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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,513 records · Page 84

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NASA NTRS1997

Subacute diabetic proximal neuropathy

OBJECTIVE: To evaluate the clinical, electrophysiologic, autonomic, and neuropathologic characteristics and the natural history of subacute diabetic proximal neuropathy and its response to immunotherapy. MATERIAL AND METHODS: For the 12-year period from 1983 to 1995, we conducted a retrospective review of medical records of Mayo Clinic patients with diabetes who had subacute onset and progression of proximal weakness. The responses of treated versus untreated patients were compared statistically. RESULTS: During the designated study period, 44 patients with subacute diabetic proximal neuropathy were encountered. Most patients were middle-aged or elderly, and no sex preponderance was noted. The proximal muscle weakness often was associated with reduced or absent lower extremity reflexes. Associated weight loss was a common finding. Frequently, patients had some evidence of demyelination on nerve conduction studies, but it invariably was accompanied by concomitant axonal degeneration. The cerebrospinal fluid protein concentration was usually increased. Diffuse and substantial autonomic failure was generally present. In most cases, a sural nerve biopsy specimen suggested demyelination, although evidence of an inflammatory infiltrate was less common. Of 12 patients who received treatment (with prednisone, intravenous immune globulin, or plasma exchange), 9 had improvement of their conditions, but 17 of 29 untreated patients (59%) with follow-up also eventually had improvement, albeit at a much slower rate. Improvement was usually incomplete. CONCLUSION: We suggest that the entity of subacute diabetic proximal neuropathy is an extensive and severe variant of bilateral lumbosacral radiculoplexopathy, with some features suggestive of an immune-mediated cause. It differs from chronic inflammatory demyelinating polyradiculoneuropathy in that most cases have a more restricted distribution and seem to be monophasic and self-limiting. The efficacy of immunotherapy is unproved, but such intervention may be considered in the severe and progressive cases or ones associated with severe neuropathic pain.

Non-NASA Center↗

NASA NTRS2016

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Badger, Julia↗

NASA NTRS1988

Intelligent, autonomous systems in space

The Space Station is expected to be equipped with intelligent, autonomous capabilities; to achieve and incorporate these capabilities, the required technologies need to be identitifed, developed and validated within realistic application scenarios. The critical technologies for the development of intelligent, autonomous systems are discussed in the context of a generalized functional architecture. The present state of this technology implies that it be introduced and applied in an evolutionary process which must start during the Space Station design phase. An approach is proposed to accomplish design information acquisition and management for knowledge-base development.

Lum, H.↗

NASA NTRS2006

Future Roles for Autonomous Vertical Lift in Disaster Relief and Emergency Response

System analysis concepts are applied to the assessment of potential collaborative contributions of autonomous system and vertical lift (a.k.a. rotorcraft, VTOL, powered-lift, etc.) technologies to the important, and perhaps underemphasized, application domain of disaster relief and emergency response. In particular, an analytic framework is outlined whereby system design functional requirements for an application domain can be derived from defined societal good goals and objectives.

Young, Larry A.↗

NASA NTRS2014

Morpheus Lander Roll Control System and Wind Modeling

The Morpheus prototype lander is a testbed capable of vertical takeoff and landing developed by NASA Johnson Space Center to assess advanced space technologies. Morpheus completed a series of flight tests at Kennedy Space Center to demonstrate autonomous landing and hazard avoidance for future exploration missions. As a prototype vehicle being tested in Earth's atmosphere, Morpheus requires a robust roll control system to counteract aerodynamic forces. This paper describes the control algorithm designed that commands jet firing and delay times based on roll orientation. Design, analysis, and testing are supported using a high fidelity, 6 degree-of-freedom simulation of vehicle dynamics. This paper also details the wind profiles generated using historical wind data, which are necessary to validate the roll control system in the simulation environment. In preparation for Morpheus testing, the wind model was expanded to create day-of-flight wind profiles based on data delivered by Kennedy Space Center. After the test campaign, a comparison of flight and simulation performance was completed to provide additional model validation.

