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NASA NTRSDate not supplied

Wind-Optimal Trajectories for Multirotor eVTOL Aircraft on UAM Missions

Distributed electric propulsion powered electric vertical takeoff and landing aircraft are expected to enable urban air mobility. Low specific energy of onboard lithium-ion polymer batteries and wind conditions impose constraints on flight endurance. Therefore, from the safety and efficiency perspective, planning and flying minimum energy trajectories are important.The primary motivation for this paper is to determine if there is an operational benefit to flying wind-optimal trajectories for short flights (less than 60 miles) in the urban environment. This study employs wind-optimal trajectories for a NASA-proposed conceptual multirotor aircraft flight in the urban environment. The optimal control model presented includes a wind model for quantifying the effect of wind on the trajectory. The optimal control problem is numerically solved using the direct method. Energy consumption and flight duration flying wind-optimal trajectories between origins and destinations in a metropolitan area are compared with energy consumption and flight duration flying on the great-circle paths between the same origin and destination pairs to determine the operational benefit of wind-optimal routing for short flights.The flight duration results for different scenarios are validated using a simulation tool designed and developed by NASA for exploring advanced air traffic management concepts. In summary,this research study suggests that for short flights in an urban environment, the wind-optimal trajectories have a very slight (insignificant) operational advantage over the great-circle trajectories in terms of energy consumption and flight duration. As expected, headwinds and tailwinds along the route of flight have a significant impact on energy consumption and flight duration.

Urban Air Mobility↗

DOE OSTI2025

Real-Twin

Real-Twin is a unified, model-agnostic scenario generation tool designed to streamline and standardize the evaluation of emerging mobility technologies. It provides an end-to-end framework that includes robust workflows, integrated tools, and comprehensive metrics to generate, calibrate, and benchmark microscopic traffic simulation scenarios across multiple platforms. Key Features of Real-Twin include: - Unified Scenario Generation: generate transferable, simulation-ready scenarios from heterogeneous data sources using a consistent workflow. - Automated Calibration Workflow: bridges simulation and real-world data, minimizing manual effort and making traffic simulation more accessible to researchers and engineers. - Model-Agnostic Compatibility: supports SUMO, VISSIM, and AIMSUN for cross-platform scenario generation and benchmarking. Enables reliable comparisons and reproducibility across different simulation tools. - Consistent Scenarios across Different Simulators: generate comparable simulation scenarios across different microscopic traffic simulators, providing users the ability to conduct benchmarking and cross-validation that are crucial for ensuring the reliability and reproducibility of simulation results. - Emerging Technology Support: includes a scenario database and pipeline for studying autonomous vehicles (AVs), with planned extensions to CAVs, EVs, and other advanced technologies.

Wang, Chieh (Ross) [Oak Ridge National Laboratory ↗

DOE OSTI2021

Remote-sensing and radiosonde datasets collected in the San Luis Valley during the LAPSE-RATE campaign

Abstract. In July 2018, the International Society for Atmospheric Research using Remotely piloted Aircraft (ISARRA) hosted a flight week to showcase the role remotely piloted aircraft systems (RPASs) can have in filling the atmospheric data gap. This campaign was called Lower Atmospheric Process Studies at Elevation – a Remotely-piloted Aircraft Team Experiment (LAPSE-RATE). In support of this campaign, ground-based remote and in situ systems were also deployed for the campaign. The University of Oklahoma deployed the Collaborative Lower Atmospheric Mobile Profiling System (CLAMPS), the University of Colorado deployed two Doppler wind lidars, and the National Severe Storms Laboratory deployed a mobile mesonet with the ability to launch radiosondes. This paper focuses on the data products from these instruments that result in profiles of the atmospheric state. The data are publicly available in the Zenodo LAPSE-RATE community portal (https://zenodo.org/communities/lapse-rate/, 19 January 2021). The profile data discussed are available at https://doi.org/10.5281/zenodo.3780623 (Bell and Klein, 2020), https://doi.org/10.5281/zenodo.3780593 (Bell et al., 2020b), https://doi.org/10.5281/zenodo.3727224 (Bell et al., 2020a), https://doi.org/10.5281/zenodo.3738175 (Waugh, 2020b), https://doi.org/10.5281/zenodo.3720444 (Waugh, 2020a), and https://doi.org/10.5281/zenodo.3698228 (Lundquist et al., 2020).

