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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 NTRS1993

Control structural interaction testbed: A model for multiple flexible body verification

Conventional end-to-end ground tests for verification of control system performance become increasingly complicated with the development of large, multiple flexible body spacecraft structures. The expense of accurately reproducing the on-orbit dynamic environment and the attendant difficulties in reducing and accounting for ground test effects limits the value of these tests. TRW has developed a building block approach whereby a combination of analysis, simulation, and test has replaced end-to-end performance verification by ground test. Tests are performed at the component, subsystem, and system level on engineering testbeds. These tests are aimed at authenticating models to be used in end-to-end performance verification simulations: component and subassembly engineering tests and analyses establish models and critical parameters, unit level engineering and acceptance tests refine models, and subsystem level tests confirm the models' overall behavior. The Precision Control of Agile Spacecraft (PCAS) project has developed a control structural interaction testbed with a multibody flexible structure to investigate new methods of precision control. This testbed is a model for TRW's approach to verifying control system performance. This approach has several advantages: (1) no allocation for test measurement errors is required, increasing flight hardware design allocations; (2) the approach permits greater latitude in investigating off-nominal conditions and parametric sensitivities; and (3) the simulation approach is cost effective, because the investment is in understanding the root behavior of the flight hardware and not in the ground test equipment and environment.

Chory, M. A.↗
NASA NTRS1994

Situational reaction and planning

One problem faced in designing an autonomous mobile robot system is that there are many parameters of the system to define and optimize. While these parameters can be obtained for any given situation determining what the parameters should be in all situations is difficult. The usual solution is to give the system general parameters that work in all situations, but this does not help the robot to perform its best in a dynamic environment. Our approach is to develop a higher level situation analysis module that adjusts the parameters by analyzing the goals and history of sensor readings. By allowing the robot to change the system parameters based on its judgement of the situation, the robot will be able to better adapt to a wider set of possible situations. We use fuzzy logic in our implementation to reduce the number of basic situations the controller has to recognize. For example, a situation may be 60 percent open and 40 percent corridor, causing the optimal parameters to be somewhere between the optimal settings for the two extreme situations.

Yen, John↗
NASA NTRS1994

Task-level control for autonomous robots

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

Simmons, Reid↗
NASA NTRS1994

Filtering as a reasoning-control strategy: An experimental assessment

In dynamic environments, optimal deliberation about what actions to perform is impossible. Instead, it is sometimes necessary to trade potential decision quality for decision timeliness. One approach to achieving this trade-off is to endow intelligent agents with meta-level strategies that provide them guidance about when to reason (and what to reason about) and when to act. We describe our investigations of a particular meta-level reasoning strategy, filtering, in which an agent commits to the goals it has already adopted, and then filters from consideration new options that would conflict with the successful completion of existing goals. To investigate the utility of filtering, a series of experiments was conducted using the Tileworld testbed. Previous experiments conducted by Kinny and Georgeff used an earlier version of the Tileworld to demonstrate the feasibility of filtering. Results are presented that replicate and extend those of Kinny and Georgeff and demonstrate some significant environmental influences on the value of filtering.

Pollack, Martha E.↗
NASA NTRS1994

Agent oriented programming

The goal of our research is a methodology for creating robust software in distributed and dynamic environments. The approach taken is to endow software objects with explicit information about one another, to have them interact through a commitment mechanism, and to equip them with a speech-acty communication language. System-level applications include software interoperation and compositionality. A government application of specific interest is an infrastructure for coordination among multiple planners. Daily activity applications include personal software assistants, such as programmable email, scheduling, and new group agents. Research topics include definition of mental state of agents, design of agent languages as well as interpreters for those languages, and mechanisms for coordination within agent societies such as artificial social laws and conventions.

Shoham, Yoav↗
NASA NTRS1992

State of the Data Union, 1992

This is the first report on the State of the Data Union (SDU) for the NASA Office of Space Science and Applications (OSSA). OSSA responsibilities include the collection, analysis, and permanent archival of data critical to space science research. The nature of how this is done by OSSA is evolving to keep pace with changes in space research. Current and planned missions have evolved to be more complex and multidisciplinary, and are generating much more data and lasting longer than earlier missions. New technologies enable global access to data, transfer of huge volumes of data, and increasingly complex analysis. The SDU provides a snapshot of this dynamic environment, identifying trends in capabilities and requirements. The current space science data environment is described and parameters which capture the pulse of key functions within that environment are presented. Continuous efforts of OSSA to improve the availability and quality of data provided to the scientific community are reported, highlighting efforts such as the Data Management Initiative.

