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NASA NTRSDate not supplied

Bootstrapping Multi-Agent Unmanned Aerial Vehicle (UAV) System Integration Using Ground-Based Assets: Lessons Learned

The highly dynamic nature of UAVs imposes significant challenges when conducting initial testing ranging from safety risks posed by high-capacity lithium batteries and spinning propellers to rigorous timing demands on controllers and the consequences of failures mid-air. Flight testing of a single vehicle is time and labor intensive due to these challenges and more, and the complexity increases exponentially with the number of vehicles. While simulations and hardware-in-the-loop bench testing can provide adequate environments for preliminary validation, differences in system deployment architecture, software interfaces, and hardware infrastructure between simulation and a fleet of real UAVs create a sizable gap that must be navigated carefully during system integration. In support of the Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) project, which had the goal of establishing a basis of certification of trust and trustworthiness in multi-agent autonomous systems, this gap was tackled from two directions. First, a novel mixed-reality simulation environment was engineered to blur the transition from simulation to flight hardware. Second, a fleet of Unmanned Surface Vehicles (USVs) was developed as a test and evaluation platform that more closely represented the final aerial fleet while eliminating many of the risks associated with air vehicles. This paper delves into the second element, analyzing the efficacy of the USV platform in performing system integration testing for the UAV system. In this paper we present the USV fleet and its role in reducing the aforementioned gaps in deployment architecture, software interfaces, and hardware infrastructure when moving from simulation to flight. An overview of the hardware and software onboard the vehicles will be provided along with supporting infrastructure. The system integration process will be documented including results in supporting both the overarching design reference mission (DRM) of ATTRACTOR and individual research efforts conducted during the project. Finally, we will discuss some of the practical lessons learned regarding the testing, deployment, and operation of multi-agent autonomous systems.

Matthew P Vaughan↗

NASA NTRS1989

The electrochemical generation of useful chemical species from lunar materials

The current status of work on an electrochemical technology for the simultaneous generation of oxygen and lithium from a Li2O containing molten salt (Li2O-LiCl-LiF) is discussed. The electrochemical cell utilizes an oxygen vacancy conducting solid electrolyte, yttria-stabilized zirconia, to effect separation between the oxygen evolving and lithium reduction half-cell reactions. The cell, which operates at 700 to 800 C, possesses rapid electrode kinetics at the lithium-alloy electrode with exchange current density values being greater than 60 mA/sq cm, showing high reversibility for this reaction. When used in the electrolytic mode, lithium produced at the negative electrode would be continuously removed from the cell for later use (under lunar conditions) as an easily storable reducting agent (compared to H2) for the chemical refining of lunar ores via the general reaction: 2Li + MO yields Li2O + M where MO represents a lunar ore. Emphasis to this time has been on the simulated lunar ore ilmenite (FeTiO3), which we have found becomes chemically reduced by Li at 432 C. Furthermore, both Fe2O3 and TiO2 have been reduced by Li to give the corresponding metal. This electrochemical approach provides a convenient route for producing metals under lunar conditions and oxygen for the continuous maintenance of human habitats on the Moon's surface. Because of the high reversibility of this electrochemical system, it has also formed the basis for the lithium-oxygen secondary battery. This secondary lithium-oxygen battery system posses the highest theoretical energy density yet investigated.

Tsai, Kan J.↗

NASA NTRS2018

Bioreduction of Solid Rocket Motors for Planetary Protection

Solid rocket propulsion systems have been used for in-space applications including planetary exploration missions for many years. Current NASA science lander projects require solid rocket propulsion systems to touchdown on the surface of potentially life-supporting planets and moons. A critical requirement of these missions is the prevention of accidental transportation of Earth's microbes to these environments. This mission requirement places an increased importance on the ability to reduce the biological burden that may be on board the solid propulsion systems and potentially deposited in a habitable environment. Some traditional interplanetary spacecraft decontamination operations could reduce the reliability of the solid propulsion system, indicating a need for new decontamination procedures. New techniques for biological burden reduction are being studied and may become the method of choice to ensure adequate reduction has been achieved. These techniques include biocidal elimination through chemical agents already present within the motor and cellular disruption due to assembly and operational environments induced in the motor. Recent investigations into the effectiveness of these techniques have generated promising experimental results. These techniques and current experimental results will be presented.