Gambone, Elisabeth A.↗

NASA NTRS2012

Development of Field Excavator with Embedded Force Measurement

A semi-intelligent excavation mechanism was developed for use with the NASA-built Centaur 2 rover prototype. The excavator features a continuously rotatable large bucket supported between two parallel arms, both of which share a single pivot axis near the excavator base attached to the rover. The excavator is designed to simulate the collection of regolith, such as on the Moon, and to dump the collected soil into a hopper up to one meter tall for processing to extract oxygen. Because the vehicle can be autonomous and the terrain is generally unknown, there is risk of damaging equipment or using excessive power when attempting to extract soil from dense or rocky terrain. To minimize these risks, it is critical for the rover to sense the digging forces and adjust accordingly. It is also important to understand the digging capabilities and limitations of the excavator. This paper discusses the implementation of multiple strain gages as an embedded force measurement system in the excavator's arms. These strain gages can accurately measure and resolve multi-axial forces on the excavator. In order to validate these sensors and characterize the load capabilities, a series of controlled excavation tests were performed at Glenn Research Center with the excavator at various depths and cut angles while supported by a six axis load cell. The results of these tests are both compared to a force estimation model and used for calibration of the embedded strain gages. In addition, excavation forces generated using two different types of bucket edge (straight vs. with teeth) were compared.

Soils↗

NASA NTRS2019

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

NASA's UAS Traffic management (UTM) -TCL-4 focuses on safely enabling large scale small UAS oper- ations in low altitude airspace in dense urban regions. This paper presents an operational architecture of an autonomous unmanned aerial vehicle operating in TCL4. An on-line path planning scheme is proposed which can effectively plan for feasible paths in real time with TCL-4 constraints. An end to end system is designed and tested in high fidelity Reflection architecture which demonstrates the feasibility of the approach.

Chakrabarty, Anjan↗

NASA NTRS2019

Space Technology Mission Directorate Game Changing Development Program Astrobee

The HET2/Astrobee project is developing a new free-flying robot to succeed the existing SPHERES facility as a guest science research platform and to perform IVA work on the ISS. Relevance: The project will increase the capabilities of robots to perform IVA/EVA work in space and will increase the efficiency of human explorers by allowing routine, repetitive work to be off-loaded to robots. Approach: The project conducted incremental design and development of a robotic free flyer that meets project, stakeholder, and ISS interface and safety requirements. Results: 3 free flyers are on-orbit. The first robot has been unpacked and has begun flying autonomously within the ISS under crew supervision. Commissioning activities to validate the system continue.

Astrobee↗

NASA NTRS2022

Automation & Autonomy Standards and Guidelines for Space Vehicles

The NASA Office of the Chief Health and Medical Officer (OCHMO) requested HRP conduct a survey of industry and government standards and guidelines for the interaction of automation/autonomy with humans. Guidance for verification testing of human-automation designs was also requested. A rapid response was requested so that the deliverables could be provided as part of a future NASA solicitation for automated systems for HLS. The project began with a broad review and analysis of prior NASA work in this area, as well as external standards related to human interaction with automation/autonomy. The team reviewed approximately 200 documents, and interviewed multiple industry and government subject matter experts (SMEs). “Gold standard” documents were selected for focus and key categories were identified. A cross-walk of standards was created, and common standards and guidelines were selected and rephrased (where necessary) to be information-rich, concise, and usable. Verification guidelines and examples were also developed. The final report includes an introduction to automation and autonomy, selected standards and guidelines, verification method guidance, and research gaps. In addition to the report, the team delivered a list of candidate standards for autonomous vehicles, as well as a list of candidate standards for a future NASA-STD-3001 update on automation/autonomy. The presentation will describe the rapid response project approach and methods, examples of standards and guidelines identified and delivered to OCHMO, and research needed to develop additional automation/autonomy design guidance where gaps currently exist.

automation↗

DOE OSTI2024

The Rise of Intelligent Materials Science: Unleashing the Power of Machine Intelligence in Characterization

