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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 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Mobile robot exploration and navigation of indoor spaces using sonar and vision

Integration of skills into an autonomous robot that performs a complex task is described. Time constraints prevented complete integration of all the described skills. The biggest problem was tuning the sensor-based region-finding algorithm to the environment involved. Since localization depended on matching regions found with the a priori map, the robot became lost very quickly. If the low level sensing of the world is not working, then high level reasoning or map making will be unsuccessful.

Kortenkamp, David↗
NASA NTRS1994

Combat Agility Management System (CAMS)

The proper management of energy becomes a complex task in fighter aircraft which have high angle of attack (AOA) capability. Maneuvers at high AOA are accompanied by high bleed rates (velocity decrease), a characteristic that is usually undesirable in a typical combat arena. Eidetics has developed under NASA SBIR Phase 1 and NAVAIR SBIR Phase 2 contracts a system which allows a pilot to more easily and effectively manage the trade-off of energy (airspeed or altitude) for turn rate while not imposing hard limits on the high AOA nose pointing capability that can be so important in certain air combat maneuver situations. This has been accomplished by incorporating a two-stage angle of attack limiter into the flight control laws. The first stage sets a limit on AOA to achieve a limit on the maximum bleed rate (selectable) by limiting AOA to values which are dependent on the aircraft attitude and dynamic pressure (or flight path, velocity, and altitude). The second stage sets an AOA limit near the AOA for C(sub l max). One of the principal benefits of such a system is that it enables a low-experience pilot to become much more proficient at managing his energy. The Phase 2 simulation work is complete, and an exploratory flight test on the F-18 HARV is planned for the Fall of 1994 to demonstrate/validate the concept.

Skow, Andrew↗
NASA NTRS1995

An investigation of bleed configurations and their effect on shock wave/boundary layer interactions

The design of high efficiency supersonic inlets is a complex task involving the optimization of a number of performance parameters such as pressure recovery, spillage, drag, and exit distortion profile, over the flight Mach number range. Computational techniques must be capable of accurately simulating the physics of shock/boundary layer interactions, secondary corner flows, flow separation, and bleed if they are to be useful in the design. In particular, bleed and flow separation, play an important role in inlet unstart, and the associated pressure oscillations. Numerical simulations were conducted to investigate some of the basic physical phenomena associated with bleed in oblique shock wave boundary layer interactions that affect the inlet performance.

Hamed, Awatef↗
NASA NTRS1995

The Evolution of Mission Architectures for Human Lunar Exploration

Defining transportation architectures for the human exploration of the Moon is a complex task due to the multitude of mission scenarios available. The mission transportation architecture recently proposed for the First Lunar Outpost (FLO) was not designed from carefully predetermined mission requirements and goals, but evolved from an initial set of requirements, which were continually modified as studies revealed that some early assumptions were not optimal. This paper focuses on the mission architectures proposed for FLO and investigates how these transportation architectures evolved. A comparison of the strengths and weaknesses of the three distinct mission architectures are discussed, namely (1) Lunar Orbit Rendezvous, (2) staging from the Cislunar Libration Point, and (3) direct to the lunar surface. In addition, several new and revolutionary architectures are discussed.

Everett, S. F.↗
NASA NTRS1999

Aerodynamic Flow Field Measurements for Automotive Systems

The design of a modern automotive air handling system is a complex task. The system is required to bring the interior of the vehicle to a comfortable level in as short a time as possible. A goal of the automotive industry is to predict the interior climate of an automobile using advanced computational fluid dynamic (CFD) methods. The development of these advanced prediction tools will enable better selection of engine and accessory components. The goal of this investigation was to predict methods used by the automotive industry. To accomplish this task three separate experiments were performed. The first was a laboratory setup where laser velocimeter (LV) flow field measurements were made in the heating and air conditioning unit of a Ford Windstar. The second involved flow field measurements in the engine compartment of a Ford Explorer, with the engine running idle. The third mapped the flow field exiting the center dashboard panel vent inside the Explorer, while the circulating fan operated at 14 volts. All three experiments utilized full-coincidence three-component LV systems. This enabled the mean and fluctuating velocities to be measured along with the Reynolds stress terms.

