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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 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS2024

Ultra-Light, Strong, and Self-Reprogrammable Mechanical Metamaterials

Versatile programmable materials have long been envisioned that can reconfigure themselves to adapt to changing use cases in adaptive infrastructure, space exploration, disaster response, and more. We introduce a robotic structural system as an implementation of programmable matter, with mechanical performance and scale on par with conventional high-performance materials and truss systems. Fiber reinforced composite truss-like building-blocks form strong, stiff, and lightweight lattice structures as mechanical metamaterials. Two types of mobile robots operate over the exterior surface and through the interior of the system, performing transport, placement, and reversible fastening using the intrinsic lattice periodicity for indexing and metrology. Leveraging programmable matter algorithms to achieve scalability in size and complexity, this system design enables robust collective automated assembly and reconfiguration of large structures with simple robots. We describe the system design and experimental results from a 256-unit cell assembly demonstration and lattice mechanical testing, as well as demonstration of disassembly and reconfiguration. The assembled structural lattice material exhibits ultra-light mass density (0.0103 g/cc) with high strength and stiffness for its weight (0.01117 MPa and 1.1129 MPa, respectively), a material performance realm appropriate for applications like space structures. With simple robots and structure, high mass-specific structural performance, and competitive throughput, this system demonstrates potential for self-reconfiguring autonomous metamaterials for diverse applications.

Robotics↗
NASA NTRS2000

Towards Evolving Electronic Circuits for Autonomous Space Applications

The relatively new field of Evolvable Hardware studies how simulated evolution can reconfigure, adapt, and design hardware structures in an automated manner. Space applications, especially those requiring autonomy, are potential beneficiaries of evolvable hardware. For example, robotic drilling from a mobile platform requires high-bandwidth controller circuits that are difficult to design. In this paper, we present automated design techniques based on evolutionary search that could potentially be used in such applications. First, we present a method of automatically generating analog circuit designs using evolutionary search and a circuit construction language. Our system allows circuit size (number of devices), circuit topology, and device values to be evolved. Using a parallel genetic algorithm, we present experimental results for five design tasks. Second, we investigate the use of coevolution in automated circuit design. We examine fitness evaluation by comparing the effectiveness of four fitness schedules. The results indicate that solution quality is highest with static and co-evolving fitness schedules as compared to the other two dynamic schedules. We discuss these results and offer two possible explanations for the observed behavior: retention of useful information, and alignment of problem difficulty with circuit proficiency.

Lohn, Jason D.↗
NASA NTRS1977

Observed differences in learning ability of heart rate self-regulation as a function of hypnotic susceptibility

Three groups of eight male and female subjects (aged 20-27 yr) categorized by low and high hypnotic susceptibility were taught to control their heart rates by means of an appropriate autogenic therapy/biofeedback technique. The experimental groups were trained by autogenic therapy and biofeedback, while the control group received only biofeedback. Significant differences are observed in all psychological test scores between subjects of high and low hypnotic susceptibility. The results confirm that (1) there are qualitative and quantitative differences between the performance of individuals with high and low hypnotic susceptibility; (2) interindividual-variability tests yield data relevant to individual performance in visceral learning tasks; (3) the combined autogenic therapy/biofeedback/verbal feedback technique is suitable for conditioning large stable autonomic responses in humans; and (4) this kind of conditioning is effective in eliminating or alleviating physiological reactions to some environmental stressors.

Cowings, P. S.↗
NASA NTRS2010

Design and Testing of a Prototype Lunar or Planetary Surface Landing Research Vehicle (LPSLRV)