Source record↗
NASA NTRS1994

Neural networks: Alternatives to conventional techniques for automatic docking

Automatic docking of orbiting spacecraft is a crucial operation involving the identification of vehicle orientation as well as complex approach dynamics. The chaser spacecraft must be able to recognize the target spacecraft within a scene and achieve accurate closing maneuvers. In a video-based system, a target scene must be captured and transformed into a pattern of pixels. Successful recognition lies in the interpretation of this pattern. Due to their powerful pattern recognition capabilities, artificial neural networks offer a potential role in interpretation and automatic docking processes. Neural networks can reduce the computational time required by existing image processing and control software. In addition, neural networks are capable of recognizing and adapting to changes in their dynamic environment, enabling enhanced performance, redundancy, and fault tolerance. Most neural networks are robust to failure, capable of continued operation with a slight degradation in performance after minor failures. This paper discusses the particular automatic docking tasks neural networks can perform as viable alternatives to conventional techniques.

Vinz, Bradley L.↗
NASA NTRS1994

Real-time tracking using stereo and motion: Visual perception for space robotics

The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.

Nishihara, H. Keith↗
NASA NTRS1994

Perception for mobile robot navigation: A survey of the state of the art

In order for mobile robots to navigate safely in unmapped and dynamic environments they must perceive their environment and decide on actions based on those perceptions. There are many different sensing modalities that can be used for mobile robot perception; the two most popular are ultrasonic sonar sensors and vision sensors. This paper examines the state-of-the-art in sensory-based mobile robot navigation. The first issue in mobile robot navigation is safety. This paper summarizes several competing sonar-based obstacle avoidance techniques and compares them. Another issue in mobile robot navigation is determining the robot's position and orientation (sometimes called the robot's pose) in the environment. This paper examines several different classes of vision-based approaches to pose determination. One class of approaches uses detailed, a prior models of the robot's environment. Another class of approaches triangulates using fixed, artificial landmarks. A third class of approaches builds maps using natural landmarks. Example implementations from each of these three classes are described and compared. Finally, the paper presents a completely implemented mobile robot system that integrates sonar-based obstacle avoidance with vision-based pose determination to perform a simple task.

Kortenkamp, David↗
NASA NTRS1993

Voyager Photometry of Saturn's A Ring

Saturn's A Ring samples a wide range of dynamical environments, from the relatively unperturbed, optically thick inner region to the outer part of the ring, which contains numerous density waves. We analyze Voyager images of the A Ring to determine how the reflectivity of different radial regions varies with lighting and viewing geometry. We model our data with a classical radiative transfer code that includes the illumination of the rings by the Sun and Saturn. The particles in the inner and mid-A Ring have Bond albedos near 0.5 and are more backscattering than satellites of comparable albedo. The region outside the Encke Gap becomes progressively less backscattering with increasing radius. Particle properties change abruptly outside the Keeler Gap; particles here have an albedo near 0.6 and a Lambert-like phase function. In contrast with previous suggestions, the abundance of free, submicrometer "dust" is small throughout the entire A Ring; this conclusion holds even in the outermost A Ring, which is strongly perturbed by density waves. Models derived from low-phase data, assuming only macroscopic particles, correctly predict the highphase reflectivity of the outer A Ring and individual strong density waves in the mid-A Ring. However, the inner and mid-A Ring are typically darker at high phase by a factor of two than our models predict. This discrepancy may be due to the reduced multiple scattering from a layer in which the particles are more closely packed. We have also studied the quadrupole azimuthal brightness asymmetry of the A Ring. The asymmetry has a full amplitude of 35% in the mid-A Ring in low-phase Voyager 2 images. We present results on its behavior and possible implications for the structure of the rings. Finally, we compare our results with studies using other data sets to synthesize our current understanding of the nature of the A Ring.

