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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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NASA NTRS2004

NASA's Aeronautics Vision

Six long-term technology focus areas are: 1. Environmentally Friendly, Clean Burning Engines. Focus: Develop innovative technologies to enable intelligent turbine engines that significantly reduce harmful emissions while maintaining high performance and increasing reliability. 2. New Aircraft Energy Sources and Management. Focus: Discover new energy sources and intelligent management techniques directed towards zero emissions and enable new vehicle concepts for public mobility and new science missions. 3. Quiet Aircraft for Community Friendly Service. Focus: Develop and integrate noise reduction technology to enable unrestricted air transportation service to all communities. 4. Aerodynamic Performance for Fuel Efficiency. Focus: Improve aerodynamic efficiency,structures and materials technologies, and design tools and methodologies to reduce fuel burn and minimize environmental impact and enable new vehicle concepts and capabilities for public mobility and new science missions. 5. Aircraft Weight Reduction and Community Access. Focus: Develop ultralight smart materials and structures, aerodynamic concepts, and lightweight subsystems to increase vehicle efficiency, leading to high altitude long endurance vehicles, planetary aircraft, advanced vertical and short takeoff and landing vehicles and beyond. 6. Smart Aircraft and Autonomous Control. Focus: Enable aircraft to fly with reduced or no human intervention, to optimize flight over multiple regimes, and to provide maintenance on demand towards the goal of a feeling, seeing, sensing, sentient air vehicle.

Tenney, Darrel R.↗
NASA NTRS1992

A new technique for simultaneous monitoring of electrocardiogram and walking cadence

A new technique for simultaneously recording continuous electrocardiographic (ECG) data and walking step rate (cadence) is described. The ECG and gait signals are recorded on 2 channels of an ambulatory Holter monitor. Footfall is detected using ultrathin, force-sensitive foot switches and is frequency modulated. The footfall signal provides an indication of the subject's activity (walking or standing), as well as the instantaneous walking rate. Twenty-three young and elderly subjects were studied to demonstrate the use of this ECG and gait recorder. High-quality gait signals were obtained in all subjects, and the effects of walking on the electrocardiogram were assessed. Initial investigation revealed the following findings: (1) Although walking rates were similar in young and elderly subjects, the elderly had both decreased heart rate (HR) variability (p < 0.005) and increased cadence variability (p < 0.0001). (2) Overall, there was an inverse relation between HR and cadence variability (r = -0.73). Three elderly subjects with no known cardiac disease had HR and cadence variability similar to those of the young, whereas elderly subjects with history of congestive heart failure were among those with the lowest HR variability and the highest cadence variability. (3) Low-frequency (approximately equal to 0.1 Hz) HR oscillations (frequently observed during standing) persisted during walking in all young subjects. (4) In some subjects, both step rate and HR oscillated at the same low frequency (approximately equal to 0.1 Hz) previously identified with autonomic control of the baroreflex.(ABSTRACT TRUNCATED AT 250 WORDS).

NASA Discipline Cardiopulmonary↗
NASA NTRS1992

Spectral analysis of heart rate dynamics in elderly persons with postprandial hypotension

Prior studies suggest that postprandial hypotension in elderly persons may be due to defective sympathetic nervous system activation. We examined autonomic control of heart rate (HR) after a meal using spectral analysis of HR data in 13 old (89 +/- 6 years) and 7 young (24 +/- 4 years) subjects. Total spectral power, an index of overall HR variability, was calculated for the frequency band between 0.01 and 0.40 Hz. Relatively low-frequency power, associated with sympathetic nervous system and baroreflex activation, was calculated for the 0.01 to 0.15 Hz band. High-frequency power, representing parasympathetic influences on HR, was calculated for the 0.15 to 0.40 Hz band. Mean arterial blood pressure declined 27 +/- 8 mm Hg by 60 minutes after the meal in elderly subjects, compared with 9 +/- 8 mm Hg in young subjects (p less than or equal to 0.0001, young vs old). The mean change in low-frequency HR power from 30 to 50 minutes after the meal was +19.4 +/- 25.3 U in young subjects versus -0.1 +/- 1.5 U in old subjects (p less than or equal to 0.02). Mean change in total power was also greater in young (19.0 +/- 26.6 U) subjects compared with old subjects (0.0 +/- 1.6 U, p greater than or equal to 0.02). Mean ratio of low:high-frequency power increased 3.1 +/- 3.3 U in young subjects vs 0.5 +/- 2.7 U in old subjects (p less than or equal to 0.01). The increase in low-frequency HR power and in the low:high frequency band ratio in young subjects is consistent with sympathetic activation in the postprandial period.(ABSTRACT TRUNCATED AT 250 WORDS).