This handbook describes a two-semester senior design course sponsored by the NASA Office of Education, the Exploration Systems Mission Directorate (ESMD), and the NASA Space Grant Consortium. The course was developed and implemented by the Mechanical and Aerospace Engineering Department (MAE) at Utah State University. The course final outcome is a packaged senior design course that can be readily incorporated into the instructional curriculum at universities across the country. The course materials adhere to the standards of the Accreditation Board for Engineering and Technology (ABET), and is constructed to be relevant to key research areas identified by ESMD. The design project challenged students to apply systems engineering concepts to define research and training requirements for a terrestrial-based lunar landing simulator. This project developed a flying prototype for a Lunar or Planetary Surface Landing Research Vehicle (LPSRV). Per NASA specifications the concept accounts for reduced lunar gravity, and allows the terminal stage of lunar descent to be flown either by remote pilot or autonomously. This free-flying platform was designed to be sufficiently-flexible to allow both sensor evaluation and pilot training. This handbook outlines the course materials, describes the systems engineering processes developed to facilitate design fabrication, integration, and testing. This handbook presents sufficient details of the final design configuration to allow an independent group to reproduce the design. The design evolution and details regarding the verification testing used to characterize the system are presented in a separate project final design report. Details of the experimental apparatus used for system characterization may be found in Appendix F, G, and I of that report. A brief summary of the ground testing and systems verification is also included in Appendix A of this report. Details of the flight tests will be documented in a separate flight test report. This flight test report serves as a complement to the course handbook presented here. This project was extremely ambitious, and achieving all of the design and test objectives was a daunting task. The schedule ran slightly longer than a single academic year with the complete design closure not occurring until early April. Integration and verification testing spilled over into late May and the first flight did not occur until mid to late June. The academic year at Utah State University ended on May 8, 2010. Following the end of the academic year, testing and integration was performed by the faculty advisor, paid research assistants, and volunteer student help

Murphy, Gloria A.↗
NASA NTRSDate not supplied

Towards a Characterization of Scheduling Task Complexity

Future long-duration missions will require astronauts to act more autonomously, manage their schedules, and replan timelines as anomalies and discoveries occur. Astronauts are not professional planners, however, and the complexity of schedules that novice planners can complete successfully is not fully understood. To identify the primary factors which contribute to scheduling task complexity, we conducted a human-in-the-loop study and developed planning algorithms to investigate how the type and amount of constraints affect the difficulty of scheduling and rescheduling. We created rankings of difficulty using a combination of human performance metrics from experimental planning tasks and metrics describing the final plans that participants scheduled. Using the results of our scheduling and rescheduling algorithm algorithms, we created a similar ranking with which to compare. We created rankings which compared well between the experimental and algorithm results for the scheduling task, but the rescheduling task proved more difficult to estimate.

scheduling↗
NASA NTRSDate not supplied

Towards a Characterization of Scheduling Task Complexity

Future long-duration missions will require astronauts to act more autonomously, manage their schedules, and replan timelines as anomalies and discoveries occur. Astronauts are not professional planners, however, and the complexity of schedules that novice planners can complete successfully is not fully understood. To identify the primary factors which contribute to scheduling task complexity, we conducted a human-in-the-loop study and developed planning algorithms to investigate how the type and amount of constraints affect the difficulty of scheduling and rescheduling. We created rankings of difficulty using a combination of human performance metrics from experimental planning tasks and metrics describing the final plans that participants scheduled. Using the results of our scheduling and rescheduling algorithm algorithms, we created a similar ranking with which to compare. We created rankings which compared well between the experimental and algorithm results for the scheduling task, but the rescheduling task proved more difficult to estimate.

scheduling↗
NASA NTRS2017

NIAC Phase II Orbiting Rainbows: Future Space Imaging with Granular Systems

Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft swarms to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exo-planet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exo-planet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Furthermore, future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities. Our objective in Phase II was to experimentally and numerically investigate how to optically manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an adaptable ultra-lightweight surface. Our solution is based on the aperture being an engineered granular medium, instead of a conventional monolithic aperture. This allows building of apertures at a reduced cost, enables extremely fault-tolerant apertures that cannot otherwise be made, and directly enables classes of missions for exoplanet detection based on Fourier spectroscopy with tight angular resolution and innovative radar systems for remote sensing. In this task, we have examined the advanced feasibility of a crosscutting concept that contributes new technological approaches for space imaging systems, autonomous systems, and space applications of optical manipulation. The proposed investigation has matured the concept that we started in Phase I to TRL 3, identifying technology gaps and candidate system architectures for the space-borne cloud as an aperture.