Hepner, Timothy E.↗
NASA NTRS1999

The Effects of Long-Duration Spaceflight on Postflight Terrestrial Locomotion

Locomotion is a complex task requiring the coordinated integration of multiple sensorimotor subsystems. This coordination is exemplified by the precise control of segmental kinematics that allows smooth progression of movement in the face of changing environmental constraints. Exposure to the microgravity environment encountered during space flight induces adaptive modification in the central processing of sensory input to produce motor responses appropriate for the prevailing environment. This inflight adaptive change in sensorimotor function is inappropriate for movement control in 1-g and leads to postflight disturbances in terrestrial locomotor function. We have previously explored the effects of short-duration (7-16 days) space flight on the control of locomotion. The goal of the present set of studies was to investigate the effects of long-duration spaceflight (3-6 months) on the control of locomotion with particular emphasis on understanding how the multiple interacting systems are adaptively modified by prolonged microgravity exposure.

Bloomberg, J. J.↗
NASA NTRS2000

Cooperative Robotics and the Search for Extraterrestrial Life

If we think tenuous abodes of life may be hiding in remote extraterrestrial environmental niches, and if we want to assess the biological status of a given locale or entire planet before sending humans (perhaps because of contamination concerns or other motivations) then we face the challenge of robotically exploring a large space efficiently and in enough detail to have confidence in our assessment of the biological status of the environment in question. On our present schedule of perhaps two or so missions per opportunity, we will likely need a different exploratory approach than singular stationary landers or singular rover missions or sample return, because there appear to be fundamental limitations in these mission profiles to-obtain the many samples we will likely need if we want to have confidence in assessing the biological status of an environment in which life could be hiding in remote environmental niches. Singular rover missions can potentially accommodate sampling over a fairly large area, but are still limited by range and can be a single point of failure. More importantly, such mission profiles have limited payload capabilities which are unlikely to meet the demanding requirements of life-detection. Sample return has the advantage of allowing sophisticated analysis of the sample, but also has the severe limitations associated with only being able to bring back a few samples. This presentation will suggest two cooperative robotic approaches for exploration that have the potential to overcome these difficulties and facilitate efficient and thorough life-detecting exploration of a large space. Given the two premises state above, it appears at least two fundamental challenges have to be met simultaneously: coverage of a large space and bringing to bear a sophisticated suite of detection and experimental payloads on any specific location in order to address a major challenge in looking for extraterrestrial life: namely, executing a wide variety of detection scenarios and in situ experiments in order to gather the required data for a confident assessment that life has been detected and to, more generally, cover a wide range of extraterrestrial life possibilities. Cooperative robotics ]ends itself to this kind of problem because cooperation among the combined capabilities of a variety of simple single function agents can give rise to fairly complex task execution such as the search for and detection of extraterrestrial life.

Lupisella, Mark L.↗
NASA NTRS2000

Rapid Prototyping and Evaluation of Control System Designs for Manned and Unmanned Applications

The development and optimization of flight control systems for modem fixed- and rotary- wing aircraft consume significant time and cost during aircraft development. Similarly, as unmanned aerial vehicles perform more complex tasks, sometimes autonomously, the control system design requirements for this class of vehicles, and the corresponding time and cost requirements, are also becoming significant. Therefore, for both manned and unmanned vehicles, substantial program savings can be achieved if integrated design and optimization tools are employed to shorten the design and flight-test cycle for new or upgraded,pontrol systems. To bring about this reduction in the length of the design-cycle, and therefore its cost, Madab and Simulink are being used to implement block diagrams and to rapidly evaluate the expected responses of the completed systems. In conjunction, CONDUIT (CONtrol Designer's Unified InTerface) is being used to enable the controls engineers to optimize their control laws and ensure that all the relevant quantitative criteria are satisfied.