NASA Discipline Cardiopulmonary↗
NASA NTRS2005

The Swift Gamna-Ray Burst Mission

Swift is a NASA Explorer mission that will be launched in late 2004. It is a multiwavelength observatory for transient astronomy. The goals of the mission are to determine the origin of gamma-ray bursts and their afterglows and use bursts to probe the early Universe. The mission will also perform a hard x-ray survey at the 1 milliCrab level and will continuously monitor the sky for transients. A wide-field gamma-ray camera will detect more than a hundred GRBs per year to 3 times fainter than BATSE. Sensitive narrow-field X-ray and UV/optical telescopes will be pointed at the burst location in 20 to 70 sec by an autonomously controlled "swift" spacecraft. For each burst, arcsec positions will be determined and optical/UV/X-ray/gamma-ray spectrophotometry performed. The instrumentation is a combination of existing flight-spare hardware and design from XMM and Spectrum-X/JET-X contributed by collaborators in the UK and Italy and development of a coded-aperture camera with a large-area (-0.5 square meter) CdZnTe detector array. The ground station in Malindi is contributed by the Italian Space Agency. Key components of the mission are vigorous follow-up and outreach programs to engage the astronomical community and public in Swift.

Gehrels, Neil↗
NASA NTRS2005

First Results from the Swift Gamma Ray Burst Mission

Swift is now in orbit after a beautiful launch on November 20, 2004. It is a multiwavelength observatory designed specifically to study the fascinating gamma-ray bursts. The goals are to determine the origin of bursts and use them to probe the early Universe. A new-technology wide-field gamma-ray camera detects more than a hundred bursts per year. Sensitive narrow-field X-ray and UV/optical telescopes are pointed at the burst location in 20 to 70 sec by an autonomously controlled "swift" spacecraft. For each burst, arcsec positions are determined and optical/UV/X-ray/gamma-ray spectrophotometry performed. Information is also rapidly sent to the ground to a team of more than 50 observers at telescopes around the world. First results from the mission will be presented, including observations of bright GRBs, faint GRBs, short GRBs and a super-giant flare from the soft gamma repeater SGRl806-20.

Gehreis, Neil↗
NASA NTRS2005

Computational Mobility: An Overview

This viewgraph presentation describes a framework for the autonomous control of robot swarms, which negotiate with each other, delegate authority to their peers, and cooperate in teams to accomplish tasks.

Suri, Niranjan↗
NASA NTRS2006

Gamma Ray Burst Discoveries by the Swift Mission

Gamma-ray bursts are among the most fascinating occurrences in the cosmos. They are thought to be the birth cries of black holes throughout the universe. The NASA Swift mission is an innovative new multiwavelength observatory designed to determine the origin of bursts and use them to probe the early Universe. Swift is now in orbit after a beautiful launch on November 20, 2004. A new-technology wide-field gamma-ray camera detects more than a hundred bursts per year. Sensitive narrow-field X-ray and UV/optical telescopes, built in collaboration with UK and Italian partners, are pointed at the burst location in 20 to 70 sec by an autonomously controlled "swift" spacecraft. For each burst, arcsec positions are determined and optical/UV/X-ray/gamma-ray spectrophotometry performed. Information is also rapidly sent to the ground to a team of more than 50 observers at telescopes around the world. The first year of findings from the mission will be presented. The long-standing mystery of short GRBs has been solved, and the answer is the most interesting possible scenario. High redshift bursts have been detected leading to a better understanding of star formation rates and distant galaxy environments. GRBs have been found with giant X-ray flares occurring in their afterglow. These, and other topics, will be discussed.

