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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 289 records · Page 16
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Advanced data management design for autonomous telerobotic systems in space using spaceborne symbolic processors

The use of computers in autonomous telerobots is reaching the point where advanced distributed processing concepts and techniques are needed to support the functioning of Space Station era telerobotic systems. Three major issues that have impact on the design of data management functions in a telerobot are covered. It also presents a design concept that incorporates an intelligent systems manager (ISM) running on a spaceborne symbolic processor (SSP), to address these issues. The first issue is the support of a system-wide control architecture or control philosophy. Salient features of two candidates are presented that impose constraints on data management design. The second issue is the role of data management in terms of system integration. This referes to providing shared or coordinated data processing and storage resources to a variety of telerobotic components such as vision, mechanical sensing, real-time coordinated multiple limb and end effector control, and planning and reasoning. The third issue is hardware that supports symbolic processing in conjunction with standard data I/O and numeric processing. A SSP that currently is seen to be technologically feasible and is being developed is described and used as a baseline in the design concept.

Goforth, Andre↗
NASA NTRS1994

Baseline tests of an autonomous telerobotic system for assembly of space truss structures

Several proposed space missions include precision reflectors that are larger in diameter than any current or proposed launch vehicle. Most of these reflectors will require a truss structure to accurately position the reflector panels and these reflectors will likely require assembly in orbit. A research program has been conducted at the NASA Langley Research Center to develop the technology required for the robotic assembly of truss structures. The focus of this research has been on hardware concepts, computer software control systems, and operator interfaces necessary to perform supervised autonomous assembly. A special facility was developed and four assembly and disassembly tests of a 102-strut tetrahedral truss have been conducted. The test procedures were developed around traditional 'pick-and-place' robotic techniques that rely on positioning repeatability for successful operation. The data from two of the four tests were evaluated and are presented in this report. All operations in the tests were controlled by predefined sequences stored in a command file, and the operator intervened only when the system paused because of the failure of an actuator command. The tests were successful in identifying potential pitfalls in a telerobotic system, many of which would not have been readily anticipated or incurred through simulation studies. Addressing the total integrated task, instead of bench testing the component parts, forced all aspects of the task to be evaluated. Although the test results indicate that additional developments should be pursued, no problems were encountered that would preclude automated assembly in space as a viable construction method.

Rhodes, Marvin D.↗
NASA NTRSDate not supplied

Introducing The Lunar Autonomous PNT System(LAPS) Simulator

In this paper we introduce a software simulator that has been used to develop an architecture for a low-cost Lunar Autonomous Position, Navigation and Time (PNT) System, LAPS. LAPS is a conceptual architecture for providing autonomous PNT services on and around the Moon using non-dedicated low-cost orbital and ground assets. The simulation tool has been developed to be flexible and is capable of modeling and analyzing the many different capabilities and configurations that the non-dedicated assets could support. The tool models the creation of an ad hoc swarm, the localization of this swarm and the subsequent provision of PNT services from this swarm. We present results from several studies of select configurations chosen to reflect existing and future real-world needs and capabilities.

Benjamin Hagenau↗
NASA NTRS2021

Inertial Transfer Concept for Autonomous In-Space Assembly

Rocket payload and fairing size have placed strict mass and volume limitations on single launch in-space structures. These limitations are what motivates In-Space Assembly (ISA) and where Inertial Transfer has potential to improve or augment ISA capabilities by utilizing a multiagent autonomous system to transport untethered payloads. The Inertial Transfer concept is presented including autonomy capabilities, potential risks, and three system configurations. These configurations are based on the autonomous system’s available sensor coverage that tracks the payload’s state. Participating agents have well-defined roles, expectations, and assumptions in their physical organization and coordination of actions depending the mode of operation. The sensor information available to participating agents is considered as it affects the uncertainty in the estimated state and the actions required to capture the payload.

Multi-Agent↗
NASA NTRS2021

Inertial Transfer Concept for Autonomous In-Space Assembly

Rocket payload and fairing size have placed strict mass and volume limitations on single launch in-space structures. These limitations are what motivates In-Space Assembly (ISA)and where Inertial Transfer has potential to improve or augment ISA capabilities by utilizing an efficient multi-agent autonomous system to transport untethered payloads. Adoption of an inertial transfer approach significantly reduces system complexity, energy and time needed for assembly compared to conventional ISA capabilities, increasing the likelihood of early adoption for assembly. The Inertial Transfer concept is presented including autonomy capabilities, potential risks, and three system configurations. These configurations are based on the autonomous system’s available sensor coverage that tracks the payload’s state. Participating agents have well-defined roles, expectations, and assumptions in their physical organization and coordination of actions depending the mode of operation. The sensor information available to participating agents is considered as it affects the uncertainty in the estimated state and theactions required to capture the payload.