Dones, Luke↗
NASA NTRS1998

Hybrid Motion Planning with Multiple Destinations

In our initial proposal, we laid plans for developing a hybrid motion planning system that combines the concepts of visibility-based motion planning, artificial potential field based motion planning, evolutionary constrained optimization, and reinforcement learning. Our goal was, and still is, to produce a hybrid motion planning system that outperforms the best traditional motion planning systems on problems with dynamic environments. The proposed hybrid system will be in two parts the first is a global motion planning system and the second is a local motion planning system. The global system will take global information about the environment, such as the placement of the obstacles and goals, and produce feasible paths through those obstacles. We envision a system that combines the evolutionary-based optimization and visibility-based motion planning to achieve this end.

Clouse, Jeffery↗
NASA NTRS1998

On the Generation and Use of TCP Acknowledgments

This paper presents a simulation study of various TCP acknowledgment generation and utilization techniques. We investigate the standard version of TCP and the two standard acknowledgment strategies employed by receivers: those that acknowledge each incoming segment and those that implement delayed acknowledgments. We show the delayed acknowledgment mechanism hurts TCP performance, especially during slow start. Next we examine three alternate mechanisms for generating and using acknowledgments designed to mitigate the negative impact of delayed acknowledgments. The first method is to generate delayed ACKs only when the sender is not using the slow start algorithm. The second mechanism, called byte counting, allows TCP senders to increase the amount of data being injected into the network based on the amount of data acknowledged rather than on the number of acknowledgments received. The last mechanism is a limited form of byte counting. Each of these mechanisms is evaluated in a simulated network with no competing traffic, as well as a dynamic environment with a varying amount of competing traffic. We study the costs and benefits of the alternate mechanisms when compared to the standard algorithm with delayed ACKs.

Allman, Mark↗
NASA NTRS1999

Near Earth Asteroid Rendezvous (NEAR) Revised Eros Orbit Phase Trajectory Design

Trajectory design of the orbit phase of the NEAR mission involves a new process that departs significantly from those procedures used in previous missions. In most cases, a precise spacecraft ephemeris is designed well in advance of arrival at the target body. For NEAR, the uncertainty in the dynamic environment around Eros does not allow the luxury of a precise spacecraft trajectory to be defined in advance. The principal cause of this uncertainty is the limited knowledge oi' the gravity field a,-id rotational state of Eros. As a result, the concept for the NEAR trajectory design is to define a number of rules for satisfying spacecraft, mission, and science constraints, and then apply these rules to various assumptions for the model of Eros. Nominal, high, and low Eros mass models are used for testing the trajectory design strategy and to bracket the ranges of parameter variations that are expected upon arrival at the asteroid. The final design is completed after arrival at Eros and determination of the actual gravity field and rotational state. As a result of the unplanned termination of the deep space rendezvous maneuver on December 20, 1998, the NEAR spacecraft passed within 3830 km of Eros on December 23, 1998. This flyby provided a brief glimpse of Eros, and allowed for a more accurate model of the rotational parameters and gravity field uncertainty. Furthermore, after the termination of the deep space rendezvous burn, contact with the spacecraft was lost and the NEAR spacecraft lost attitude control. During the subsequent gyrations of the spacecraft, hydrazine thruster firings were used to regain attitude control. This unplanned thruster activity used Much of the fuel margin allocated for the orbit phase. Consequently, minimizing fuel consumption is now even more important.