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1975

Application of solar energy; Proceedings of the First Southeastern Conference, Huntsville, Ala., March 24-26, 1975

Topics related to architectural and institutional considerations are discussed along with studies of components and subsystems. Subjects in the area of system design and analysis are also explored. Residential and commercial applications are considered, taking into account hot-water usage in a typical single-family residence, solar heating and cooling of mobile homes, aspects of design and performance in the case of a solar heating system using a reflective pyramid optical condenser, solar heating in a Boston school, a performance analysis of solar service hot water systems, comparative performance analyses of three solar heated and cooled buildings, and the use of solar energy in a soybeam processing operation. Applications related to power generation are also examined, giving attention to solar thermal electric power systems and photovoltaic research. Individual items are announced in this issue.

Wu, S. T.↗

NASA NTRS2005

Reconfigurable Antennas for High Data Rate Multi-beam Communication Systems

High-speed (2-100 Mb/sec) wireless data communication - whether land- or satellite-based - faces a major challenge: high error rates caused by interference and unpredictable environments. A planar antenna system that can be reconfigured to respond to changing conditions has the potential to dramatically improve data throughput and system reliability. Moreover, new planar antenna designs that reduce array size, weight, and cost can have a significant impact on terrestrial and satellite communication system performance. This research developed new individually-reconfigurable planar antenna array elements that can be adjusted to provide multiple beams while providing increased scan angles and higher aperture efficiency than traditional diffraction-limited arrays. These new elements are microstrip spiral antennas with specialized tuning mechanisms that provide adjustable radiation patterns. We anticipate that these new elements can be used in both large and small arrays for inter-satellite communication as well as tracking of multiple mobile surface-based units. Our work has developed both theoretical descriptions as well as experimental prototypes of the antennas in both single element and array embodiments. The technical summary of the results of this work is divided into six sections: A. Cavity model for analysis and design of pattern reconfigurable antennas; B. Performance of antenna in array configurations for broadside and endfire operation; C. Performance of antenna in array configurations for beam scanning operation; D. Simulation of antennas in infinite phased arrays; E. Demonstration of antenna with commercially-available RF MEMS switches; F. Design of antenna MEMS switch combinations for direct simultaneous fabrication.

Bernhard, Jennifer T.↗

NASA NTRS2017

US Navy Submarine Sea Trial of NASA developed Multi-Gas Monitor

During a successful 2 year technology demonstration of the tunable diode laser spectroscopy (TDLS) based Multi-Gas Monitor (MGM) on the International Space Station (ISS), we began discussing with the US Navy the possibility of conducting a sea trial of an MGM on a submarine. The sea trial would also include a gas chromatography/differential mobility spectrometer based Air Quality Monitor (AQM), which is used operationally on ISS for select volatile organic compounds. AQM results will be the subject of a separate paper. The Navy’s interest in testing NASA equipment is in a planned update to the environmental monitoring equipment used aboard submarines. NASA’s goal is studying submarines as closed environment analogs to spacecraft. MGM’s core technology was developed by Vista Photonics Inc using Small Business Innovation Research (SBIR) grants and expanded for various applications using NASA program funding. The MGM measures oxygen, carbon dioxide, ammonia and water vapor in ambient air, displays concentrations with temperature and pressure, and stores 30 second moving averages. The sea trial involves colocating the instrument with the Central Air Monitor (CAM) and connecting it to rack power prior to departure, and letting it run during the entire sea trial of a few months duration. All data stored is inside MGM, with no connection to the vessel data bus. Crew intervention is limited to checking MGM periodically to see that it is working and power cycling if the display is OFF. After the trial is over, the unit with its data will be retrieved. Post sea trial calibration check and data analysis are planned and results will be compared with both CAM data and results from MGM’s ISS technology demonstration.

