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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 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

Event-Driven Modeling and Execution of Robotic Activities and Contingencies in the Europa Lander Mission Concept Using BPMN

TRACE (Traceable Robotic Activity Composer and Executive) is a tool designed to address the model-ing, verification, and execution of planned and con-tingent activities during robotic space missions. These activities can be modeled (i.e., planned) graph-ically in TRACE using the Business Process Model and Notation (BPMN) language. This standardized language is used to model a sequence of robotic ac-tivities tied together by logical constructs, events, and time. TRACE includes verification tools to en-sure feasibility before mission models are executed by TRACE’s executive, which is integrated into the autonomy subsystem via a connector. In this paper, we describe TRACE in detail as it would apply to a conceptual Europa Lander surface mission with planned excavation and sample collection activities, as well as, contingency activities when execution is off-nominal—all highlighting our novel use of BPMN as a lingua franca for the pipeline from mis-sion planning to autonomous execution.

Lim, Grace↗
NASA NTRS1976

Study and development of techniques for automatic control of remote manipulators

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

Shaket, E.↗
NASA NTRS2013

Robot Sequencing and Visualization Program (RSVP)

The Robot Sequencing and Visualization Program (RSVP) is being used in the Mars Science Laboratory (MSL) mission for downlink data visualization and command sequence generation. RSVP reads and writes downlink data products from the operations data server (ODS) and writes uplink data products to the ODS. The primary users of RSVP are members of the Rover Planner team (part of the Integrated Planning and Execution Team (IPE)), who use it to perform traversability/articulation analyses, take activity plan input from the Science and Mission Planning teams, and create a set of rover sequences to be sent to the rover every sol. The primary inputs to RSVP are downlink data products and activity plans in the ODS database. The primary outputs are command sequences to be placed in the ODS for further processing prior to uplink to each rover. RSVP is composed of two main subsystems. The first, called the Robot Sequence Editor (RoSE), understands the MSL activity and command dictionaries and takes care of converting incoming activity level inputs into command sequences. The Rover Planners use the RoSE component of RSVP to put together command sequences and to view and manage command level resources like time, power, temperature, etc. (via a transparent realtime connection to SEQGEN). The second component of RSVP is called HyperDrive, a set of high-fidelity computer graphics displays of the Martian surface in 3D and in stereo. The Rover Planners can explore the environment around the rover, create commands related to motion of all kinds, and see the simulated result of those commands via its underlying tight coupling with flight navigation, motor, and arm software. This software is the evolutionary replacement for the Rover Sequencing and Visualization software used to create command sequences (and visualize the Martian surface) for the Mars Exploration Rover mission.

Cooper, Brian K.↗
NASA NTRSDate not supplied

Reflecting on Planning Models: A Challenge for Verification and Validation of Planning Systems

We discuss the opportunities for autonomous sys- tems to perform reflection on their planners by adapting the models used to build plans. We first describe model-based planning systems, a form of automated planning system driven by declarative models of the planning domain. These models include descriptions of the conditions and effects of actions on the state of the world. When planning the activities of cyber-physical systems, the command and data representation of the system must be formally abstracted to the actions and states described in the planning system model. When the execution of a plan either fails or produces unexpected outcomes, the execution trace can be abstracted and compared to the predicted state according to the planning model, producing a list of discrepancies; these discrepancies can then be used to fix the model. This provides part of a reflection capability, namely, a set of well-formed problems with the domain model, the abstractions, or both. The challenge lies in the rest of the reflection capability, namely, a set of techniques for changing the models or the abstractions. We discuss these challenges and describe some of the options for addressing them

Mission Planning↗
NASA NTRS1987

NASA sea ice and snow validation plan for the Defense Meteorological Satellite Program special sensor microwave/imager

This document addresses the task of developing and executing a plan for validating the algorithm used for initial processing of sea ice data from the Special Sensor Microwave/Imager (SSMI). The document outlines a plan for monitoring the performance of the SSMI, for validating the derived sea ice parameters, and for providing quality data products before distribution to the research community. Because of recent advances in the application of passive microwave remote sensing to snow cover on land, the validation of snow algorithms is also addressed.

