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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 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

Planetary Rover Simulation for Lunar Exploration Missions

When planning planetary rover missions it is useful to develop intuition and skills driving in, quite literally, alien environments before incurring the cost of reaching said locales. Simulators make it possible to operate in environments that have the physical characteristics of target locations without the expense and overhead of extensive physical tests. To that end, NASA Ames and Open Robotics collaborated on a Lunar rover driving simulator based on the open source Gazebo simulation platform and leveraging ROS (Robotic Operating System) components. The simulator was integrated with research and mission software for rover driving, system monitoring, and science instrument simulation to constitute an end-to-end Lunar mission simulation capability. Although we expect our simulator to be applicable to arbitrary Lunar regions, we designed to a reference mission of prospecting in polar regions. The harsh lighting and low illumination angles at the Lunar poles combine with the unique reflectance properties of Lunar regolith to present a challenging visual environment for both human and computer perception. Our simulator placed an emphasis on high fidelity visual simulation in order to produce synthetic imagery suitable for evaluating human rover drivers with navigation tasks, as well as providing test data for computer vision software development.In this paper, we describe the software used to construct the simulated Lunar environment and the components of the driving simulation. Our synthetic terrain generation software artificially increases the resolution of Lunar digital elevation maps by fractal synthesis and inserts craters and rocks based on Lunar size-frequency distribution models. We describe the necessary enhancements to import large scale, high resolution terrains into Gazebo, as well as our approach to modeling the visual environment of the Lunar surface. An overview of the mission software system is provided, along with how ROS was used to emulate flight software components that had not been developed yet. Finally, we discuss the effect of using the high-fidelity synthetic Lunar images for visual odometry. We also characterize the wheel slip model, and find some inconsistencies in the produced wheel slip behaviour.

Allan, Mark↗
NASA NTRS2021

What are Needed Innovations for Space Crop Production That May Also Benefit Vertical Farming?

I am speaking about the space crop production gaps and challenges we face and how we need innovations in the area of plant health monitoring, food safety contamination monitoring, CEA IPM, understanding of and manipulation of the microbiome/ecosystem, sustainability needs, novel sensors needed, automation and robotics, and also new crops that could be developed and ways that our needs parallel those of the vertical farming industry. (Note: This presentation is in video mp4 format is only viewable by download)

Gioia Massa↗
NASA NTRS2022

Chapter 7: Sun Photometers

Sun photometry is an extended technique for monitoring the atmospheric composition and support satellite product validation. By measuring the direct solar irradiance, the amount and characteristics of the atmospheric aerosol particles, precipitable water vapor column, and ozone columns can be derived. Global operational networks such as the Aerosol Robotic Network (AERONET), Global Atmosphere Watch-Precision Filter Radiometer Network (GAW-PFR), Maritime Aerosol Network (MAN), or the Brewer spectrophotometer networks constitute sustained efforts for long-term monitoring of the atmosphere, with invaluable data production using cost-effective and relatively simple instrumentation. The data quality relies on the standardization of these networks, with special emphasis on the calibration as the key element in Sun photometry.

Sun photometry↗
NASA NTRS2011

Motion Imagery and Robotics Application (MIRA)

Objectives include: I. Prototype a camera service leveraging the CCSDS Integrated protocol stack (MIRA/SM&C/AMS/DTN): a) CCSDS MIRA Service (New). b) Spacecraft Monitor and Control (SM&C). c) Asynchronous Messaging Service (AMS). d) Delay/Disruption Tolerant Networking (DTN). II. Additional MIRA Objectives: a) Demo of Camera Control through ISS using CCSDS protocol stack (Berlin, May 2011). b) Verify that the CCSDS standards stack can provide end-to-end space camera services across ground and space environments. c) Test interoperability of various CCSDS protocol standards. d) Identify overlaps in the design and implementations of the CCSDS protocol standards. e) Identify software incompatibilities in the CCSDS stack interfaces. f) Provide redlines to the SM&C, AMS, and DTN working groups. d) Enable the CCSDS MIRA service for potential use in ISS Kibo camera commanding. e) Assist in long-term evolution of this entire group of CCSDS standards to TRL 6 or greater.

Martinez, Lindolfo↗
NASA NTRS1991

Considerations for human-machine interfaces in tele-operations

Numerous factors impact on the efficiency of tele-operative manipulative work. Generally, these are related to the physical environment of the tele-operator and how he interfaces with robotic control consoles. The capabilities of the operator can be influenced by considerations such as temperature, eye strain, body fatigue, and boredom created by repetitive work tasks. In addition, the successful combination of man and machine will, in part, be determined by the configuration of the visual and physical interfaces available to the teleoperator. The design and operation of system components such as full-scale and mini-master manipulator controllers, servo joysticks, and video monitors will have a direct impact on operational efficiency. As a result, the local environment and the interaction of the operator with the robotic control console have a substantial effect on mission productivity.