Mudgett, Paul D.↗

NASA NTRS2022

Evidence Report: Risk of Injury and Compromised Performance due to EVA Operations

During future missions to the Moon and Mars, each crewmember will most likely perform up to 24 hours a week of extravehicular activity (EVA) in support of exploration, science, construction, and maintenance tasks. Achieving mission objectives will require EVA systems and operations concepts that maximize human performance and efficiency while minimizing health and safety risks for crewmembers. Currently, over 450 EVAs have been performed in microgravity using the Extravehicular Mobility Unit (EMU). The EMU space suit has enabled the successful assembly and maintenance of the International Space Station (ISS) for over 20 years, as well as deployment of payload experiments, solar arrays, satellite launches and repairs. This EVA work was accomplished at a slower cadence than is expected for Moon and Mars, with ISS crewmembers performing no more than 7 EVAs during a single mission and without any back-to-back EVAs. Despite their success, ISS EVAs have resulted in more injury to EVA crewmembers than may be acceptable for long-duration exploration missions. The Apollo astronauts completed EVA tasks in suits that were designed for their short-duration lunar missions, although suit mobility problems were evident. The more frequent EVAs and more varied EVA tasks that are anticipated during the future longer-duration exploration missions will require EVA suits and systems that are better oriented to human health and performance than those used during the Apollo Program. Many of the problems that were encountered with the Apollo EVA suits (e.g., limited mobility and dexterity, high and aft center of gravity, and other features requiring significant crew compensation) will need to be corrected or mitigated to optimize EVA objectives of exploration missions. It is critical that we understand how EVA system design variables such as suit pressure, weight/mass, center-of-gravity location, joint ranges of motion, and biomedical monitoring, affects the ability of astronauts to perform safe, efficient, and effective EVAs. To achieve this understanding, EVA researchers will need to develop and execute an integrated human testing program across multiple environments. The research will provide objective data that will enable informed design decisions and crewmember standards, thereby ensuring EVA systems that optimize crewmember health, safety, efficiency, and performance. This report describes the risks to crew health, safety, performance, and efficiency caused by EVA operations, and it provides the evidence base to substantiate the importance of the risk.

EVA↗

DOE OSTI2026

Vehicle Technologies Fiscal Year 2025 Annual Report

Research and development at NLR supports the U.S. Department of Energy's Vehicle Technologies Office in advancing low-cost, abundant, and secure energy technologies to accelerate a more affordable, reliable, efficient, and globally competitive U.S. transportation system.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2023

Texas A&M University Mobile Facility Measurements during TRACER (Field Campaign Report)

One of the main goals of the U.S Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Tracking Aerosol Convection Interactions Experiment (TRACER) near Houston, Texas is to improve understanding of how meteorology and aerosols impact storm dynamical and microphysical processes in deep convection to better constrain and improve their model representation. The Houston area is strongly influenced by sea- and bay-breeze circulations that generate convergence and help to initiate and organize deep convection. To properly isolate and understand the roles of varied meteorological conditions and cloud condensation nuclei (CCN) and ice nucleation particles (INP) distributions in different air masses, co-located thermodynamic, kinematic, and aerosol vertical profile observations are needed. The focus of this campaign was to provide key measurements in air masses both in front of and behind sea/bay breeze fronts moving through the greater Houston area to sample the airmass heterogeneity. The overarching scientific goal of this campaign is to understand how the vertical distributions of both CCN and INP correspond to the inflow layer of deep convection in maritime, background continental, and polluted continental air masses, and how these variations influence deep convection. To fully sample the heterogeneity in both meteorological conditions and aerosols across the sea-breeze front (SBF), Texas A&M University (TAMU) deployed a InterMet 3050A 403 MHz mobile unit launching iMet-4 radiosondes and the new Rapid Onsite Atmospheric Measurement Van (ROAM-V) for aerosol sampling during the TRACER intensive operational period (IOP) from June to September 2022. The suite of instruments deployed on ROAM-V included a condensation particle counter (CPC; GRIMM Model 5.403 CPC), scanning mobility particle sizer (SMPS; TSI 3750 detector, TSI 3082 classifier, TSI 3088 neutralizer, TSI 3081A differential mobility analyzer), cloud condensation nuclei counter (Droplet Measurement Technologies CCN counter), micropulse lidar (Droplet Measurement Technologies micropulse lidar [miniMPL]), and a Davis Rotating Uniform size-cut Monitor (DRUM; DRUMAir 4-DRUM). Before sampling at each location, the latitude and longitude were recorded using the Global Positioning System (GPS) on the phone application “My Altitude”. The DRUM data were collected as part of a closely related ARM field campaign and also supported by DOE Atmospheric System Research grant DE-SC0021047. The TAMU team sampled these airmass heterogeneities by strategically choosing deployment sites in a different airmass than the ARM fixed sites in La Porte and Guy, Texas. On days when the sea/bay breeze boundary was pushing inland, the TAMU team would usually sample the airmass on the maritime side of the SBF at a coastal site in Galveston, Texas in the early afternoon (1730-1900 UTC) and then move inland ahead of the SBF to sample the airmass on the continental side during late afternoon (2030-2230). Figure 1 shows the Galveston maritime site and the array of sites for the late afternoon continental measurements.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1978