Boyle, Sadie M.↗

NASA NTRS1977

Microbe Detector

The AutoMicrobic System (AMS) represents years of intensive research and development by McDonnell Douglas Corp. that originated with a NASA study aimed at development of a fully automated microbial detection and identification system for spacecraft use. A urine specimen is placed into the system, where it is subjected to different freeze-dried microbe nutrients for the nine most common pathogens. An electro-optical scanner studies each specimen once an hour through a 4-to-13 hour cycle, operating automatically. Changes in cell growths on each culture are monitored by computer. The presence of pathogens is indicated when growth reaches a predetermined level. The system also enumerates the pathogens and specifies the type. Developed initially to handle urine testing, AMS soon is expected to allow analyses of blood, spinal fluid, and other body fluids. An additional capability under development is "susceptibility testing," or the determination of which microbe-killing agents-such as penicillin or other antibiotics-would be most effective in eliminating the pathogens. The whole process of detecting, identifying, and enumerating the pathogens and determining susceptibility is accomplished in less half the time required for the manual procedure. The AMS minimizes human error, reduces technician time , and increases laboratory output.

Source record↗

NASA NTRS2009

Advanced Signal Processing Techniques Applied to Terahertz Inspections on Aerospace Foams

The space shuttle's external fuel tank is thermally insulated by the closed cell foams. However, natural voids composed of air and trapped gas are found as by-products when the foams are cured. Detection of foam voids and foam de-bonding is a formidable task owing to the small index of refraction contrast between foam and air (1.04:1). In the presence of a denser binding matrix agent that bonds two different foam materials, time-differentiation of filtered terahertz signals can be employed to magnify information prior to the main substrate reflections. In the absence of a matrix binder, de-convolution of the filtered time differential terahertz signals is performed to reduce the masking effects of antenna ringing. The goal is simply to increase probability of void detection through image enhancement and to determine the depth of the void.

Trinh, Long Buu↗

NASA NTRSDate not supplied

Summary of Technical Interchange Meetings (TIMs) Designed to Enable Earth Independent Medical Operations (EIMO)

The Exploration Medical Capability Element (ExMC) in NASA’s Human Research Program hosted a series of TIMs in 2023-2024 designed to stimulate discussion around specific topics with the goal of enabling EIMO. In context of the thematic constituent elements of EIMO, namely pre-mission planning, acute/emergent/prolonged medical decision making, supply/resource management and task load management, subject matter experts from industry, academia and government (NASA and other Agencies) provided valuable and actionable guidance and recommendations. Earth-based medical experts will remain indispensable for pre-mission planning, however, management of acute/emergent medical contingencies will require a gradual transition of medical care and decision making from terrestrial to space-based assets to enable support of astronaut health and performance and reduce overall mission risk. Key to achieving these enhancements is providing an integrated data system platform capable of utilizing multiple data streams in concert with a variety of on-board databases and passive monitoring of video and wearable sensors to enable a multi-modal, agentic AI-based clinical decision support system (CDSS) to support crew medical officer (CMO) medical decision-making. The EIMO series of TIMs (I-V) have proven to be instructive and portend a significant paradigm shift will be necessary to maintain crew health and performance on exploration class missions. Importantly, since the expected paradigm shift will be significantly different from the methods of operation that have been employed for the majority of missions from the inception of human spaceflight to date, any proposed methods must be deployed in the setting of ongoing operations early and be “tested, reviewed and practiced” while reliable back-up is available to facilitate an Enterprise-wide level of comfort and acceptance. Serious constraints on data transmission coupled with a large and expanding universe of on-board medical informatics data streams will necessitate implementation of a CDSS to supplant the current reliance on support provided by ground-based SMEs. Establishment of trust in the system by CMO/crew and the ground-based medical support team will be essential. Co-development of a CDSS with industry partners will assure that state of the art tools can be employed, and industry efficiencies can be leveraged. Training regimens, materials and tools must evolve to be responsive (just-in-time training) and facilitate autonomous execution of procedures. Proficiency metrics should be established and be based on validated competencies or milestones as opposed to a prescribed number of training hours. Training should be prioritized for broad, translatable skills that have universal application across a variety of medical conditions. Repetition was deemed to be the key to achieving proficiency and emphasis should lie in procedural training which is known to extinguish more rapidly than diagnostic skills. Advanced tools, e.g., extended reality, can provide more realistic and effective training. Use of advanced probabilistic risk assessment tools will be essential to optimize the medical system capability while carefully balancing risk relative to mass/power/volume limitations. Importance of factoring use-life of medical supplies and maintaining awareness of redundancy and opportunity to re-purpose under off nominal situations was emphasized. Consideration of adopting optimized performance standards vs. “good-enough” performance thresholds is warranted. The use of legacy systems as opposed to creating new systems may be preferable. Managing task load and associated cognitive load will be essential to maintain operational safety and behavioral health. ExMC aspires to create a shared EIMO paradigm and strategic vision for advancing medical system design through novel technologies, training, protocols, and support capabilities, built upon the spirit of successful strategies and innovations over the past six decades of space medicine operations.