Multi-Agent↗
DOE OSTI2025

Digitally Optimized Autonomous Robotic System for Hanford Waste Tank Handling [Slides]

Idaho National Laboratory (INL) is developing a robotic system and digital twin to perform monitoring, inspection, and mapping of underground tank pits at the Hanford Site, operated by the U.S. Department of Energy (USDOE). The Autonomous Pit Exploration System (APES) will consist of four primary components: an electric vehicle truck with a robotic system developed by INL to deploy payloads into the tanks through small diameter preexisting risers, a robotic arm developed by Florida International University (FIU) for the purposes of deploying a variety of payloads into the tank pit environment, and a small robotic COTS crawler platform for examining the bottom of the pits.

42 - ENGINEERING↗
NASA NTRS2005

Situation Awareness of Onboard System Autonomy

We have developed intelligent agent software for onboard system autonomy. Our approach is to provide control agents that automate crew and vehicle systems, and operations assistants that aid humans in working with these autonomous systems. We use the 3 Tier control architecture to develop the control agent software that automates system reconfiguration and routine fault management. We use the Distributed Collaboration and Interaction (DCI) System to develop the operations assistants that provide human services, including situation summarization, event notification, activity management, and support for manual commanding of autonomous system. In this paper we describe how the operations assistants aid situation awareness of the autonomous control agents. We also describe our evaluation of the DCI System to support control engineers during a ground test at Johnson Space Center (JSC) of the Post Processing System (PPS) for regenerative water recovery.

Schreckenghost, Debra↗
NASA NTRSDate not supplied

A Thinking System and Thinking Autonomy

There are many definitions of what a “Thinking System” (TS) is. The literature primarily addresses what is called “Systems Thinking.” Dr. Marie Morganelli from Southern New Hampshire University states that “Systems thinking is a holistic way to investigate factors and interactions that could contribute to a possible outcome. A mindset more than a prescribed practice, systems thinking provides an understanding of how individuals can work together in different types of teams and through that understanding, create the best possible processes to accomplish just about anything.” So, a TS is a system that is capable of “systems thinking,” as it should be able to “ … create [utilize] the best possible processes [and intelligence] to accomplish just about anything.” To achieve this capability, human-like thinking is required. A truly autonomous system must be one that is capable of human-like thinking. This paper will address “Thinking Autonomy” (TA) enabled by a “Thinking System.” It will describe an architecture with the elements required to achieve the “thinking” behavior: understanding, intellect, reason, decision, will. The paper will further describe the contents and functionality of these elements and how to implement them, including software capabilities needed. Finally, the paper will provide details of a software platform that enables TA, the NASA Platform for Autonomous Systems (NPAS), and describe implementations of thinking systems. Thinking systems will enable a fundamental change how AI and autonomy are implemented. It will change from a “brute force” approach that results in one-time implementations that are minimally intelligent or autonomous to a “thinking” approach where implementations evolve continuously and enable powerful intelligence and autonomy on systems of high complexity as well as on systems-of-systems.

Thinking systems↗
NASA NTRS2009

Proceedings of the First NASA Formal Methods Symposium

Topics covered include: Model Checking - My 27-Year Quest to Overcome the State Explosion Problem; Applying Formal Methods to NASA Projects: Transition from Research to Practice; TLA+: Whence, Wherefore, and Whither; Formal Methods Applications in Air Transportation; Theorem Proving in Intel Hardware Design; Building a Formal Model of a Human-Interactive System: Insights into the Integration of Formal Methods and Human Factors Engineering; Model Checking for Autonomic Systems Specified with ASSL; A Game-Theoretic Approach to Branching Time Abstract-Check-Refine Process; Software Model Checking Without Source Code; Generalized Abstract Symbolic Summaries; A Comparative Study of Randomized Constraint Solvers for Random-Symbolic Testing; Component-Oriented Behavior Extraction for Autonomic System Design; Automated Verification of Design Patterns with LePUS3; A Module Language for Typing by Contracts; From Goal-Oriented Requirements to Event-B Specifications; Introduction of Virtualization Technology to Multi-Process Model Checking; Comparing Techniques for Certified Static Analysis; Towards a Framework for Generating Tests to Satisfy Complex Code Coverage in Java Pathfinder; jFuzz: A Concolic Whitebox Fuzzer for Java; Machine-Checkable Timed CSP; Stochastic Formal Correctness of Numerical Algorithms; Deductive Verification of Cryptographic Software; Coloured Petri Net Refinement Specification and Correctness Proof with Coq; Modeling Guidelines for Code Generation in the Railway Signaling Context; Tactical Synthesis Of Efficient Global Search Algorithms; Towards Co-Engineering Communicating Autonomous Cyber-Physical Systems; and Formal Methods for Automated Diagnosis of Autosub 6000.