Laser Doppler velocimeter aerial spray measurements

An experimental research program for measuring the location, spatial extent, and relative concentration of airborne spray clouds generated by agricultural aircraft is described. The measurements were conducted with a ground-based laser Doppler velocimeter. The remote sensing instrumentation, experimental tests, and the results of the flight tests are discussed. The cross section of the aerial spray cloud and the observed location, extent, and relative concentration of the airborne particulates are presented. It is feasible to use a mobile laser Doppler velocimeter to track and monitor the transport and dispersion of aerial spray generated by an agricultural aircraft.

Zalay, A. D.↗

NASA NTRS1984

Nighttime auroral energy deposition in the middle atmosphere

Ionospheric rocket sounding data for eight nighttime auroral events are used to characterize relativistic electron showers and their effects on atmospheric ozone. The rockets were launched from the Poker Flat Research Range in Alaska and from Andoya, Norway over the period 1976-82. Energetic fluxes were always detected but were of insufficient magnitude to produce significant changes in stratospheric ozone. However, middle atmospheric energy sources were found to be dominated by relativistic electrons and X-ray bremmstrahlung, the latter from 40-55 km and the former from 55-60 km altitudes. The ionizing radiation is concluded to be a significant factor in mesospheric ion conductivity, mobility, electric field structure and analytical models for the ion-neutral chemistry.

Goldberg, R. A.↗

NASA NTRS1996

Highly Efficient Amplifier for Ka-Band Communications

An amplifier developed under a Small Business Innovation Research (SBIR) contract will have applications for both satellite and terrestrial communications. This power amplifier uses an innovative series bias arrangement of active devices to achieve over 40-percent efficiency at Ka-band frequencies with an output power of 0.66 W. The amplifier is fabricated on a 2.0- by 3.8-square millimeter chip through the use of Monolithic Microwave Integrated Circuit (MMIC) technology, and it uses state-of-the-art, Pseudomorphic High-Electron-Mobility Transistor (PHEMT) devices. Although the performance of the MMIC chip depends on these high-performance devices, the real innovations here are a unique series bias scheme, which results in a high-voltage chip supply, and careful design of the on-chip planar output stage combiner. This design concept has ramifications beyond the chip itself because it opens up the possibility of operation directly from a satellite power bus (usually 28 V) without a dc-dc converter. This will dramatically increase the overall system efficiency. Conventional microwave power amplifier designs utilize many devices all connected in parallel from the bias supply. This results in a low-bias voltage, typically 5 V, and a high bias current. With this configuration, substantial I(sup 2) R losses (current squared times resistance) may arise in the system bias-distribution network. By placing the devices in a series bias configuration, the total current is reduced, leading to reduced distribution losses. Careful design of the on-chip planar output stage power combiner is also important in minimizing losses. Using these concepts, a two-stage amplifier was designed for operation at 33 GHz and fabricated in a standard MMIC foundry process with 0.20-m PHEMT devices. Using a 20-V bias supply, the amplifier achieved efficiencies of over 40 percent with an output power of 0.66 W and a 16-dB gain over a 2-GHz bandwidth centered at 33 GHz. With a 28-V bias, a power level of 1.1 W was achieved with a 12-dB gain and a 36-percent efficiency. This represents the best reported combination of power and efficiency at this frequency. In addition to delivering excellent power and gain, this Ka-band MMIC power amplifier has an efficiency that is 10 percent greater than existing designs. The unique design offers an excellent match for spacecraft applications since the amplifier supply voltage is closely matched to the typical value of spacecraft bus voltage. These amplifiers may be used alone in applications of 1 W or less, or several may be combined or used in an array to produce moderate power, Ka-band transmitters with minimal power combining and less thermal stress owing to the combination of excellent efficiency and power output. The higher voltage operation of this design may also save mass and power because the dc-dc power converter is replaced with a simpler voltage regulator.

