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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

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NASA NTRS2021

System Analysis and Generative Design for Icenode, a Buoyant Vehicle for Measuring Melt Rate Under Ice Shelves

Antarctic ice shelves buttress the Antarctic Ice Sheet from sliding into the ocean, and their collapse could trigger a meter or more of global sea level rise by the end of the century. Current state-of-the-art predictions for ice shelf behavior in a warming climate have large uncertainty, significantly hindered by a lack of in situ melt rate observations under ice shelves, especially near grounding zones. IceNode is a novel robotic vehicle under development at the NASA Jet Propulsion Laboratory to acquire such measurements, but presents a complex design problem owing to the large design space and conflicting performance requirements. Evaluating a preliminary design requires several types of tedious analysis which prevents rapid iteration and exploration of the design space. We present the implementation of a custom system analysis framework which was used to automate analysis such as resource budgeting, mission simulation, mass and buoyancy balancing, and static landing stability analysis of a given design configuration. Using this framework, we selected parameters which had the largest effects on design success and conducted a generative design study in which we programmatically varied a handful of parameters to generate 1540 different design candidates and test them across 160 different environmental scenarios. The custom built system analysis tool enabled rapid development of critical analysis and automated exploration of a large design space to guide preliminary design of the IceNode vehicle.

Gebara, Christine↗

NASA NTRS1991

Systems engineering studies of lunar base construction

Many ingenious concepts have been proposed for lunar base construction, but few systematic studies exist which relate time-consistent lunar base construction technologies and the choice of lunar base approach with the long-term SEI objectives - i.e., lunar indigenous base construction and Mars Exploration equipment development. To fill this gap, CSC has taken a two-pronged approach. First, the Center undertook basic geotechnical investigations of lunar soil, fabrication of a scale prototype of a lunar construction crane, a multi-robot construction team laboratory experiment, and a preliminary design of lunar base structures. Second, during Jun. and Jul. 1991 two lunar base construction systems engineering studies were accomplished - a 'near term lunar base' study, and a 'far-term lunar base' study. The goals of these studies were to define the major lunar base construction research problems in consistent technology/construction frameworks, and to define design requirements for construction equipment such as a lunar crane and a regolith mover. The 'near-term lunar base' study examined three different construction concepts for a lunar base comprised of pre-fabricated, pre-tested, Space Station Freedom-type modules, which would be covered with regolith shielding. Concept A used a lunar crane for unloading and transportation; concept B, a winch and cart; and concept C, a walker to move the modules from the landing site to the base site and assemble them. To evaluate the merits of each approach, calculations were made of mass efficiency measure, source mass, reliability, far-term base mass, Mars base mass, and base assembly time. The model thus established was also used to define the requirements for crane speed and regolith mover m(sup 3)/sec rates. A major problem addressed is how to 'mine' the regolith and stack it over the habitats as shielding. To identify when the cost of using indigenous lunar materials to construct the base exceeds the cost of development and delivery of the equipment for processing lunar materials, a study of construction of a candidate sintered regolith 'far term lunar base' was undertaken. A technique was devised for casting slabs of sintered (basaltic) regolith and assembling these into a hemispherical (or geodesic) dome. The major problem occurs with the inner liner. At 14.7 psi and 20 percent oxygen internal atmosphere, the entire structure is in tension, even with the regolith load. Also, another study has indicated that at 14.7 psi major resupply of air will be needed because of leakage, and astronauts may have to engage in extensive pre-breathing and post-breathing for extravehicular activity (EVA) tasks, thus detracting from useful mission work time. An alternative is to operate part of the base at, say, 5 psi and 70 percent oxygen, or to equip the astronauts with hard suits at 8.3 psi or greater. All of these choices directly influence base design and construction techniques.

Morgenthaler, George W.↗

NASA NTRS2006

The State of Space Propulsion Research

The current state of space propulsion research is assessed from both a historical perspective, spanning the decades since Apollo, and a forward-looking perspective, as defined by the enabling technologies required for a meaningful and sustainable human and robotic exploration program over the forthcoming decades. Previous research and technology investment approaches are examined and a course of action suggested for obtaining a more balanced portfolio of basic and applied research. The central recommendation is the establishment of a robust national Space Propulsion Research Initiative that would run parallel with systems development and include basic research activities. The basic framework and technical approach for this proposed initiative are defined and a potential implementation approach is recommended.