Denney, Ewen↗
NASA NTRS1994

Autonomous navigation system for the Marsokhod rover project

This paper presents a general overview of the Marsokhod rover mission. The autonomous navigation for a Mars exploration rover is controlled by a vision system which has been developed on the basis of two CCD cameras, stereovision and path planning algorithms. Its performances have been tested on a Mars-like experimentation site.

Proy, C.↗
NASA NTRS1993

Hemodynamic and autonomic nervous system responses to mixed meal ingestion in healthy young and old subjects and dysautonomic patients with postprandial hypotension

BACKGROUND. Although postprandial hypotension is a common cause of falls and syncope in elderly persons and in patients with autonomic insufficiency, the pathophysiology of this disorder remains unknown. METHODS AND RESULTS. We examined the hemodynamic, splanchnic blood pool, plasma norepinephrine (NE), and heart rate (HR) power spectra responses to a standardized 400-kcal mixed meal in 11 healthy young (age, 26 +/- 5 years) and nine healthy elderly (age, 80 +/- 5 years) subjects and 10 dysautonomic patients with symptomatic postprandial hypotension (age, 65 +/- 16 years). Cardiac and splanchnic blood pools were determined noninvasively by radionuclide scans, and forearm vascular resistance was determined using venous occlusion plethysmography. In healthy young and old subjects, splanchnic blood volume increased, but supine blood pressure remained unchanged after the meal. In both groups, HR increased and systemic vascular resistance remained stable. Forearm vascular resistance and cardiac index increased after the meal in elderly subjects, whereas these responses were highly variable and of smaller magnitude in the young. Young subjects demonstrated postprandial increases in low-frequency HR spectral power, representing cardiac sympatho-excitation, but plasma NE remained unchanged. In elderly subjects, plasma NE increased after the meal but without changes in the HR power spectrum. Patients with dysautonomia had a large postprandial decline in blood pressure associated with no change in forearm vascular resistance, a fall in systemic vascular resistance, and reduction in left ventricular end diastolic volume index. HR increased in these patients but without changes in plasma NE or the HR power spectrum. CONCLUSIONS. 1) In healthy elderly subjects, the maintenance of blood pressure homeostasis after food ingestion is associated with an increase in HR, forearm vascular resistance, cardiac index, and plasma NE. In both young and old, systemic vascular resistance is maintained. 2) Dysautonomic patients with postprandial hypotension fail to maintain systemic vascular resistance after a meal. This impairment in vascular response to meal ingestion may underlie the development of postprandial hypotension. 3) The measurement of mean HR or plasma NE does not adequately characterize autonomic cardiac control. Power spectral analysis suggests an impairment in the postprandial autonomic modulation of HR in healthy elderly and dysautonomic subjects, possibly predisposing to hypotension when vascular compensation is inadequate.

Non-NASA Center↗
NASA NTRS2023

Ch. 12. A Theoretical Approach to Management of Limited Attentional Resources to Support the m:N Operation in Advanced Air Mobility Ecosystem

Advanced air mobility (AAM) technologies incorporate increasingly autonomous systems that allow fully remote, independent, and intelligent operation of air vehicles to support the transportation of goods and passengers within and across urban and rural areas. With a myriad of automated technologies enabling the AAM ecosystem, the human operator’s role will likely be a passive supervisory monitor of the air vehicles, involving increasingly fewer humans (m) that manage many more autonomous systems (N), or m:N operations. Unfortunately, the human performance literature suggests that human operators will exhibit poor supervision of numerous autonomous agents due to the limits of attentional resources in the operators. In the general human information-processing model, a human operator exercises a limited pool of attentional resources to engage various information-processing stages including detecting, perceiving, comprehending, and predicting objects around them. Yamani and Horrey (2018) expanded the human information-processing model to characterize a tradeoff between information-processing demand and resource relief that automation brings in the context of automated driving. In their model, a driver interacting with an automated driving system is assumed to reallocate resources “freed” by automation to support other information-processing stages required for successful task performance. A future AAM ecosystem enabled by an orchestration of advanced automated systems, however, requires a single operator to interact with more than one air vehicle with varying levels and degrees of automated systems, making the traditional framework of human-automation interaction insufficient. To address this gap, we provide a review of the literature on situation assessment and trust, two constructs identified as critical for a fuller understanding of intimate and intricate interactions between a human operator and multiple air vehicles equipped with increasingly autonomous systems. Then, we propose an expansion of Yamani and Horrey’s (2018) model to motivate systematic research on the human operator’s role, identify factors that influence resource allocation and guide human-centered design of an interface supporting the m:N operation in the AAM environment.