Source record↗

NASA NTRS2016

A Basic Robotic Excavator (the Glenn Digger): Description, Design, and Initial Operation

This paper describes the design, commercial part selections, fabrication, assembly, installation, and initial operation of a two degree of freedom robotic excavator. Colloquially referred to as "the NASA Glenn Digger," it was designed specifically to be mounted onto, and to operate with, the then newly developed Centaur 2 robotic mobility base. The excavator, when mounted to Centaur 2, is designed to scoop loose regolith from the terrain, raise its loaded bucket up and dump the load into a hopper of at least a 1-m-height. The hopper represents the input to a machine that would process the raw material, such as to produce oxygen from lunar regolith as would be required for long-term lunar habitation. This equipment debuted at the annual Research and Technology Studies ("Desert RATS", Ref. 1) event held north of Flagstaff, Arizona, in September of 2010, when the Digger was successfully joined to Centaur 2 and the shoveling articulation was demonstrated. During 2011, the hardware was modified for added strength, strain gauges were added to measure loads, and the controls were improved in preparation for the 2011 Desert RATS event, where additional "field operations" experience was gained.

backhoe↗

NASA NTRS2017

US Navy Submarine Sea Trial of NASA developed Multi-Gas Monitor

During a successful 2 year technology demonstration of the tunable diode laser spectroscopy (TDLS) based Multi-Gas Monitor (MGM) on the International Space Station (ISS), we began discussing with the US Navy the possibility of conducting a sea trial of an MGM on a submarine. The sea trial would also include a gas chromatography/differential mobility spectrometer based Air Quality Monitor (AQM), which is used operationally on ISS for volatile organic compound analysis. AQM preparation and results will be the subject of a separate paper. The Navy's interest in testing NASA equipment in general relates to their ongoing search for better air monitoring technology. NASA's goal is studying submarines as closed environment analogs to spacecraft. MGM's core technology was developed by Vista Photonics Inc. using Small Business Innovation Research (SBIR) grants and expanded for various applications using NASA program funding. The MGM measures oxygen, carbon dioxide, ammonia and water vapor in ambient air, displays concentrations with temperature and pressure, and stores 30 second moving averages. The sea trial involves collocating the instrument with the Central Atmosphere Monitoring System (CAMS Mk II) of the submarine, connecting it to rack power prior to departure, and letting it run during the entire 90 day patrol. All data is stored within MGM, with no connection to the vessel data bus. Crew intervention is limited to checking MGM periodically to see that it is working and power cycling if necessary. After the trial is over, the unit with its data will be retrieved. Post sea trial calibration check and data analysis are planned and results will be compared with both CAMS Mk II data and results from MGM's ISS technology demonstration. Since the sea trial itself has been delayed, this paper describes the preparation of MGM for the sea trial and also provides a summary of the latest data from the ISS MGM technology demonstration.

Mudgett, Paul D.↗

DOE OSTI2026

Substitution or Shared Utilization? Intrahousehold Vehicle Use in Mixed-Powertrain Households

While previous research has focused heavily on understanding the factors deriving alternative fuel vehicle adoption rates, there remains a significant gap in understanding how households distribute mileage across different powertrains. This study utilizes data from the 2022 Next Generation National Household Travel Survey to investigate vehicle miles traveled within a sample of 150 plug-in electric vehicle (PEV)-owning households (in which at least one battery electric vehicle is present), characterizing how different powertrains are integrated into daily mobility. Leveraging a Seemingly Unrelated Regression (SUR) framework the study jointly models the utilization of PEVs, hybrid electric vehicles (HEV), and internal combustion engine vehicles (ICEVs) while accounting for household-level substitution effects. The results provide evidence of an asymmetric substitution effect. In households with mixed-powertrain configurations, the ICEV captures a substantially higher share of household miles (compared with the PEV), acting as a utility sponge. Conversely, the model identifies specific socioeconomic and geographic cohorts that prioritize PEV as the primary household workhorse, indicating a systematic sorting effect. Although the sample size limits broader generalizability, these findings suggest that PEVs are used for frequent, specific routine-intensive roles, whereas the ICEV remains a specialized utility vehicle. These insights highlight distinct intrahousehold vehicle use behaviors that are often obscured by aggregate fleetwide statistics.

25 ENERGY STORAGE↗

NASA NTRS1991

Preliminary design of a mobile lunar power supply

A preliminary design for a Stirling isotope power system for use as a mobile lunar power supply is presented. Performance and mass of the components required for the system are estimated. These estimates are based on power requirements and the operating environment. Optimization routines are used to determine minimum mass operational points. Shielding for the isotope system is given as a function of the allowed dose, distance from the source, and the time spent near the source. The technologies used in the power conversion and radiator systems are taken from research in the Civil Space Technology Initiative (CSTI) program.