Jay Lemery↗

NASA NTRS2019

Bioreduction of Solid Rocket Motors for Planetary Protection

Solid rocket propulsion systems have been used for in-space applications including planetary exploration missions for many years. Current NASA science lander projects require solid rocket propulsion systems to touchdown on the surface of potentially life-supporting planets and moons. A critical requirement of these missions is the prevention of accidental transportation of Earth's microbes to these environments. This mission requirement places an increased importance on the ability to reduce the biological burden that may be on board the solid propulsion systems and potentially deposited in a habitable environment. Some traditional interplanetary spacecraft decontamination operations could reduce the reliability of the solid propulsion system, indicating a need for new decontamination procedures. New techniques for biological burden reduction are being studied and may become the method of choice to ensure adequate reduction has been achieved. These techniques include using innate antimicrobial capacity of chemical agents already present within the motor and cellular disruption due to assembly and operational environments induced in the mated case. Recent investigations into the effectiveness of some of these techniques have generated promising experimental results.

Boyle, Sadie↗

NASA NTRS2011

Software Productivity of Field Experiments Using the Mobile Agents Open Architecture with Workflow Interoperability

We analyzed a series of ten systematically developed surface exploration systems that integrated a variety of hardware and software components. Design, development, and testing data suggest that incremental buildup of an exploration system for long-duration capabilities is facilitated by an open architecture with appropriate-level APIs, specifically designed to facilitate integration of new components. This improves software productivity by reducing changes required for reconfiguring an existing system.

Clancey, William J.↗

NASA NTRS1990

Effect of hindlimb suspension on cardiovascular responses to sympathomimetics and lower body negative pressure

To determine whether hindlimb suspension is associated with the development of cardiovascular deconditioning, male rats were studied before and after undergoing one of three treatment conditions for 9 days: (1) cage control (n = 15, CON), (2) horizontal suspension (n = 15, HOZ), and (3) head-down suspension (n = 18, HDS). Testing included lower body negative pressure administered during chloralose-urethan anesthesia and graded doses of sympathomimetic agents (norepinephrine, phenylephrine, and tyramine) administered to conscious unrestrained animals. Both HDS and HOZ were associated with a small decrease in the hypotensive response to lower body negative pressure. The HOZ group, but not the HDS group, exhibited augmented reflex tachycardia. Furthermore, both HDS and HOZ groups manifested reduced pressor responses to phenylephrine after treatment. These reductions were associated with significantly attenuated increases in mesenteric vascular resistance. However, baroreflex control of heart rate was not altered by the treatment conditions. Collectively, these results indicate that 9 days of HDS in rats does not elicit hemodynamic response patterns generally associated with cardiovascular deconditioning induced by hypogravic conditions.

Overton, J. Michael↗

NASA NTRS1996

Spacecraft Autonomy in the New Millenium

NASA's New Millenium Program (NMP) is designed to dramatically reduce mission costs and enable new and more frequent exploration missons.