Newport, Curt↗
NASA NTRS1987

Recovering from execution errors in SIPE

In real-world domains (e.g., a mobile robot environment), things do not always proceed as planned, so it is important to develop better execution-monitoring techniques and replanning capabilities. These capabilities in the SIPE planning system are described. The motivation behind SIPE is to place enough limitations on the representation so that planning can be done efficiently, while retaining sufficient power to still be useful. This work assumes that new information given to the execution monitor is in the form of predicates, thus avoiding the difficult problem of how to generate these predicates from information provided by sensors. The replanning module presented here takes advantage of the rich structure of SIPE plans and is intimately connected with the planner, which can be called as a subroutine. This allows the use of SIPE's capabilities to determine efficiently how unexpected events affect the plan being executed and, in many cases, to retain most of the original plan by making changes in it to avoid problems caused by these unexpected events. SIPE is also capable of shortening the original plan when serendipitous events occur. A general set of replanning actions is presented along with a general replanning capability that has been implemented by using these actions.

Wilkins, D. E.↗
NASA NTRS1993

The implementation of the Human Exploration Demonstration Project (HEDP), a systems technology testbed

The Human Exploration Demonstration Project (HEDP) is an ongoing task at the NASA's Ames Research Center to address the advanced technology requirements necessary to implement an integrated working and living environment for a planetary surface habitat. The integrated environment consists of life support systems, physiological monitoring of project crew, a virtual environment work station, and centralized data acquisition and habitat systems health monitoring. The HEDP is an integrated technology demonstrator, as well as an initial operational testbed. There are several robotic systems operational in a simulated planetary landscape external to the habitat environment, to provide representative work loads for the crew. This paper describes the evolution of the HEDP from initial concept to operational project; the status of the HEDP after two years; the final facilities composing the HEDP; the project's role as a NASA Ames Research Center systems technology testbed; and the interim demonstration scenarios that have been run to feature the developing technologies in 1993.

Rosen, Robert↗
NASA NTRS1994

Multimodal correlation and intraoperative matching of virtual models in neurosurgery

The multimodal correlation between different diagnostic exams, the intraoperative calibration of pointing tools and the correlation of the patient's virtual models with the patient himself, are some examples, taken from the biomedical field, of a unique problem: determine the relationship linking representation of the same object in different reference frames. Several methods have been developed in order to determine this relationship, among them, the surface matching method is one that gives the patient minimum discomfort and the errors occurring are compatible with the required precision. The surface matching method has been successfully applied to the multimodal correlation of diagnostic exams such as CT, MR, PET and SPECT. Algorithms for automatic segmentation of diagnostic images have been developed to extract the reference surfaces from the diagnostic exams, whereas the surface of the patient's skull has been monitored, in our approach, by means of a laser sensor mounted on the end effector of an industrial robot. An integrated system for virtual planning and real time execution of surgical procedures has been realized.

Ceresole, Enrico↗
NASA NTRS1990

Optical Instruments

Precision Lapping and Optical Co. has developed a wide variety of hollow retroreflector systems for applications involving the entire optical spectrum; they are, according to company literature, cheaper, more accurate, lighter and capable of greater size than solid prisms. Precision Lapping's major customers are aerospace and defense companies, government organizations, R&D and commercial instrument companies. For example, Precision Lapping supplies hollow retroreflectors for the laser fire control system of the Army's Abrams tank, and retroreflectors have been and are being used in a number of space tests relative to the Air Force's Strategic Defense Initiative research program. An example of a customer/user is Chesapeake Laser Systems, producer of the Laser Tracker System CMS-2000, which has applications in SDI research and industrial robotics. Another customer is MDA Scientific, Inc., manufacturer of a line of toxic gas detection systems used to monitor hazardous gases present in oil fields, refineries, offshore platforms, chemical plants, waste storage sites and other locations where gases are released into the environment.

Source record↗
NASA NTRS2007

The Nation's Vision for Exploration: An Update

I.Current key activities: a) Constellation Level2-System Engineering. b) Lunar Architecture Team (LAT)2-technology assessment and architectural option for the lander. c) Mars Architecture Team-system engineering support, Science integration, precursor program planning. d) Lunar Lander Project Core Team-GN&C and Flight system engineering. e) Technology program-supporting multiple projects in robotics, power systems, aero entry technology. f) Mission Operation Project-Mission operations system engineering. g) Advanced Environmental Monitoring Instruments. H. Lunar Reconnaissance Orbiter instrument (Diviner). II. Mission Proposals a) Lunar Sample return. b) Lunar Gravity field mapper.

space exploration↗
NASA NTRS1987

Problems and research issues associated with the hybrid control of force and displacement

The hybrid control of force and position is basic to the science of robotics but is only poorly understood. Before much progress can be made in robotics, this problem needs to be solved in a robust manner. However, the use of hybrid control implies the existence of a model of the environment, not an exact model (as the function of hybrid control is to accommodate these errors), but a model appropriate for planning and reasoning. The monitored forces in position control are interpreted in terms of a model of the task as are the monitored displacements in force control. The reaction forces of the task of writing are far different from those of hammering. The programming of actions in such a modeled world becomes more complicated and systems of task level programming need to be developed. Sensor based robotics, of which force sensing is the most basic, implies an entirely new level of technology. Indeed, robot force sensors, no matter how compliant they may be, must be protected from accidental collisions. This implies other sensors to monitor task execution and again the use of a world model. This new level of technology is the task level, in which task actions are specified, not the actions of individual sensors and manipulators.