Sackheim, R. L.↗

NASA NTRS2008

Targeting and Localization for Mars Rover Operations

A design and a partially developed application framework were presented for improving localization and targeting for surface spacecraft. The program has value for the Mars Science Laboratory mission, and has been delivered to support the Mars Exploration Rovers as part of the latest version of the Maestro science planning tool. It also has applications for future missions involving either surface-based or low-altitude atmospheric robotic vehicles. The targeting and localization solutions solve the problem of how to integrate localization estimate updates into operational planning tools, operational data product generalizations, and flight software by adding expanded flexibility to flight software, the operations data product pipeline, and operations planning tools based on coordinate frame updates during a planning cycle.

Powell, Mark W.↗

NASA NTRS2004

The Robotic Lunar Exploration Program (RLEP): An Introduction to the Goals, Approach, and Architecture

The Vision for Space Exploration calls for undertaking lunar exploration activities to enable sustained human and robotic exploration of Mars and beyond, including more distant destinations in the solar system. In support of this vision, the Robotic Lunar Exploration Program (RLEP) is expected to execute a series of robotic missions to the Moon, starting in 2008, in order to pave the way for further human space exploration. This paper will give an introduction to the RLEP program office, its role and its goals, and the approach it is taking to executing the charter of the program. The paper will also discuss candidate architectures that are being studied as a framework for defining the RLEP missions and the context in which they will evolve.

Watzin, James G.↗

NASA NTRS2017

YADA: Yet Another Distributed Architecture for Real-Time Robotic Control Systems

This paper presents YADA, a new software architecture for real-time robotic control systems that is minimal, modular, and fully transparent. YADA divides control software into decoupled behavior, user-interface, and hardware-level bus modules. This decoupling at the module level is accomplished by auto-generating human-readable message types that are tailored to the hardware topology oft he current system. These message types provide modules with a common framework for exchanging state information and relaying commands to devices while being agnostic to the communication protocol itself. We also detail how to structure behavior and bus modules to facilitate modularity and flexibility with third party software. YADA has been used with success on several technology development testbeds at JPL, an example of which is given in this paper, and has proven to provide developers a light-weight and highly reconfigurable system for efficient debugging and practical code sharing

Godart, Peter↗

NASA NTRS2006

NASA Tech Briefs, June 2006

Topics covered include: Magnetic-Field-Response Measurement-Acquisition System; Platform for Testing Robotic Vehicles on Simulated Terrain; Interferometer for Low-Uncertainty Vector Metrology; Rayleigh Scattering for Measuring Flow in a Nozzle Testing Facility; "Virtual Feel" Capaciflectors; FETs Based on Doped Polyaniline/Polyethylene Oxide Fibers; Miniature Housings for Electronics With Standard Interfaces; Integrated Modeling Environment; Modified Recursive Hierarchical Segmentation of Data; Sizing Structures and Predicting Weight of a Spacecraft; Stress Testing of Data-Communication Networks; Framework for Flexible Security in Group Communications; Software for Collaborative Use of Large Interactive Displays; Microsphere Insulation Panels; Single-Wall Carbon Nanotube Anodes for Lithium Cells; Tantalum-Based Ceramics for Refractory Composites; Integral Flexure Mounts for Metal Mirrors for Cryogenic Use; Templates for Fabricating Nanowire/Nanoconduit- Based Devices; Measuring Vapors To Monitor the State of Cure of a Resin; Partial-Vacuum-Gasketed Electrochemical Corrosion Cell; Theodolite Ring Lights; Integrating Terrain Maps Into a Reactive Navigation Strategy; Reducing Centroid Error Through Model-Based Noise Reduction; Adaptive Modeling Language and Its Derivatives; Stable Satellite Orbits for Global Coverage of the Moon; and Low-Cost Propellant Launch From a Tethered Balloon

Source record↗

NASA NTRS2016

Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

Neilan, James H.↗

NASA NTRSDate not supplied

Runtime Verification with Ogma

Ultra-critical systems require high-level assurance, which cannot always be guaranteed in compile time. The use of runtime verification (RV) enable monitoring these systems in runtime, to detect property violations early and limit their potential consequences. However, the introduction of monitors in ultra-critical systems poses a challenge, as failures and delays in the RV subsystem could affect other subsystems and threaten the mission as a whole. In this talk we discuss two systems: NASA's Ogma, a tool to transform high-level specifications into monitoring code, and Copilot, a runtime verification framework for real-time embedded systems. The toolchain can be used to translate structured natural language requirements into C code with static memory requirements, which can be compiled to run on embedded hardware.