Cavalieri, Donald J.↗
NASA NTRS1983

Man's role in a remote orbital servicing system

The Remote Orbital Servicing System (ROSS), a focal point for NASA research in automation and robotics, is discussed in terms of the role of man in such a system. In the supervisory control mode, the ROSS operator inputs high-level goals to a strategic (nonreal-time) planner which then passes the plan or series of actions to a tactical (real-time) planner which executes the plan. Using directed control, man makes more specific commands to perform strategic planning with or without the use of the automated strategic planner. Shared computer/manual control will require a multifunction interactive display. At the teleoperator control level, a hand controller is used to command the ROSS manipulator and end effectors.

Pennington, J. E.↗
NASA NTRS1990

Autonomous navigation and control of a Mars rover

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

Miller, D. P.↗
NASA NTRS2008

Spatial Coverage Planning for a Planetary Rover

We are developing onboard planning and execution technologies to support the exploration and characterization of geological features by autonomous rovers. In order to generate high quality mission plans, an autonomous rover must reason about the relative importance of the observations it can perform. In this paper we look at the scientific criteria of selecting observations that improve the quality of the area covered by samples. Our approach makes use of a priori information, if available, and allows scientists to mark sub-regions of the area with relative priorities for exploration. We use an efficient algorithm for prioritizing observations based on spatial coverage that allows the system to update observation rankings as new information is gained during execution.

Onboard planning↗
NASA NTRS2001

Follow That Satellite: EO-1 Maneuvers into Closed Formation With Landsat-7

As the Landsat-7 spacecraft continued NASA's historic program of earth imaging, begun over three decades ago, NASA launched the Earth Observing-1 (EO-1) spacecraft carrying examples of the next generation of Landsat-7 instruments. The validation method for these instruments was to have EO-1 fly in a close formation behind Landsat-7 on the same World Reference System path. From that formation hundreds of near coincident images would be taken by each spacecraft and compared to evaluate improvements in the EO-1 instruments. This paper will address the mission analysis required to launch and maneuver EO-1 into the formation with Landsat-7 where instrument validation was to occur plus a summary of completing the formation acquisition. EO-1 is required to operate one minute +/- 6 seconds behind Landsat-7 during the period of co-fly imaging with a cross track separation of within + 3 kilometers. This separation time can also be stated as a one minute +/- 6 seconds time difference in the Mean Local Time (MLT) at the descending nodes. Achieving the required MLT is heavily dependent on the time of launch. The EO-1 launch window, which had to accommodate the dual payloads of EO-1 and SAC-C, was very limited ranging from 0 to 22 seconds over the 16 day Landsat-7 WRS repeat cycle during which EO-1 was launched. Each EO-1 launch opportunity that occurred on a different day of a Landsat-7 16 day repeat cycle required a separate and distinct maneuver profile. These profiles varied significantly in duration and amount of onboard propellant required to achieve them. EO-1 launched on a day judged to have "medium" resource requirements for achieving the formation with Landsat-7. To phase EO-1 one minute behind Landsat-7 in the along track direction, a series of altitude adjusts separated by specific drift intervals were executed. Additional maneuvers slightly changed the EO-1 inclination to maintain the MLT requirements. Orbit maneuvers were planned and executed within errors of less than 1.5 percent and propellant usage was near nominal consuming 3.4 kilograms out of a launch and early orbit budget of 11 kilograms. The pre-launch 3 -sigma propellant budget allowed for 1+ years of EO-1 mission life. The success of the EO-1 launch and early orbit operations provided sufficient propellant for nearly 4 years of on orbit operations. Special action taken during the EO-1 maneuver period involved some maneuver re-planning to reduce concerns about a potential close approach between EO-1 and Landsat-7. The result of this re-planning was a safer close approach and improvement in future formation acquisition planning.