new↗

NASA NTRSDate not supplied

AI Curation Methods for NASA Scientific Data

The NASA Open Science Data Repository (OSDR) serves as a central hub for sharing and accessing NASA's vast collection of scientific data, supporting researchers across diverse fields. To enhance the efficiency, accuracy, and accessibility of this data, we are leveraging advanced artificial intelligence (AI) techniques as part of the AI for Curation project. By integrating large language models (LLMs) into our data curation workflow, we aim to streamline the entire process—from data submission to user interaction. This initiative focuses on improving key areas, including data ingestion, curation, and user engagement with curated datasets, impacting multiple domains and a wide user base. First, we are developing tools that can automatically parse data in various formats, using LLMs to convert unstructured data into structured, standardized formats. This reduces the manual effort required for curation, allowing curators to focus on more critical scientific analyses. Additionally, AI and machine learning (ML) models are being implemented to automate data validation and verification, ensuring the highest standards of data quality and reliability. Finally, we are creating a conversational AI agent to interact with the curated scientific studies in OSDR, helping users easily navigate the repository and access relevant data. By enhancing data discoverability and accessibility, these advancements will foster new research opportunities and promote the principles of open science.

Walter Alvarado↗

NASA NTRS1998

Rapid Prototyping of Composite Structures

This progress report for the project Rapid Production of Composite Structures covers the period from July 14, 1997 to June 30, 1998. It will present a short overview of the project, followed by the results to date and plans for the future. The goal of this research is to provide a minimum 100x reduction in the time required to produce arbitrary, laminated products without the need for a separate mold or an autoclave. It will accomplish this by developing the science underlying the rapid production of composite structures, specifically those of carbon fiber-epoxy materials. This scientific understanding will be reduced to practice in a demonstration device that will produce a part on the order of 12" by 12" by 6". Work in the past year has focussed on developing an understanding of the materials issues and of the machine design issues. Our initial goal was to use UV cureable resins to accomplish full cure on the machine. Therefore, we have centered our materials work around whether or not UV cureable resins will work. Currently, the answer seems to be that they will not work, because UV light cannot penetrate the carbon fibers, and because no "shadow" curing seems to occur. As a result, non-UV cureable resins are being investigated. This has resulted in a change in the machine design focus. We are now looking into a "dip and place" machine design, whereby a prepreg layer would have one side coated with a curing agent, and then would be placed onto the previous layer. This would lead to cure at the interface, but not to the top of the layer. The formulation of the resins to accomplish this task at room or slightly elevated temperatures is being investigated, as is the machine design needed to apply the curing agent and then cure or partially cure the part. A final, out-of-autoclave, post-cure may be needed with this strategy, as final cure on the machine may not be possible, as it was for the initial UV cure strategy. The remainder of this report details the progress in the materials and machine design areas. Materials Development The material system must be designed to fulfill the following requirements: to reduce the time and labor requirements of typical cure cycles; to reduce the thermal stresses developed during conventional heat curing; and to develop a structure that the build sequence requires. In order to accomplish these goals, there have been parallel tracks of investigation. One area has tested photopolymerizable (ultraviolet (UV) curable) materials and combinations of these materials with standard heat curing resins. The second area has investigated resins that cure rapidly at room or low heat temperatures. The main goal of these investigations has been to identify a system that will rapidly set or cure at room temperature during a tape lay-up process and hold its structure during a post-cure cycle.

Colton, Jonathan S.↗

NASA NTRS1973

Effect of noble gases on an atmospheric greenhouse /Titan/.

Several models for the atmosphere of Titan have been investigated, taking into account various combinations of neon and argon. The investigation shows that the addition of large amounts of Ne and/or Ar will substantially reduce the hydrogen abundance required for a given greenhouse effect. The fact that a large amount of neon should be present if the atmosphere is a relic of the solar nebula is an especially attractive feature of the models, because it is hard to justify appropriate abundances of other enhancing agents.

Cess, R.↗

NASA NTRS2009

Treating Fibrous Insulation to Reduce Thermal Conductivity

A chemical treatment reduces the convective and radiative contributions to the effective thermal conductivity of porous fibrous thermal-insulation tile. The net effect of the treatment is to coat the surfaces of fibers with a mixture of transition-metal oxides (TMOs) without filling the pores. The TMO coats reduce the cross-sectional areas available for convection while absorbing and scattering thermal radiation in the pores, thereby rendering the tile largely opaque to thermal radiation. The treatment involves a sol-gel process: A solution containing a mixture of transition-metal-oxide-precursor salts plus a gelling agent (e.g., tetraethylorthosilicate) is partially cured, then, before it visibly gels, is used to impregnate the tile. The solution in the tile is gelled, then dried, and then the tile is fired to convert the precursor salts to the desired mixed TMO phases. The amounts of the various TMOs ultimately incorporated into the tile can be tailored via the concentrations of salts in the solution, and the impregnation depth can be tailored via the viscosity of the solution and/or the volume of the solution relative to that of the tile. The amounts of the TMOs determine the absorption and scattering spectra.