Ogma↗

NASA NTRSDate not supplied

Runtime Verification with Ogma

Ogma↗

DOE OSTI2026

High-throughput methods leveraging robotics and computer vision for the development of therapeutic phage cocktails

We present the high-throughput automated screening techniques that are being used to develop bacteriophage-based therapeutic products currently under investigation in human clinical trials to combat urinary tract infections. By integrating modern liquid handling robotics, standardized phenotypic assays, and computer vision-based enumeration, we established a platform capable of reproducibly screening large collections of phages against clinically derived bacterial strain panels. This approach enabled systematic assessment of phage-bacteria interactions at scale, facilitating the identification and optimization of phage cocktails with broad in vitro activity. Although bacteriophage therapy has long been investigated as a strategy for treating bacterial infections, few frameworks exist for developing phage combinations in a reproducible and scalable manner. The methods outlined here address this gap and aim to support the broader development of therapeutic assets available to combat antibiotic resistance.

Penke, Taylor J. R. [Locus Biosciences, Morrisvill↗

NASA NTRS1988

An examination of automation and robotics in the context of Space Station operations

A NASA-sponsored review of Space Station automation and robotics (A&R) applications from an operations and utilization perspective is presented. The goals of the A&R panel and this report are to identify major suggestions for advanced A&R operations application in Space Station as well as key technologies that have emerged or gained prominence since the completion of previous reports; to review and incorporate the range of possible Space Station A&R applications into a framework for evaluation of A&R opportunities; and to propose incentives for the government, work packages, and subcontractors to more aggressively identify, evaluate, and incorporate advanced A&R in Space Station Operations. The suggestions for A&R focused on narrow objectives using a conservative approach tuned to Space Station at IOC and limiting the Station's growth capabilities. A more aggressive stance is to identify functional needs over the Program's life, exploit and leverage available technology, and develop the key advanced technologies permitting effective use of A&R. The challenge is to systematically identify candidate functions to be automated, provide ways to create solutions resulting in savings or increased capabilities, and offer incentives that will promote the automation.

Criswell, David R.↗

NASA NTRS2023

Factories-in-Space for Servicing, Assembly, & Manufacturing

Space 2.0 is a promising frontier for scientific exploration and the advancement of commerce, security, and technology. To effectively harness this potential, it is imperative to establish a multifunctional, resilient, and sustainable infrastructure that enables the maintenance and production of space-based systems. This capability is a driver for mission success on-orbit and for interplanetary travel to other celestial bodies. Central to this infrastructure is the establishment of orbital manufacturing facilities, referred to as 'factories-in-space' (FiS), which serve as critical nodes in the supply chain for the servicing, assembly, and production of systems essential for space-based operations. This paper presents a framework for understanding the key principles and design considerations underpinning FiS.

Technology↗

NASA NTRS2006

Practical Application of Model-based Programming and State-based Architecture to Space Missions

Innovative systems and software engineering solutions are required to meet the increasingly challenging demands of deep-space robotic missions. While recent advances in the development of an integrated systems and software engineering approach have begun to address some of these issues, they are still at the core highly manual and, therefore, error-prone. This paper describes a task aimed at infusing MIT's model-based executive, Titan, into JPL's Mission Data System (MDS), a unified state-based architecture, systems engineering process, and supporting software framework. Results of the task are presented, including a discussion of the benefits and challenges associated with integrating mature model-based programming techniques and technologies into a rigorously-defined domain specific architecture.

state analysis↗

NASA NTRS1993

An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation.

Lindley, Craig A.↗

NASA NTRS1991

Model-based task planning system for a space laboratory environment

This paper describes the design of a model-based autonomous planning system that will enable robots to manage a space-borne chemical laboratory. In a model-based planning system, knowledge is encapsulated in the form of models at the various layers to support the predefined system objectives. Thus the model-based approach can be considered as an extended planning paradigm which is able to base its planning, control, diagnosis, repair, and other activities on a variety of objectives-related models. A System Entity Structure/Model Base framework is employed to support autonomous system design through the ability to generate a family of planning alternatives as well as to build hierarchical event-based control structures. The model base is a multilevel, multiabstraction, and multiformalism system organized through the use of system morphisms to integrate related models.