Gehrels, Neil↗
NASA NTRS2006

Gamma Ray Burst Discoveries by the Swift Mission

Gamma-ray bursts are among the most fascinating occurrences in the cosmos. They are thought to be the birth cries of black holes throughout the universe. The NASA Swift mission is an innovative new multiwavelength observatory designed to determine the origin of bursts and use them to probe the early Universe. Swift is now in orbit after a beautiful launch on November 20, 2004. A new-technology wide-field gamma-ray camera detects more than a hundred bursts per year. Sensitive narrow-field X-ray and UV/optical telescopes, built in collaboration with UK and Italian partners and calibrated in Germany, are pointed at the burst location in 20 to 70 sec by an autonomously controlled "swift" spacecraft. For each burst, arcsec positions are determined and optical/UV/X-ray/gamma-ray spectrophotometry performed. Information is also rapidly sent to the ground to a team of more than 50 observers at telescopes around the world. Early results from the mission will be presented. The long-standing mystery of short GRBs has been solved, and the answer is the most interesting possible scenario. High redshift bursts have been detected leading to a better understanding of star formation rates and distant galaxy environments. GRBs have been found with giant X-ray flares occurring in their afterglow. Observations of magnetars, galactic transients, supernovae, AGN and many other types of sources are also being performed

Gehrels, Neil↗
NASA NTRS2005

The Mars Exploration Rovers : hitting the road on Mars

Since the beginning of time, people have been fascinated by Mars. From the earliest mission to now-Mars has been (and is) a challenging destination. The Rovers were developed at a breakneck pace in 3 years and landed successfully on Mars in January 2004. This paper will discuss how the Mars Rover mission fits into the overall Mars Program and NASA's program of planetary exploration. Building the rovers in such a short time period created some difficult design challenges that were mainly schedule driven. in addition, it will cover the process of selecting the rover landing sites as well as the engineering challenges faced in the entry, descent and landing process. The rovers have a great deal of autonomous control ability on the surface and the process of developing and testing those was part of the challenge of doing this in 3 years.

training↗
NASA NTRS2006

Flight Test of the Engine Fuel Schedules of the X-43A Hyper-X Research Vehicles

The Hyper-X program flew two X-43A Hyper-X Research Vehicles (HXRVs) in 2004, referred to as Ship 2 and Ship 3. The scramjet engine of the X-43A research vehicle was autonomously controlled in flight to track a predetermined fueling schedule. Ship 2 flew at approximately Mach 7 and Ship 3 flew at approximately Mach 10.

Jones, Thomas↗
NASA NTRS2006

Gamma Ray Burst Discoveries by the Swift Mission

The NASA Swift mission is an innovative new multiwavelength observatory designed to determine the origin of gamma-ray bursts and use them to probe the early Universe. Swift is now in orbit since November 20, 2004 and all hardware is performing well. A new-technology wide-field gamma-ray camera is detecting a hundred bursts per year. Sensitive narrow-field X-ray and UV/optical telescopes, built in collaboration with UK and Italian partners, are pointed at the burst location in 50-100 sec by an autonomously controlled "swift" spacecraft. For each burst, arcsec positions are determined and optical/UV/X-ray/gamma-ray spectrophotometry performed. Information is also rapidly sent to the ground to a team of more than 50 observers at telescopes around the world. The first year and a half of findings from the mission will be presented. There has been a break-through in the long-standing mystery of short GRBs; they appear to be caused by merging neutron stars. High redshift bursts have been detected leading to a better understanding of star formation rates and distant galaxy environments. A fascinating nearby burst triggered Swift and enabled the best early-time observations of an emerging coincident Type lb/c supernova. GRBs have been found with giant X-ray flares occurring in their afterglow.

Gehrels, Neil↗
NASA NTRS2007

Dryden Flight Research Highlights; August 2006 - July 2007

A DVD highlights the research activities of the Dryden Flight Research Center. The video includes coverage of space-based communication, intelligent flight controls, autonomous refueling demonstration, QuietSpike, sonic boom tests, G-III radar pod, X-48B blended wing body, Altair fire mission, Ikhana UAV, STS-117 Atlantis, and SOFIA Telescope research efforts.