DeFazio, Robert↗
NASA NTRS2004

Argumentation for coordinating shared activities

There is an increasing need for space missions to be able to collaboratively (and competitively) develop plans both within and across missions. In addition, interacting spacecraft that interleave onboard planning and execution must reach consensus on their commitments to each other prior to execution.

scheduling↗
NASA NTRS1990

Autoplan: A self-processing network model for an extended blocks world planning environment

Self-processing network models (neural/connectionist models, marker passing/message passing networks, etc.) are currently undergoing intense investigation for a variety of information processing applications. These models are potentially very powerful in that they support a large amount of explicit parallel processing, and they cleanly integrate high level and low level information processing. However they are currently limited by a lack of understanding of how to apply them effectively in many application areas. The formulation of self-processing network methods for dynamic, reactive planning is studied. The long-term goal is to formulate robust, computationally effective information processing methods for the distributed control of semiautonomous exploration systems, e.g., the Mars Rover. The current research effort is focusing on hierarchical plan generation, execution and revision through local operations in an extended blocks world environment. This scenario involves many challenging features that would be encountered in a real planning and control environment: multiple simultaneous goals, parallel as well as sequential action execution, action sequencing determined not only by goals and their interactions but also by limited resources (e.g., three tasks, two acting agents), need to interpret unanticipated events and react appropriately through replanning, etc.

Dautrechy, C. Lynne↗
NASA NTRS2013

End of Mission Considerations

While a great deal of effort goes into planning and executing successful mission operations, it is also important to consider the End of the Mission during the planning, design, and operations phases of any mission. Spacecraft and launch vehicles must be disposed of properly in order to limit the generation of orbital debris, and better preserve the orbital environment for all future missions. Figure 30-1 shows a 1990's projected growth of debris with and without the use of responsible disposal techniques. This requires early selection of a responsible disposal scenario, so that the necessary capabilities can be incorporated into the hardware designs. The mission operations must then be conducted in such a way as to preserve, and then actually perform, the planned, appropriate end of mission disposal.

Hull, Scott M.↗
NASA NTRS2018

Determining Thermal Capabilities for External Transfer Operations on the International Space Station

External transfers on the International Space Station (ISS) have a degree of difficulty caused by the severity of the radiative thermal environment and the complexity of the operational choreography to perform the installation and activation of the hardware. These transfers can be performed robotically, by astronauts during an Extra Vehicular Activity (EVA - spacewalk), or combination of robotic/crew operations. Robotic transfers may include capability to intermittently power the hardware; while the hardware remains unpowered for EVA operations. Robotic transfers can be staged to occur in a favorable thermal environment, though typically take longer than a transfer by crew during an EVA where the hardware may not be robotically compatible. The hardware is under passive thermal control, use of optics/multi-layer insulation/heaters, while being transferred from/to a visiting vehicle, airlock, stowage platform, or external ISS structure and may include additional design components, such as removable protective blankets, to meet the transfer requirements. Thermal analysis must be performed to determine the capability of the hardware being transferred to provide the Mission Control team the products necessary to plan and execute the operation while establishing an awareness for any contingency response. An overview of the thermal aspects in planning these types of transfer operations, the analytical approaches and assumptions, and examples of results are provided in this paper.