Zinn, Alfred↗

NASA NTRS2006

Integrated Vehicle Health Management (IVHM) for Aerospace Systems

To achieve NASA's ambitious Integrated Space Transportation Program objectives, aerospace systems will implement a variety of new concept in health management. System level integration of IVHM technologies for real-time control and system maintenance will have significant impact on system safety and lifecycle costs. IVHM technologies will enhance the safety and success of complex missions despite component failures, degraded performance, operator errors, and environment uncertainty. IVHM also has the potential to reduce, or even eliminate many of the costly inspections and operations activities required by current and future aerospace systems. This presentation will describe the array of NASA programs participating in the development of IVHM technologies for NASA missions. Future vehicle systems will use models of the system, its environment, and other intelligent agents with which they may interact. IVHM will be incorporated into future mission planners, reasoning engines, and adaptive control systems that can recommend or execute commands enabling the system to respond intelligently in real time. In the past, software errors and/or faulty sensors have been identified as significant contributors to mission failures. This presentation will also address the development and utilization of highly dependable sohare and sensor technologies, which are key components to ensure the reliability of IVHM systems.

Baroth, Edmund C.↗

NASA NTRS2016

NASA and ESA Collaboration on Alternative to Nitric Acid Passivation: Parameter Optimization of Citric Acid Passivation for Stainless Steel Alloys

National Aeronautics and Space Administration (NASA) Headquarters chartered the Technology Evaluation for Environmental Risk Mitigation Principal Center (TEERM) to coordinate agency activities affecting pollution prevention issues identified during system and component acquisition and sustainment processes. The primary objectives of NASA TEERM are to: Reduce or eliminate the use of hazardous materials or hazardous processes at manufacturing, remanufacturing, and sustainment locations. Avoid duplication of effort in actions required to reduce or eliminate hazardous materials through joint center cooperation and technology sharing. Corrosion is an extensive problem that affects the National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA). The damaging effects of corrosion result in steep costs, asset downtime affecting mission readiness, and safety risks to personnel. Consequently, it is vital to reduce corrosion costs and risks in a sustainable manner. NASA and ESA have numerous structures and equipment that are fabricated from stainless steel. The standard practice for protection of stainless steel is a process called passivation. Passivation is defined by The American Heritage Dictionary of the English Language as to treat or coat (a metal) in order to reduce the chemical reactivity of its surface. Passivation works by forming a shielding outer (metal oxide) layer that reduces the impact of destructive environmental factors such as air or water. Consequently, this process necessitates a final product that is very clean and free of iron and other contaminants. Typical passivation procedures call for the use of nitric acid; however, there are a number of environmental, worker safety, and operational issues associated with its use. Citric acid is an alternative to nitric acid for the passivation of stainless steels. Citric acid offers a variety of benefits including increased safety for personnel, reduced environmental impact, and reduced operational cost. The primary objective of this effort is to qualify citric acid as an environmentally-preferable alternative to nitric acid for the passivation of stainless steel alloys. While citric acid use has become more prominent in industry, there is little evidence that citric acid is a technically sound passivation agent, especially for the unique and critical applications encountered by NASA and ESA.

citric acid passivation↗

NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Deep Reinforcement Learning

To support sustainable infrastructure on the Moon, NASA needs to leverage lunar resources for in-situ processing and construction. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for these tasks. To reliably perform these operations on the lunar surface, RASSOR's sensors and control systems need to be robust and maximize information extracted from a reduced sensor payload. Herein, we present our findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments in which we applied reinforcement learning algorithms to learn autonomous trenching controllers and produced state estimation architectures. We developed two simulations: a 2D excavation simulation used to facilitate parameter selection, and a 3D simulation developed using a game physics engine to simulate simplified soil interactions and incorporate robotic agents parameterized by dynamic models. Within these simulations, we learned autonomous excavation routines that exceed excavation efficiency measures as compared against RASSOR's existing control and teleoperation-based methods.

RASSOR↗

NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Deep Reinforcement Learning

RASSOR↗