Wright, David A.↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2010

Orion Entry Display Feeder and Interactions with the Entry Monitor System

The Orion spacecraft is designed to return astronauts to a landing within 10 km of the intended landing target from low Earth orbit, lunar direct-entry, and lunar skip-entry trajectories. Al pile the landing is nominally controlled autonomously, the crew can fly precision entries manually in the event of an anomaly. The onboard entry displays will be used by the crew to monitor and manually fly the entry, descent, and landing, while the Entry Monitor System (EMS) will be used to monitor the health and status of the onboard guidance and the trajectory. The entry displays are driven by the entry display feeder, part of the Entry Monitor System (EMS). The entry re-targeting module, also part of the EMS, provides all the data required to generate the capability footprint of the vehicle at any point in the trajectory, which is shown on the Primary Flight Display (PFD). It also provides caution and warning data and recommends the safest possible re-designated landing site when the nominal landing site is no longer within the capability of the vehicle. The PFD and the EMS allow the crew to manually fly an entry trajectory profile from entry interface until parachute deploy having the flexibility to manually steer the vehicle to a selected landing site that best satisfies the priorities of the crew. The entry display feeder provides data from the ENIS and other components of the GNC flight software to the displays at the proper rate and in the proper units. It also performs calculations that are specific to the entry displays and which are not made in any other component of the flight software. In some instances, it performs calculations identical to those performed by the onboard primary guidance algorithm to protect against a guidance system failure. These functions and the interactions between the entry display feeder and the other components of the EMS are described.

Baird, Darren↗
NASA NTRS1999

Robot Manipulator Technologies for Planetary Exploration

NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: 1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, 2) new piezoelectric ultrasonic motors (USM) for light-weight and high torque actuation in planetary environments, 3) use of advanced materials and structures for strong and light-weight robot arms and 4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.

Das, H.↗
NASA NTRS2010

Robotic Lunar Lander Development Project Status

This slide presentation reviews the status of the development of a robotic lunar lander. The goal of the project is to perform engineering tests and risk reduction activities to support the development of a small lunar lander for lunar surface science. This includes: (1) risk reduction for the flight of the robotic lander, (i.e., testing and analyzing various phase of the project); (2) the incremental development for the design of the robotic lander, which is to demonstrate autonomous, controlled descent and landing on airless bodies, and design of thruster configuration for 1/6th of the gravity of earth; (3) cold gas test article in flight demonstration testing; (4) warm gas testing of the robotic lander design; (5) develop and test landing algorithms; (6) validate the algorithms through analysis and test; and (7) tests of the flight propulsion system.

Hammond, Monica↗
NASA NTRS2003

Improved Autoassociative Neural Networks

Improved autoassociative neural networks, denoted nexi, have been proposed for use in controlling autonomous robots, including mobile exploratory robots of the biomorphic type. In comparison with conventional autoassociative neural networks, nexi would be more complex but more capable in that they could be trained to do more complex tasks. A nexus would use bit weights and simple arithmetic in a manner that would enable training and operation without a central processing unit, programs, weight registers, or large amounts of memory. Only a relatively small amount of memory (to hold the bit weights) and a simple logic application- specific integrated circuit would be needed. A description of autoassociative neural networks is prerequisite to a meaningful description of a nexus. An autoassociative network is a set of neurons that are completely connected in the sense that each neuron receives input from, and sends output to, all the other neurons. (In some instantiations, a neuron could also send output back to its own input terminal.) The state of a neuron is completely determined by the inner product of its inputs with weights associated with its input channel. Setting the weights sets the behavior of the network. The neurons of an autoassociative network are usually regarded as comprising a row or vector. Time is a quantized phenomenon for most autoassociative networks in the sense that time proceeds in discrete steps. At each time step, the row of neurons forms a pattern: some neurons are firing, some are not. Hence, the current state of an autoassociative network can be described with a single binary vector. As time goes by, the network changes the vector. Autoassociative networks move vectors over hyperspace landscapes of possibilities.

Hand, Charles↗