Quadrelli, Marco B.↗
NASA NTRS1989

Real-time edge tracking using a tactile sensor

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. A controller is proposed that utilizes a tactile sensor in the feedback loop of a manipulator to track along edges. In the control system, the data from the tactile sensor is first processed to find edges. The parameters of these edges are then used to generate a control signal to a hybrid controller. Theory is presented for tactile edge detection and an edge tracking controller. In addition, experimental verification of the edge tracking controller is presented.

Berger, Alan D.↗
NASA NTRS2019

Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations

This work assesses an adaptive approach to fault recovery in autonomous robotic space operations, which uses indicators of opportunity, such as physiological state measurements and observations of past human assistant performance, to inform future selections. We validated our reinforcement learning approach using data we collected from humans executing simulated mission scenarios. We present a method of structuring human-factors experiments that permits collection of relevant indicator of opportunity and assigned assistance task performance data, as well as evaluation of our adaptive approach, without requiring large numbers of test subjects. Application of our reinforcement learning algorithm to our experimental data shows that our adaptive assistant selection approach can achieve lower cumulative regret compared to existing non-adaptive baseline approaches when using real human data. Our work has applications beyond space robotics to any application where autonomy failures may occur that require external intervention.

Human-centered robotics↗
NASA NTRSDate not supplied

An Experimental System for Strategic Flight Path Management in Advanced Air Mobility

In the concept envisioned for Urban Air Mobility (UAM) operations, fleets of electric vertical takeoff and landing (eVTOL) vehicles would operate between vertiports distributed within a densely populated area. These operations would be largely independent from the existing air traffic control system and would place the responsibility for flight planning and aircraft separation on fleet operators. The fourth major level on the UAM Maturity Level scale, UML-4, relies on “collaborative and responsible” automation to enable operations in non-visual conditions with medium traffic density (hundreds of aircraft in one metropolitan region) and medium complexity. This level of service places many requirements on automation systems to assist the operators of these aircraft. NASA has developed the Autonomous Operations Planner (AOP), a reference prototype Flight Path Management automation system, and has modified AOP to support research of anticipated UML-4 operations. AOP creates a four-dimensional flight plan conforming to the constraints of these operations, evaluates and modifies the flight plan during flight as conditions and constraints evolve, and coordinates the flight plan with other airspace users and with service providers. This version of AOP has been integrated into the Sikorsky Autonomy Research Aircraft and used in a flight test activity. In this paper we discuss anticipated characteristics of UAM operations, modifications that were made to AOP to adapt to that environment or to support the flight test, and observations of software and aircraft performance during the flight test. The aircraft achieved four-dimensional conformance with the flight plan and AOP provided adequate planning in almost all cases. We discuss improvements that could be made to AOP to address deficiencies that were observed.

Autonomous Operations Planner↗
NASA NTRSDate not supplied

An Experimental System for Strategic Flight Path Management in Advanced Air Mobility

In the concept envisioned for Urban Air Mobility (UAM) operations, fleets of electric vertical takeoff and landing (eVTOL) vehicles would operate between vertiports distributed within a densely populated area. These operations would be largely independent from the existing air traffic control system and would place the responsibility for flight planning and aircraft separation on fleet operators. The fourth major level on the UAM Maturity Level scale, UML-4, relies on “collaborative and responsible” automation to enable operations in non-visual conditions with medium traffic density (hundreds of aircraft in one metropolitan region) and medium complexity. This level of service places many requirements on automation systems to assist the operators of these aircraft. NASA has developed the Autonomous Operations Planner (AOP), a reference prototype Flight Path Management automation system, and has modified AOP to support research of anticipated UML-4 operations. AOP creates a four-dimensional flight plan conforming to the constraints of these operations, evaluates and modifies the flight plan during flight as conditions and constraints evolve, and coordinates the flight plan with other airspace users and with service providers. This version of AOP has been integrated into the Sikorsky Autonomy Research Aircraft and used in a flight test activity. In this paper we discuss anticipated characteristics of UAM operations, modifications that were made to AOP to adapt to that environment or to support the flight test, and observations of software and aircraft performance during the flight test. The aircraft achieved four-dimensional conformance with the flight plan and AOP provided adequate planning in almost all cases. We discuss improvements that could be made to AOP to address deficiencies that were observed.