Chi, Sung-Do↗

NASA NTRS2007

Reducing the Risk of Human Missions to Mars Through Testing

During the summer of 2002 the NASA Deputy Administrator charted an internal NASA planning group to develop the rationale for exploration beyond low-Earth orbit. This team, termed the Exploration Blueprint, performed architecture analyses to develop roadmaps for how to accomplish the first steps beyond Low-Earth Orbit through the human exploration of Mars. The previous NASA Exploration Team (NEXT) activities laid the foundation and framework for development of NASA s Integrated Space Plan. The reference missions resulting from the analysis performed by the Exploration Blueprint team formed the basis for requirement definition, systems development, technology roadmapping, and risk assessments for future human exploration beyond low-Earth orbit. Emphasis was placed on developing recommendations on what could be done now to effect future exploration activities. The Exploration Blueprint team embraced the Stepping Stone approach to exploration where human and robotic activities are conducted through progressive expansion outward beyond low- Earth orbit. Results from this study produced a long-term strategy for exploration with near-term implementation plans, program recommendations, and technology investments. Specific results included the development of a common exploration crew vehicle concept, a unified space nuclear strategy, focused bioastronautics research objectives, and an integrated human and robotic exploration strategy. Recommendations from the Exploration Blueprint included the endorsement of the Nuclear Systems Initiative, augmentation of the bioastronautics research, a focused space transportation program including heavy-lift launch and a common exploration vehicle design for ISS and exploration missions, as well as an integrated human and robotic exploration strategy for Mars. Following the results of the Exploration Blueprint study, the NASA Administrator has asked for a recommendation by June, 2003 on the next steps in human and robotic exploration in order to put into context an updated Integrated Space Transportation Plan (post- Columbia) and guide Agency planning. NASA was on the verge of committing significant funding in programs that would be better served if longer term goals were better known including the Orbital Space Plane, research on the ISS, National Aerospace Initiative, Shuttle Life Extension Program, Project Prometheus, as well as a wide range of technology development throughout the Agency. Much of the focus during this period was on integrating the results from the previous studies into more concrete implementation strategies in order to understand the relationship between NASA programs, timing, and resulting budgetary implications. This resulted in an integrated approach including lunar surface operations to retire risk of human Mars missions, maximum use of common and modular systems including what was termed the exploration transfer vehicle, Earth orbit and lunar surface demonstrations of long-life systems, collaboration of human and robotic missions to vastly increase mission return, and high-efficiency transportation systems (nuclear) for deep-space transportation and power. The data provided in this summary viewgraph presentation was developed to begin to address one of the key elements of the emerging implementation strategy, namely how lunar missions help retire risk of human missions to Mars. During this process the scope of the activity broadened into the issue of how testing in general, in various venues including the Moon, can help reduce the risk for Mars missions.

Drake, Bret G.↗

NASA NTRS2007

Exploration Blueprint: Data Book

The material contained in this report was compiled to capture the work performed by the National Aeronautics and Space Administration's (NASA's) Exploration study team in the late 2002 timeframe. The "Exploration Blueprint Data Book" documents the analyses and findings of the 90-day Agency-wide study conducted from September - November 2002. During the summer of 2002, the NASA Deputy Administrator requested that a study be performed with the following objectives: - Develop the rationale for exploration beyond low-Earth orbit - Develop roadmaps for how to accomplish the first steps through humans to Mars - Develop design reference missions as a basis for the roadmaps - Make recommendations on what can be done now to effect this future This planning team, termed the Exploration Blueprint, performed architecture analyses to develop roadmaps for how to accomplish the first steps beyond LEO through the human exploration of Mars. The previous NASA Exploration Team activities laid the foundation and framework for development of NASA's Integrated Space Plan. The reference missions resulting from the analysis performed by the Exploration Blueprint team formed the basis for requirement definition, systems development, technology roadmapping, and risk assessments for future human exploration beyond low-Earth orbit. Emphasis was placed on developing recommendations on what could be done now to effect future exploration activities. The Exploration Blueprint team embraced the "Stepping Stone" approach to exploration where human and robotic activities are conducted through progressive expansion outward beyond low-Earth orbit. Results from this study produced a long-term strategy for exploration with near-term implementation plans, program recommendations, and technology investments. Specific results included the development of a common exploration crew vehicle concept, a unified space nuclear strategy, focused bioastronautics research objectives, and an integrated human and robotic exploration strategy. Recommendations from the Exploration Blueprint included the endorsement of the Nuclear Systems Initiative, augmentation of the bioastronautics research, a focused space transportation program including heavy-lift launch and a common exploration vehicle design for ISS and exploration missions, as well as an integrated human and robotic exploration strategy for Mars.

Bret G Drake↗