Mansur, M. Hossein↗
NASA NTRS2000

Cooperative Robotics and the Search for Extraterrestrial Life

If we think tenuous abodes of life may be hiding in remote extraterrestrial environmental niches, and if we want to assess the biological status of a given locale or entire planet before sending humans (perhaps because of contamination concerns or other motivations) then we face the challenge of robotically exploring a large space efficiently and in enough detail to have confidence in our assessment of the biological status of the environment in question. On our present schedule of perhaps two or so missions per opportunity, we will likely need a different exploratory approach than singular stationary landers or singular rover missions or sample return, because there appear to be fundamental limitations in these mission profiles to obtain the many samples we will likely need if we want to have confidence in assessing the biological status of an environment in which life could be hiding in remote environmental niches. Singular rover missions can potentially accommodate sampling over a fairly large area, but are still limited by range and can be a single point of failure. More importantly, such mission profiles have limited payload capabilities which are unlikely to meet the demanding requirements of life-detection. Sample return has the advantage of allowing sophisticated analysis of the sample, but also has the severe limitations associated with only being able to bring back a few samples. This presentation will suggest two cooperative robotic approaches for exploration that have the potential to overcome these difficulties and facilitate efficient and thorough life-detecting exploration of a large space. Given the two premises stated above, it appears at least two fundamental challenges have to be met simultaneously: (1) coverage of a large space and (2) bringing to bear a sophisticated suite of detection and experimental payloads on any specific location in order to address a major challenge in looking for extraterrestrial life: namely, executing a wide variety of detection scenarios and in situ experiments in order to gather the required data for a confident assessment that life has been detected and to, more generally, cover a wide range of extraterrestrial life possibilities. Cooperative robotics lends itself to this kind of problem because cooperation among the combined capabilities of a variety of simple single function agents can give rise to fairly complex task execution such as the search for and detection of extraterrestrial life.

Lupisella, M. L.↗
NASA NTRS2001

An Investigation of Factors Affecting How Engineers and Scientists Seek Information

This study investigated how 872 US aerospace scientists and engineers select information carriers. When considering oral and written information carriers, the principle of least effort was supported with a strong preference for oral communication over written communication. In examining how the respondents select written carriers, the decision to use or not to use a written carrier was found to be primarily a function of the perceived importance of the carrier's information to a person's work. Task uncertainty and task complexity were found to be significant, but not the primary nor a totally consistent criteria. The perceived quality and accessibility of written carriers were not found significant. The findings reinforce the need for firms to hire knowledgeable employees, to provide them with comprehensive training programs, and to develop formal and informal communication networks.

Anderson, Claire J↗
NASA NTRS1999

Effects on Training Using Illumination in Virtual Environments

Camera based tasks are commonly performed during orbital operations, and orbital lighting conditions, such as high contrast shadowing and glare, are a factor in performance. Computer based training using virtual environments is a common tool used to make and keep CTW members proficient. If computer based training included some of these harsh lighting conditions, would the crew increase their proficiency? The project goal was to determine whether computer based training increases proficiency if one trains for a camera based task using computer generated virtual environments with enhanced lighting conditions such as shadows and glare rather than color shaded computer images normally used in simulators. Previous experiments were conducted using a two degree of freedom docking system. Test subjects had to align a boresight camera using a hand controller with one axis of rotation and one axis of rotation. Two sets of subjects were trained on two computer simulations using computer generated virtual environments, one with lighting, and one without. Results revealed that when subjects were constrained by time and accuracy, those who trained with simulated lighting conditions performed significantly better than those who did not. To reinforce these results for speed and accuracy, the task complexity was increased.

Maida, James C.↗
NASA NTRS2003

Investigation of Friction Stir Welding of Al Metal Matrix Composite Materials

The innovative process of Friction Stir Welding (FSW) has generated tremendous interest since its inception about a decade or so ago since the first patent in 1991 by TWI of Cambridge, England. This interest has been seen in many recent international conferences and publications on the subject and relevant published literature. Still the process needs both intensive basic study of deformation mechanisms during this FSW process and analysis and feasibility study to evaluate production methods that will yield high quality strong welds from the stirring action of the appropriate pin tool into the weld plate materials. Development of production processes is a complex task that involves effects of material thickness, materials weldability, pin tool design, pin height, and pin shoulder diameter and related control conditions. The frictional heating with rotational speeds of the pin tool as it plunges into the material and the ensuing plastic flow arising during the traverse of the welding faying surfaces provide the known special advantages of the FSW process in the area of this new advanced joining technology.