Machine intelligence has the potential to revolutionize materials science, enabling autonomous synthesis, self-driving characterization, and accelerated modeling. However, despite the promise, successful implementation of these methods in day-to-day research remains a challenge. This talk will delve into the reasons behind this, exploring how truly intelligent experiments are hindered by opaque experiment control, a lack of domain-specific models, and human-centric design. Through a focus on the characterization of next-generation microelectronics and energy storage materials, I will share insights from both successful and failed attempts to implement machine intelligence. We will then explore the next steps necessary to unlock the full potential of machine intelligence in materials science, creating a future where intelligent systems work seamlessly alongside researchers to drive innovation and discovery.

autonomous↗

NASA NTRS2002

RIACS FY2002 Annual Report

The Research Institute for Advanced Computer Science (RIACS) carries out basic research and technology development in computer science, in support of the National Aeronautics and Space Administration's missions. Operated by the Universities Space Research Association (a non-profit university consortium), RIACS is located at the NASA Ames Research Center, Moffett Field, California. It currently operates under a multiple year grant/cooperative agreement that began on October 1, 1997 and is up for renewal in September 2003. Ames has been designated NASA's Center of Excellence in Information Technology. In this capacity, Ames is charged with the responsibility to build an Information Technology (IT) Research Program that is preeminent within NASA. RIACS serves as a bridge between NASA Ames and the academic community, and RIACS scientists and visitors work in close collaboration with NASA scientists. RIACS has the additional goal of broadening the base of researchers in these areas of importance to the nation's space and aeronautics enterprises. RIACS research focuses on the three cornerstones of IT research necessary to meet the future challenges of NASA missions: 1) Automated Reasoning for Autonomous Systems; 2) Human-Centered Computing; and 3) High Performance Computing and Networking. In addition, RIACS collaborates with NASA scientists to apply IT research to a variety of NASA application domains including aerospace technology, earth science, life sciences, and astrobiology. RIACS also engages in other activities, such as workshops, seminars, visiting scientist programs and student summer programs, designed to encourage and facilitate collaboration between the university and NASA IT research communities.

Leiner, Barry M.↗

DOE OSTI2023

Towards physics-informed explainable machine learning and causal models for materials research

From emergent material descriptions to estimation of properties stemming from structures to optimization of process parameters for achieving best performance – all key facets of materials science and related fields have experienced tremendous growth with the introduction of data-driven models. This gradual progression goes at par with developments of machine learning workflows, from purely data-driven shallow models to those that are well-capable in encoding more complex graphs, symbolic representations, invariances, and positional embeddings. Furthermore, this perspective aims at summarizing strategic aspects of such transitions while providing insights into the requirements of bringing in explainable, interpretable predictive models, and causal learning to aid in materials design and discovery. Although the focus remains on a variety of functional materials by providing a handful of case studies, the applications of such integrated methodologies are universal to facilitate fundamental understandings of materials physics while enabling autonomous experiments.

36 MATERIALS SCIENCE↗

DOE OSTI2022

Numerical analysis of dynamic load following response in a natural circulation molten salt power reactor system

The Molten Salt Reactor (MSR) concept is a rapidly evolving Generation IV design that has recently attracted favorable attention due to the potential for reducing waste generation, realizing passive safety features, and seizing on the opportunity for cost effective economics. An investigation into the power transient behavior of an autonomous load-following, closed-loop, natural circulation MSR system is important to quantifying operational and safety performance under dynamic conditions. This paper presents the results of a STAR-CCM+ and a comparatively simple asymmetric, one-dimensional, numerical model to solve the compound dynamic MSR power behavior subject to flow and temperature reactivity feedback only. Results show that reactor power is affected by fuel salt flow velocity (global) and temperatures (local bulk volume averages) in a coupled, time-delayed manner that results in a unique compound dynamic, closed-loop power feedback mechanism. The 1-D simulation approach opens the possibility of performing inexpensive computations to evaluate time-dependent reactor performance relative to thermo-physical fuel salt limitations. Results also potentially motivate a convincing conclusion that natural circulation MSRs provide a leap in safety and reliability.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

DOE OSTI2023

A Power Takeoff Device for a Small Marine Hydrokinetic Turbine Deployed from an Unmanned Floating Platform