Autonomous Operations Planner↗
NASA NTRS1998

Information Systems for NASA's Aeronautics and Space Enterprises

The aerospace industry is being challenged to reduce costs and development time as well as utilize new technologies to improve product performance. Information technology (IT) is the key to providing revolutionary solutions to the challenges posed by the increasing complexity of NASA's aeronautics and space missions and the sophisticated nature of the systems that enable them. The NASA Ames vision is to develop technologies enabling the information age, expanding the frontiers of knowledge for aeronautics and space, improving America's competitive position, and inspiring future generations. Ames' missions to accomplish that vision include: 1) performing research to support the American aviation community through the unique integration of computation, experimentation, simulation and flight testing, 2) studying the health of our planet, understanding living systems in space and the origins of the universe, developing technologies for space flight, and 3) to research, develop and deliver information technologies and applications. Information technology may be defined as the use of advance computing systems to generate data, analyze data, transform data into knowledge and to use as an aid in the decision-making process. The knowledge from transformed data can be displayed in visual, virtual and multimedia environments. The decision-making process can be fully autonomous or aided by a cognitive processes, i.e., computational aids designed to leverage human capacities. IT Systems can learn as they go, developing the capability to make decisions or aid the decision making process on the basis of experiences gained using limited data inputs. In the future, information systems will be used to aid space mission synthesis, virtual aerospace system design, aid damaged aircraft during landing, perform robotic surgery, and monitor the health and status of spacecraft and planetary probes. NASA Ames through the Center of Excellence for Information Technology Office is leading the effort in pursuit of revolutionary, IT-based approaches to satisfying NASA's aeronautics and space requirements. The objective of the effort is to incorporate information technologies within each of the Agency's four Enterprises, i.e., Aeronautics and Space Transportation Technology, Earth, Science, Human Exploration and Development of Space and Space Sciences. The end results of these efforts for Enterprise programs and projects should be reduced cost, enhanced mission capability and expedited mission completion.

Kutler, Paul↗
NASA NTRS1987

On-line identification and attitude control for SCOLE

This paper documents on-line linear least-square identification and attitude control of SCOLE, a laboratory apparatus representing an offset-feed antenna attached to the Space Shuttle. Identification is done autonomously by starting a slew maneuver in pitch or roll with reaction jets and observing the time history data of associated Euler angles when the jets are quiescent. Linear least-square analysis is used to select the parameters that best fit the output of an Autoregressive (AR) model to the data. The control effectiveness of the jets is determined in a subsequent test, again using linear least squares. The parameters so derived are used to design switching lines for time-optimal attitude control. This report describes the identification and control algorithms and the experimental apparatus and procedures used. Also, experimental data are presented that reflect the performance of the identification algorithms and the attitude control system.

Montgomery, R. C.↗
NASA NTRS1990

Autonomous robot using infrared thermal camera to discriminate objects in outdoor scene

A complete autonomous legged robot is beig designed at Carnegie Mellon University to perform planetary exploration without human supervision. This robot must traverse unknown and geographically diverse areas in order to collect samples of materials. This paper describes how thermal imaging can be used to identify materials in order to find good footfall positions and collection sites of material. First, a model developed for determining the temperature of materials in an outdoor scene is presented. By applying this model, it is shown that it is possible to determine a physical characteristic of the material: thermal inertia. Second, experimental results are described that consist in recording thermal images of an outdoor scene constituted with sand and rock. Third, results and limitations of applying the model to experimental images are analyzed. Finally, the paper analyzes how basic segmentation algorithms can be combined with the thermal inertia segmentation in order to improve the discrimination of different kinds of materials.