Diwan, Ravinder M.↗
NASA NTRS2003

Hot Gas in Planetary Nebulae

It was successfully obtained the FUSE spectra of all targets awarded. The analysis of the spectra has been a complex task due to the superposition of the P-Cygni profile from the wind of the central star and absorption components from low ionization and molecular species in the nebular shell. In six of the eight targets there are narrow O VI absorption components that may arise from the interface layer between the hot (l0(exp 6) K) interior gas and the surrounding warm (l0(exp 4) K) dense nebular shell. To better determine whether these narrow O VI absorption lines arise from the interface region we have obtained ground-based high-dispersion spectroscopic observations of the central star and nebula to pin-point the precise line-of-sight velocity of the nebular emission lines. The comparison between these optical spectra with the far-UV spectra obtained with FUSE is complete. The analysis shows that in most cases the narrow O VI absorption components have velocities slightly redshifted from the emission lines which arise from the approaching side of the nebular shell. Preliminary results have been published in two papers.

Gruendl, Robert A.↗
NASA NTRS2005

Crew collaboration in space: a naturalistic decision-making perspective

Successful long-duration space missions will depend on the ability of crewmembers to respond promptly and effectively to unanticipated problems that arise under highly stressful conditions. Naturalistic decision making (NDM) exploits the knowledge and experience of decision makers in meaningful work domains, especially complex sociotechnical systems, including aviation and space. Decision making in these ambiguous, dynamic, high-risk environments is a complex task that involves defining the nature of the problem and crafting a response to achieve one's goals. Goal conflicts, time pressures, and uncertain outcomes may further complicate the process. This paper reviews theory and research pertaining to the NDM model and traces some of the implications for space crews and other groups that perform meaningful work in extreme environments. It concludes with specific recommendations for preparing exploration crews to use NDM effectively.

Review, Tutorial↗
NASA NTRS2005

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗
NASA NTRS2005

Centaur: A Mobile Dexterous Humanoid for Surface Operations

Future human and robotic planetary expeditions could benefit greatly from expanded Extra-Vehicular Activity (EVA) capabilities supporting a broad range of multiple, concurrent surface operations. Risky, expensive and complex, conventional EVAs are restricted in both duration and scope by consumables and available manpower, creating a resource management problem. A mobile, highly dexterous Extra-Vehicular Robotic (EVR) system called Centaur is proposed to cost-effectively augment human astronauts on surface excursions. The Centaur design combines a highly capable wheeled mobility platform with an anthropomorphic upper body mounted on a three degree-of-freedom waist. Able to use many ordinary handheld tools, the robot could conserve EVA hours by relieving humans of many routine inspection and maintenance chores and assisting them in more complex tasks, such as repairing other robots. As an astronaut surrogate, Centaur could take risks unacceptable to humans, respond more quickly to EVA emergencies and work much longer shifts. Though originally conceived as a system for planetary surface exploration, the Centaur concept could easily be adapted for terrestrial military applications such as de-Gig, surveillance and other hazardous duties.

Rehnmark, Fredrik↗
NASA NTRS2003

Robonaut's Flexible Information Technology Infrastructure

Robonaut, NASA's humanoid robot, is designed to work as both an astronaut assistant and, in certain situations, an astronaut surrogate. This highly dexterous robot performs complex tasks under telepresence control that could previously only be carried out directly by humans. Currently with 47 degrees of freedom (DOF), Robonaut is a state-of-the-art human size telemanipulator system. while many of Robonaut's embedded components have been custom designed to meet packaging or environmental requirements, the primary computing systems used in Robonaut are currently commercial-off-the-shelf (COTS) products which have some correlation to flight qualified computer systems. This loose coupling of information technology (IT) resources allows Robonaut to exploit cost effective solutions while floating the technology base to take advantage of the rapid pace of IT advances. These IT systems utilize a software development environment, which is both compatible with COTS hardware as well as flight proven computing systems, preserving the majority of software development for a flight system. The ability to use highly integrated and flexible COTS software development tools improves productivity while minimizing redesign for a space flight system. Further, the flexibility of Robonaut's software and communication architecture has allowed it to become a widely used distributed development testbed for integrating new capabilities and furthering experimental research.

Askew, Scott↗