The design, development, and field-testing of a power takeoff (PTO) device equipped with a ball-type continuously-variable transmission (B-CVT) for a small marine hydrokinetic (MHK) turbine deployed from a floating unmanned autonomous mobile catamaran platform is described. The turbine is a partially-submerged multi-blade undershot waterwheel (USWW). The objective is to develop a PTO for the optimal conversion of the MHK energy harnessed by the turbine to electric power, which is stored in battery banks onboard the MHK platform. Modeling, simulation, and bench testing of the USWW and PTO show the feasibility of utilizing the B-CVT's variable gear ratio to decouple the USWW and generator speeds, maintaining the waterwheel within its optimal tip speed ratio (TSR) while varying the generator speed, thereby increasing the efficiency of the PTO. Results of bench and field testing in support of characterizing the power conversion capabilities of the PTO are described. The system being developed is in support of potential self-powered autonomous mobile recharge stations for unmanned aerial vehicles (U A V s) operating in coastal zones. Field tests of the complete MHK platform with 9 blades on the waterwheel and wheel sub mergences of 10 and 12 inches (full blade submergence) were performed. The overall proof-of-concept was successfully demonstrated, with the system satisfactorily capturing and converting water flow energy into electricity. The feasibility of utilizing the B-CVT as a means of increasing the PTO power capture capabilities and efficiency is analyzed.

Pimentel, Hugo↗

NASA NTRS1981

Autonomous spacecraft maintenance study group

A plan to incorporate autonomous spacecraft maintenance (ASM) capabilities into Air Force spacecraft by 1989 is outlined. It includes the successful operation of the spacecraft without ground operator intervention for extended periods of time. Mechanisms, along with a fault tolerant data processing system (including a nonvolatile backup memory) and an autonomous navigation capability, are needed to replace the routine servicing that is presently performed by the ground system. The state of the art fault handling capabilities of various spacecraft and computers are described, and a set conceptual design requirements needed to achieve ASM is established. Implementations for near term technology development needed for an ASM proof of concept demonstration by 1985, and a research agenda addressing long range academic research for an advanced ASM system for 1990s are established.

Marshall, M. H.↗

NASA NTRS1985

Space research and Spartan

For a number of years, space research has been primarily conducted with sounding rockets and orbiting satellites. The use of satellites has disadvantages related to cost and the long lead time from design to launch, while a drawback in the case of sounding rockets is the short flight time of only a few minutes. The development of the Shuttle led to the proposal to employ for space research an autonomous free-flying payload deployed and recovered by the Shuttle. The proposed payload, called SPEAR (Small Payload Ejection and Recovery), looked very much like a rocket payload. Subsequently, the payload developed into a more compact form, and its name became Spartan-1. Attention is given to the demands of space research, the Spartan-1 payload, the payload functional control system, the thermal control system, the Spartan-1 mission, and the future of Spartan.

Cruddace, R. G.↗

NASA NTRS1986

Radiometric responsivity determination for Feature Identification and Location Experiment (FILE) flown on space shuttle mission

A procedure was developed to obtain the radiometric (radiance) responsivity of the Feature Identification and Local Experiment (FILE) instrument in preparation for its flight on Space Shuttle Mission 41-G (November 1984). This instrument was designed to obtain Earth feature radiance data in spectral bands centered at 0.65 and 0.85 microns, along with corroborative color and color-infrared photographs, and to collect data to evaluate a technique for in-orbit autonomous classification of the Earth's primary features. The calibration process incorporated both solar radiance measurements and radiative transfer model predictions in estimating expected radiance inputs to the FILE on the Shuttle. The measured data are compared with the model predictions, and the differences observed are discussed. Application of the calibration procedure to the FILE over an 18-month period indicated a constant responsivity characteristic. This report documents the calibration procedure and the associated radiometric measurements and predictions that were part of the instrument preparation for flight.

Wilson, R. G.↗

NASA NTRS1988

Automated knowledge generation

The general objectives of the NASA/UCF Automated Knowledge Generation Project were the development of an intelligent software system that could access CAD design data bases, interpret them, and generate a diagnostic knowledge base in the form of a system model. The initial area of concentration is in the diagnosis of the process control system using the Knowledge-based Autonomous Test Engineer (KATE) diagnostic system. A secondary objective was the study of general problems of automated knowledge generation. A prototype was developed, based on object-oriented language (Flavors).

Myler, Harley R.↗