Helfrich, J↗
NASA NTRS1997

An Approach to Building a Traceability Tool for Software Development

It is difficult in a large, complex computer program to ensure that it meets the specified requirements. As the program evolves over time, a11 program constraints originally elicited during the requirements phase must be maintained. In addition, during the life cycle of the program, requirements typically change and the program must consistently reflect those changes. Imagine the following scenario. Company X wants to develop a system to automate its assembly line. With such a large system, there are many different stakeholders, e.g., managers, experts such as industrial and mechanical engineers, and end-users. Requirements would be elicited from all of the stake holders involved in the system with each stakeholder contributing their point of view to the requirements. For example, some of the requirements provided by an industrial engineer may concern the movement of parts through the assembly line. A point of view provided by the electrical engineer may be reflected in constraints concerning maximum power usage. End-users may be concerned with comfort and safety issues, whereas managers are concerned with the efficiency of the operation. With so many points of view affecting the requirements, it is difficult to manage them, communicate information to relevant stakeholders. and it is likely that conflicts in the requirements will arise. In the coding process, the implementors will make additional assumptions and interpretations on the design and the requirements of the system. During any stage of development, stakeholders may request that a requirement be added or changed. In such a dynamic environment, it is difficult to guarantee that the system will preserve the current set of requirements. Tracing, the mapping between objects in the artifacts of the system being developed, addresses this issue. Artifacts encompass documents such as the system definition, interview transcripts, memoranda, the software requirements specification, user's manuals, the functional specifications, design reports, and system code. Tracing helps 1) validate system features against, the requirement specification, 2) identify error sources and, most importantly, 3) manage change. With so many people involved in the development of the system, it becomes necessary to identify the reasons behind the design requirements or the implementation decisions. This paper is concerned with an approach that maps documents to constraints that capture properties of and relationships between the objects being modeled by the program. Section 2 provides the reader with a background on traceability tools. Section 3 gives a brief description of the context monitoring system on which the approach suggested in this paper is based. Section 4 presents an overview of our approach to providing traceability. The last section presents our future direction of research.

Delgado, Nelly↗
NASA NTRS2000

Trajectories in Close Proximity to Asteroids

Spacecraft motion in close proximity to irregularly shaped, rotating bodies such as asteroids presents a unique dynamical environment as compared to most space missions. There are several fundamental novelties in this environment that spacecraft must deal with. These include the possibility of orbital instabilities that can act over very short time spans (on the order of hours for some systems), possible non-uniform rotation of the central gravity field, divergence of traditional gravity field representations when close to the asteroid surface, dominance of perturbing forces, an extremely large asteroid model parameter space that must be prepared for in the absence of reliable information, and the possibility of employing new and novel trajectory control techniques such as hovering and repeated landings on the asteroid surface. An overview of how these novelties impact the space of feasible close proximity operations and how different asteroid model properties will affect their implementation is given. In so doing, four fundamental types of close proximity operations will be defined. Listed in order of increasing technical difficulty these are: (1) close, stable orbits; (2) low-altitude flyovers; (3) landing trajectories; and (4) hovering trajectories. The feasibility and difficulty of implementing these operations will vary as a function of the asteroid shape, size, density, and rotation properties, and as a function of the spacecraft navigation capability. Additional information is contained in the original extended abstract.

Scheeres, D. J.↗
NASA NTRS2002

LISA Optics Model

The LISA experiment has six telescopes, in three spacecraft, in orbit about the sun. There is a continuous laser link between all of the spacecraft. Because of the large, 5 million kilometer distances, between the spacecraft and the need to perform picometer level interferometry and the fact that the optical system is dynamic precludes the use of standard optical codes in the design and analysis of this optical system. A detailed description of the approach used to model all of the optics, in the spacecraft in orbit, is presented and the ability of this model to analyze requirements is discussed. A dynamic computer simulation will be shown to illustrate the laser link and the effects of this dynamic environment on the interferometry.

Waluschka, Eugene↗
NASA NTRS1998

Three Program Architecture for Design Optimization

In this presentation, I would like to review historical perspective on the program architecture used to build design optimization capabilities based on mathematical programming and other numerical search techniques. It is rather straightforward to classify the program architecture in three categories as shown above. However, the relative importance of each of the three approaches has not been static, instead dynamically changing as the capabilities of available computational resource increases. For example, we considered that the direct coupling architecture would never be used for practical problems, but availability of such computer systems as multi-processor. In this presentation, I would like to review the roles of three architecture from historical as well as current and future perspective. There may also be some possibility for emergence of hybrid architecture. I hope to provide some seeds for active discussion where we are heading to in the very dynamic environment for high speed computing and communication.

Miura, Hirokazu↗
NASA NTRS2002

Adaptive Resource Management Technology for Satellite Constellations

This manuscript describes the Sensor Web Adaptive Resource Manager (SWARM) project. The primary focus of the project is on the design and prototyping of middleware for managing computing and network resources in a way that enables the information systems of satellite constellations to provide realtime performance within dynamic environments. The middleware has been prototyped, and it has been evaluated by employing it to manage a pool of distributed resources for the ITOS (Integrated Test and Operations System) satellite command and control software system. The design of the middleware is discussed and a summary of the evaluation effort is provided.

Welch, Lonnie↗