Advanced Air Mobility↗
NASA NTRS2004

Development and Testing of the Phase 0 Autonomous Formation Flight Research System

The Autonomous Formation Flight (AFF) project was initiated in 1995 to demonstrate at least 10-percent drag reduction by positioning a trailing aircraft in the wingtip vortex of a leading aircraft. If successful, this technology would provide increased fuel savings, reduced emissions, and extended flight duration for fleet aircraft flying in formation. To demonstrate this technology, the AFF project at NASA Dryden Flight Research Center developed a system architecture incorporating two F-18 aircraft flying in leading-trailing formation. The system architecture has been designed to allow the trailing aircraft to maintain station-keeping position relative to the leading aircraft within +/-10 ft. Development of this architecture would be directed at the design and development of a computing system to feed surface position commands into the flight control computers, thereby controlling the longitudinal and lateral position of the trailing aircraft. In addition, modification to the instrumentation systems of both aircraft, pilot displays, and a means of broadcasting the leading aircraft inertial and global positioning system-based positional data to the trailing aircraft would be needed. This presentation focuses on the design and testing of the AFF Phase 0 research system.

Petersen, Shane↗
NASA NTRS2019

ICAROUS Simulation Video for AUVSI XPONENTIAL 2019

Video demonstrate the ability of ICAROUS (Independent Configurable Architecture for Reliable Operations of Autonomous Systems) to perform autonomous traffic avoidance and merging with cooperative aircraft in simulation. The Video will be shown in the NASA booth at AUVSI XPONENTIAL (Chicago, IL 4/29/19-5 /2/19) to aid in demonstrating and explaining the capabilities of the ICAROUS research system.

Malekpour, Mahyar R↗
NASA NTRS1986

Issues in the design of an executive controller shell for Space Station automation

A major goal of NASA's Systems Autonomy Demonstration Project is to focus research in artificial intelligence, human factors, and dynamic control systems in support of Space Station automation. Another goal is to demonstrate the use of these technologies in real space systems, for both round-based mission support and on-board operations. The design, construction, and evaluation of an intelligent autonomous system shell is recognized as an important part of the Systems Autonomy research program. His paper describes autonomous systems and executive controllers, outlines how these intelligent systems can be utilized within the Space Station, and discusses a number of key design issues that have been raised during some preliminary work to develop an autonomous executive controller shell at NASA Ames Research Center.

Erickson, William K.↗
NASA NTRS2021

One- and Two-Band Sensors and Algorithms to Derive aCDOM(440) from Global Above- and In-Water Optical Observations

The colored (or chromophoric, depending on the literature) dissolved organic matter (CDOM) spectral absorption coefficient, aCDOM(λ), is a variable of global interest that has broad application in the study of biogeochemical processes. Within the funding for scientific research, there is an overarching trend towards increasing the scale of observations both temporally and spatially, while simultaneously reducing the cost per sample, driving a systemic shift towards autonomous sensors and observations. Legacy aCDOM(λ) measurement techniques can be cost-prohibitive and do not lend themselves toward autonomous systems. Spectrally rich datasets carefully collected with advanced optical systems in diverse locations that span a global range of water bodies, in conjunction with appropriate quality assurance and processing, allow for the analysis of methods and algorithms to estimate aCDOM(440) from spectrally constrained one- and two-band subsets of the data. The resulting algorithms were evaluated with respect to established fit-for-purpose criteria as well as quality assured archival data. Existing and proposed optical sensors capable of exploiting the algorithms and intended for autonomous platforms are identified and discussed. One-band in-water algorithms and two-band above-water algorithms showed the most promise for practical use (accuracy of 3.0% and 6.5%, respectively), with the latter demonstrated for an airborne dataset.

ocean color↗
NASA NTRS2012

Free-Flight Terrestrial Rocket Lander Demonstration for NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. Since its inception in 2006, the ALHAT Project has executed four field test campaigns to characterize and mature sensors and algorithms that support real-time hazard detection and global/local precision navigation for planetary landings. The driving objective for Government Fiscal Year 2012 (GFY2012) is to successfully demonstrate autonomous, real-time, closed loop operation of the ALHAT system in a realistic free flight scenario on Earth using the Morpheus lander developed at the Johnson Space Center (JSC). This goal represents an aggressive target consistent with a lean engineering culture of rapid prototyping and development. This culture is characterized by prioritizing early implementation to gain practical lessons learned and then building on this knowledge with subsequent prototyping design cycles of increasing complexity culminating in the implementation of the baseline design. This paper provides an overview of the ALHAT/Morpheus flight demonstration activities in GFY2012, including accomplishments, current status, results, and lessons learned. The ALHAT/Morpheus effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

Rutishauser, David K.↗