Paul, R. P.↗
NASA NTRS2005

Task Description Language

Task Description Language (TDL) is an extension of the C++ programming language that enables programmers to quickly and easily write complex, concurrent computer programs for controlling real-time autonomous systems, including robots and spacecraft. TDL is based on earlier work (circa 1984 through 1989) on the Task Control Architecture (TCA). TDL provides syntactic support for hierarchical task-level control functions, including task decomposition, synchronization, execution monitoring, and exception handling. A Java-language-based compiler transforms TDL programs into pure C++ code that includes calls to a platform-independent task-control-management (TCM) library. TDL has been used to control and coordinate multiple heterogeneous robots in projects sponsored by NASA and the Defense Advanced Research Projects Agency (DARPA). It has also been used in Brazil to control an autonomous airship and in Canada to control a robotic manipulator.

Simmons, Reid↗
NASA NTRS1989

Design of a monitor and simulation terminal (master) for space station telerobotics and telescience

Based on Space Station and planetary spacecraft communication time delays and bandwidth limitations, it will be necessary to develop an intelligent, general purpose ground monitor terminal capable of sophisticated data display and control of on-orbit facilities and remote spacecraft. The basic elements that make up a Monitor and Simulation Terminal (MASTER) include computer overlay video, data compression, forward simulation, mission resource optimization and high level robotic control. Hardware and software elements of a MASTER are being assembled for testbed use. Applications of Neural Networks (NNs) to some key functions of a MASTER are also discussed. These functions are overlay graphics adjustment, object correlation and kinematic-dynamic characterization of the manipulator.

Lopez, L.↗
NASA NTRS1990

A representation for error detection and recovery in robot task plans

A general definition is given of the problem of error detection and recovery in robot assembly systems, and a general representation is developed for dealing with the problem. This invariant representation involves a monitoring process which is concurrent, with one monitor per task plan. A plan hierarchy is discussed, showing how diagnosis and recovery can be handled using the representation.

Lyons, D. M.↗
NASA NTRS1992

Needs for supervised space robots in space exploration

The areas of application for space robots in the Space Exploration Initiative (SEI) are examined by reviewing the roles of SEI supervised robots particularly with planet-surface systems (PSSs). Treatment is given to both teleoperated conventional robot systems and autonomous intelligent systems for comparison in terms of safety, reliability, and productivity. Two development stages are proposed including one with a robotic actor, human observer, and a human supervisor and a second in which a closed-loop control and monitoring system is established. The use of remote control is shown to require robustness, self-calibration and -diagnosis, adjustable autonomy, and multitask capability. The requirements of intelligent control are also listed so that the PSSs of the SEI can be used to enable surface exploration, local-resource utilization potential, and reductions of human tasks.

Erickson, Jon D.↗
NASA NTRSDate not supplied

Human Monitoring for Medical Operator Assistance

Measurement of multiple biologic and non-biologic signals can be exploited for the task of monitoring the physiological status of individuals - either as patients during and following illness or injury or as those engaged in operational activities. Assessing physiological status is accomplished by measuring vital signs and wellness measures that support clinical decision-making for physical optimization, illness/injury prevention and treatment, recovery progression, and general delivery of care, or monitoring an operator's moment-to-moment personal "readiness" state. Physiological measures are beneficial for monitoring the medical state of vehicle operators, for example, through the detection of incapacitation in the realm of transportation safety. Measuring physiological signals or control inputs can also be beneficial for monitoring operator state to optimize human-autonomy-teaming performance for safety and efficiency. Similarly, monitoring a health care provider during the performance of medical procedures could provide valuable feedback on optimizing human-robot interactions and human teaming with autonomous systems. In this sense, the provider can be seen as a "Medical Operator" in the same way other "operators" drive, aviate, or control vehicles by performing manual, attention-demanding tasks during safety-critical activities.

Neuroergonomics↗
NASA NTRS1979

Manufacturing process applications team (MATEAM)

The transfer of NASA technology to the industrial sector is reported. Presentations to the machine tool and robot industries and direct technology transfers of the Adams Manipulator arm, a-c motor control, and the bolt tension monitor are discussed. A listing of proposed RTOP programs with strong potential is included. A detailed description of the rotor technology available to industry is given.

Source record↗
NASA NTRS1988

Fourth Conference on Artificial Intelligence for Space Applications

Proceedings of a conference held in Huntsville, Alabama, on November 15-16, 1988. The Fourth Conference on Artificial Intelligence for Space Applications brings together diverse technical and scientific work in order to help those who employ AI methods in space applications to identify common goals and to address issues of general interest in the AI community. Topics include the following: space applications of expert systems in fault diagnostics, in telemetry monitoring and data collection, in design and systems integration; and in planning and scheduling; knowledge representation, capture, verification, and management; robotics and vision; adaptive learning; and automatic programming.

Odell, Stephen L.↗