Thermal↗
NASA NTRS2024

Morphometric Characterization of Lunar Landing Sites

As ambitious surface exploration of the Moon commences in the 2020s, it is important to develop reliable and objective metrics for understanding the quality of future landing sites. A key prerequisite for any exploration and utilization of the lunar surface is a safe landing. One of the most important methods to provide understanding of potential metrics for landing site safety in the lunar context is the systematic comparison of candidate and historic landing sites. The goal of this project is to determine the morphometric parameters of the lunar surface at 16 successful lunar landing sites where adequate data exists to execute a quantitative comparison using various parameters. Quantitative analysis of Lunar Reconnaissance Orbiter (LRO) data should inform mission planning activities by providing morphologic metrics for landing sites including slope, Terrain Ruggedness Index (TRI), and rock abundance. These comparisons will assist mission planners and exploration scientists by providing “calibration points” for using Lunar Reconnaissance Orbiter (LRO) data to successfully plan and execute lunar powered descents in the future. The metrics included in this analysis describe the form of the terrain and can be calculated for any potential future landing site. Another objective of this project is to determine how the derived morphologic parameters for the same landing site change between common pixel scales. In ideal lighting conditions, 2m/px Narrow Angle Camera Digital Terrain Models (NAC DTMs) can be assembled using stereoscopic imagery from two or more concentric orbits of the LRO. However, due to low light conditions near the lunar poles, the highest quality data for many potential lunar landing sites comes from the Lunar Orbiter Laser Altimeter (LOLA). Therefore, we seek to assess how the derived slope and TRI values change as a function of changes in the DTM postings from 2m/px to 5m/px.

J M McCallion↗
NASA NTRS1991

Astrophysics science operations - Near-term plans and vision

Astrophysics science operations planned by the Science Operations branch of NASA Astrophysics Division for the 1990s for the purpose of gathering spaceborne astronomical data are described. The paper describes the near-future plans of the Science Operations in the areas of the preparation of the proposal; the planning and execution of spaceborne observations; the collection, processing, and analysis data; and the dissemination of results. Also presented are concepts planned for introduction at the beginning of the 20th century, including the concepts of open communications, transparent instrument and observatory operations, a spiral requirements development method, and an automated research assistant.

Riegler, Guenter R.↗
NASA NTRS2024

Input Waste Stream Modeling for Trash Management, Recycling, and Manufacturing Processes

Astronaut waste is an important aspect of the planning and execution of long-term crewed missions, especially to the Moon and Mars. However, as new technologies arise and mission planning evolves, the projected composition of the waste similarly evolves. This poses a problem for researchers who are investigating various approaches to mitigating crew waste, since the investigation of each new waste-mitigation technology typically uses a static waste composition that is based on a simulant developed at the time of the research; several such waste simulants have been developed over recent years. To mitigate the ‘moving target’ aspect of crew waste composition and use, researchers at NASA KSC have developed a computational tool wherein researchers can adjust the composition of the crew waste, as well as other important parameters such as crew size, mission duration, and waste mitigation method (e.g., incineration, compaction, jettison, etc.). The computational tool then returns important mission metrics such as waste-related mass reduction, power consumed, water produced or consumed, elemental mass balance, and available feedstock for in-space manufacturing (ISM) applications. This tool can then be used to adjust aspects of a waste model (e.g., removal of metal aluminum (Al) for ISM applications) and determine an associated set of metrics in order to inform mission planning.

Ray Pitts↗
NASA NTRS2000

Robustness via Run-Time Adaptation of Contingent Plans

In this paper, we discuss our approach to making the behavior of planetary rovers more robust for the purpose of increased productivity. Due to the inherent uncertainty in rover exploration, the traditional approach to rover control is conservative, limiting the autonomous operation of the rover and sacrificing performance for safety. Our objective is to increase the science productivity possible within a single uplink by allowing the rover's behavior to be specified with flexible, contingent plans and by employing dynamic plan adaptation during execution. We have deployed a system exhibiting flexible, contingent execution; this paper concentrates on our ongoing efforts on plan adaptation, Plans can be revised in two ways: plan steps may be deleted, with execution continuing with the plan suffix; and the current plan may be merged with an "alternate plan" from an on-board library. The plan revision action is chosen to maximize the expected utility of the plan. Plan merging and action deletion constitute a more conservative general-purpose planning system; in return, our approach is more efficient and more easily verified, two important criteria for deployed rovers.

Bresina, John L.↗