Schmitz, Paul C.↗

NASA NTRS2019

The Evaluation of Composite Energy Absorbers for Use in UAM EVTOL Vehicle Impact Attenuation

The demand for new personal air-taxi services is leading to the development of lightweight Vertical Take-off and Landing (eVTOL) vehicles with electric propulsion for the Urban Air Mobility (UAM) industry. Manufacturers (OEMs) are considering many different designs to develop a vehicle that is able to take-off, cruise, and land autonomously with seating arrangements ranging between 2 and 15 passengers. It is unclear at present how the eventual market will mature; however, one of the common design characteristics noted by many of the OEMs is the use of advanced materials such as composites. A test and analysis program was initiated at NASA Langley Research Center (LaRC) in 2018 to evaluate the impact attenuation capabilities of various composite material systems with the goal of eventual implementation into an eVTOL vehicle. A series of 3-inch diameter by 6-inch length tubular specimens were fabricated from different material systems which included both traditional carbon and hybrid woven layers of fibers. Additionally, a subset of specimens were filled with closed-cell polyisocyanurate foam to help both with stabilization and crush response. The ultimate goal of the test program was to design a specimen capable of limiting the sustained crush acceleration to 20 g through a stable crush progression. After a series of material tests, these specimens were evaluated under both static and dynamic conditions for impact energy attenuation characteristics and crush stability. Additionally, a series of simulation models were developed in parallel to the test efforts. It is anticipated that the models developed using the component level test efforts can be used to help guide the development of a design for use in full-scale eVTOL vehicle applications.

Littell, Justin↗

NASA NTRSDate not supplied

Firmware Architecture of the ARMADAS Bolting Robot

The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) project, under development at NASA Ames Research Center, has demonstrated on-ground autonomous robotic assembly of extensive digital structures, and it is now moving forward towards in-space demonstration. The ARMADAS system comprises of the operation software, the operation user interface (opsUI), and a swarm of robots. The robotic system consists of a multitude of collaborative agents specifically designed to transport, place and bolt the building blocks, called voxels (volumetric pixels). This paper focuses on the bolting robot, referred to as Mobile Metamaterial Internal Co-Integrator (MMIC-I). MMIC-I is a battery-powered crawling robot. It navigates the structure through extension, contraction and gripping. Two distinct controller boards operate the robot's two symmetric modules, referred to as module A and B. Board A is the master board: it coordinates motion planning and motion primitives execution, hosts the WiFi client, performs periodic self-assessment and system idle check and triggers faults if anomalies are detected. Board B periodically sends a heartbeat to board A, through a wired communication channel that uses the Serial protocol. Additionally, board A's WiFi client receives heartbeat packet requests or motion/bolting commands from a dedicated server board, and acknowledges reception sending back a response heartbeat packet containing information about the overall robot status, e. g. electrical current and voltage values, target and actual angles, operating mode, fault status. Whenever a motion command is sent, the motion planning section of the firmware determines the current robot configuration, using Inertial Measurement Unit readings and the motors Pulse Width Modulation values. Afterwards, it calculates the list of primitives needed to reach the target state, and controls their execution in the proper order. MMIC-I can receive and execute motion and bolting commands only when it is in operational mode. MMIC-I has three operating modes: standby, operational and safed. Standby mode is automatically entered upon startup. While in standby mode, all motors are powered off, and the only accepted commands are the ones relative to a change of mode and heartbeat packet request. Fault detection causes the robot to automatically enter safed or standby mode. Whenever the detected fault occurs within a motion and requires immediate intervention, e. g. an over-current situation, the robot enters safed mode. Safed mode powers off all motors except for the locomotion module, thus preventing the robot from collapsing. Conversely, when the detected fault doesn't require immediate intervention (low battery warning, for instance), the robot enters standby mode after completing the ongoing motion. This paper provides a detailed discussion of MMIC-I's firmware architecture. It accurately describes the implementation approach for each module: sensor data reading, motor control and actuation, WiFi server-client communication, intra-boards Serial communication, operating modes and autonomous fault detection, motion planning, coordination and execution, etc. Moreover, in support of the software description, this paper includes a thorough characterization of MMIC-I's hardware and avionics.

In-space assembly↗