Caillas, C.↗
NASA NTRSDate not supplied

A Systems Approach to AI Model Integration and Performance Evaluation for the Generic UAM Simulation Framework

This paper introduces py-guam, an open-source experimentation framework developed for the NASA Generic Urban Air Mobility simulation (GUAM) environment, facilitating the integration and evaluation of advanced artificial intelligence (AI) algorithms. We present a systems approach which enables the seamless incorporation of data-driven models, including off-nominal and failure state detection, into the GUAM’s Cognitive Architecture (CA). The framework supports customizable experimentation parameters, derives Safety Performance Indicators (SPIs) from UL 4600 safety case analyses, and employs rapid UAM simulations to assess AI impacts on flight performance across diverse scenarios. Through comprehensive testing and validation experiments, we demonstrate GUAM’s capability to enhance safety and efficiency in urban air mobility operations. Additionally, the open-source nature of py-guam fosters community collaboration, ensuring continuous improvement and adaptability to evolving technological advancements. This work establishes a robust tool for developing and testing AI-driven urban air mobility (UAM) systems, advancing the safety and reliability of autonomous urban air vehicles.

Artificial Intelligence↗
NASA NTRS2000

Intelligence Applied to Air Vehicles

The exponential growth in information technology has provided the potential for air vehicle capabilities that were previously unavailable to mission and vehicle designers. The increasing capabilities of computer hardware and software, including new developments such as neural networks, provide a new balance of work between humans and machines. This paper will describe several NASA projects, and review results and conclusions from ground and flight investigations where vehicle intelligence was developed and applied to aeronautical and space systems. In the first example, flight results from a neural network flight control demonstration will be reviewed. Using, a highly-modified F-15 aircraft, a NASA/Dryden experimental flight test program has demonstrated how the neural network software can correctly identify and respond to changes in aircraft stability and control characteristics. Using its on-line learning capability, the neural net software would identify that something in the vehicle has changed, then reconfigure the flight control computer system to adapt to those changes. The results of the Remote Agent software project will be presented. This capability will reduce the cost of future spacecraft operations as computers become "thinking" partners along with humans. In addition, the paper will describe the objectives and plans for the autonomous airplane program and the autonomous rotorcraft project. Technologies will also be developed.

Rosen, Robert↗
NASA NTRS2003

Negative obstacle detection by thermal signature

Detecting negative obstacles (ditches, potholes, and other depressions) is one of the most difficult problems in perception for autonomous, off-road navigation. Past work has largely relied on range imagery, because that is based on the geometry of the obstacle, is largely insensitive to illumination variables, and because there have not been other reliable alternatives. However, the visible aspect of negative obstacles shrinks rapidly with range, making them impossible to detect in time to avoid them at high speed. To relive this problem, we show that the interiors of negative obstacles generally remain warmer than the surrounding terrain throughout the night, making thermal signature a stable property for night-time negative obstacle detection. Experimental results to date have achieved detection distances 45% greater by using thermal signature than by using range data alone. Thermal signature is the first known observable with potential to reveal a deep negative obstacle without actually seeing far into it. Modeling solar illumination has potential to extend the usefulness of thermal signature through daylight hours.

unmanned ground vehicles (UGV's)↗
NASA NTRS1995

Water vapor spectroscopy in the 815-nm wavelength region for Differential Absorption Lidar measurements

The differential absorption lidar (DIAL) technique was first applied to the remote measurement of atmospheric water vapor profiles from airborne platforms in 1981. The successful interpretation of the lidar profiles relies strongly on an accurate knowledge of specific water vapor absorption line parameters: line strength, pressure broadening coefficient, pressure-induced shift coefficient and the respective temperature-dependence factors. NASA Langley Research Center has developed and is currently testing an autonomous airborne water vapor lidar system: LASE (Lidar Atmospheric Sensing Experiment). This DIAL system uses a Nd:YAG-pumped Ti:Sapphire laser seeded by a diode laser as a lidar transmitter. The tunable diode has been selected to operate in the 813-818 nm wavelength region. This 5-nm spectral interval offers a large distribution of strengths for temperature-insensitive water vapor absorption lines. In support of the LASE project, a series of spectroscopic measurements were conducted for the 16 absorption lines that have been identified for use in the LASE measurements. Prior to this work, the experimental data for this water vapor absorption band were limited - to our knowledge - to the line strengths and to the line positions.

Ponsardin, Patrick↗