Telerobotic Servicer

The Flight Telerobotic Servicer (FTS) is a two-armed manipulator which will be used to build and maintain Space Station Freedom. One of the goals of the project is to be able to upgrade the capabilities of the FTS by incorporating new technology. To achieve this goal, the FTS is using the NASA/NIST Standard Reference Model for Telerobot Control System Architecture (NASREM) for its functional architecture. While using NASREM helps integrate new technology into the system, the decisions concerning the precise technology needing development must be addressed. In this paper, an approach to the technological evolution of the FTS will be explored. The approach begins with detailed scripts of representative FTS activities. These scripts are analyzed to determine the generic or common actions performed by the FTS. Then, technological alternatives are described in terms of a decision tree format.

Lumia, Ronald↗
NASA NTRS1992

A vision architecture for the extravehicular activity retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools, equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This report documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios will be discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, complementary usage of the sensors and redundant capabilities.

Magee, Michael↗