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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a heirarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

Erickson, J.↗
NASA NTRS2011

Constraint Embedding Technique for Multibody System Dynamics

Multibody dynamics play a critical role in simulation testbeds for space missions. There has been a considerable interest in the development of efficient computational algorithms for solving the dynamics of multibody systems. Mass matrix factorization and inversion techniques and the O(N) class of forward dynamics algorithms developed using a spatial operator algebra stand out as important breakthrough on this front. Techniques such as these provide the efficient algorithms and methods for the application and implementation of such multibody dynamics models. However, these methods are limited only to tree-topology multibody systems. Closed-chain topology systems require different techniques that are not as efficient or as broad as those for tree-topology systems. The closed-chain forward dynamics approach consists of treating the closed-chain topology as a tree-topology system subject to additional closure constraints. The resulting forward dynamics solution consists of: (a) ignoring the closure constraints and using the O(N) algorithm to solve for the free unconstrained accelerations for the system; (b) using the tree-topology solution to compute a correction force to enforce the closure constraints; and (c) correcting the unconstrained accelerations with correction accelerations resulting from the correction forces. This constraint-embedding technique shows how to use direct embedding to eliminate local closure-loops in the system and effectively convert the system back to a tree-topology system. At this point, standard tree-topology techniques can be brought to bear on the problem. The approach uses a spatial operator algebra approach to formulating the equations of motion. The operators are block-partitioned around the local body subgroups to convert them into aggregate bodies. Mass matrix operator factorization and inversion techniques are applied to the reformulated tree-topology system. Thus in essence, the new technique allows conversion of a system with closure-constraints into an equivalent tree-topology system, and thus allows one to take advantage of the host of techniques available to the latter class of systems. This technology is highly suitable for the class of multibody systems where the closure-constraints are local, i.e., where they are confined to small groupings of bodies within the system. Important examples of such local closure-constraints are constraints associated with four-bar linkages, geared motors, differential suspensions, etc. One can eliminate these closure-constraints and convert the system into a tree-topology system by embedding the constraints directly into the system dynamics and effectively replacing the body groupings with virtual aggregate bodies. Once eliminated, one can apply the well-known results and algorithms for tree-topology systems to solve the dynamics of such closed-chain system.

Woo, Simon S.↗
NASA NTRS1989

A prototype autonomous agent for crew and equipment retrieval in space

The ground-based demonstration of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The software architecture incorporates a hierarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: perception, world model, reasoning, sensing, and acting. The design provides for supervised autonomy as the primary mode of operation with teleoperation as the backup mode. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable operation.

Erickson, J. D.↗
NASA NTRS1992

Matrix-vector multiplication using digital partitioning for more accurate optical computing

Digital partitioning offers a flexible means of increasing the accuracy of an optical matrix-vector processor. This algorithm can be implemented with the same architecture required for a purely analog processor, which gives optical matrix-vector processors the ability to perform high-accuracy calculations at speeds comparable with or greater than electronic computers as well as the ability to perform analog operations at a much greater speed. Digital partitioning is compared with digital multiplication by analog convolution, residue number systems, and redundant number representation in terms of the size and the speed required for an equivalent throughput as well as in terms of the hardware requirements. Digital partitioning and digital multiplication by analog convolution are found to be the most efficient alogrithms if coding time and hardware are considered, and the architecture for digital partitioning permits the use of analog computations to provide the greatest throughput for a single processor.

Gary, C. K.↗
NASA NTRS1996

Design and Implementation of Replicated Object Layer

One of the widely used techniques for construction of fault tolerant applications is the replication of resources so that if one copy fails sufficient copies may still remain operational to allow the application to continue to function. This thesis involves the design and implementation of an object oriented framework for replicating data on multiple sites and across different platforms. Our approach, called the Replicated Object Layer (ROL) provides a mechanism for consistent replication of data over dynamic networks. ROL uses the Reliable Multicast Protocol (RMP) as a communication protocol that provides for reliable delivery, serialization and fault tolerance. Besides providing type registration, this layer facilitates distributed atomic transactions on replicated data. A novel algorithm called the RMP Commit Protocol, which commits transactions efficiently in reliable multicast environment is presented. ROL provides recovery procedures to ensure that site and communication failures do not corrupt persistent data, and male the system fault tolerant to network partitions. ROL will facilitate building distributed fault tolerant applications by performing the burdensome details of replica consistency operations, and making it completely transparent to the application.Replicated databases are a major class of applications which could be built on top of ROL.

Koka, Sudhir↗
NASA NTRS1991

Recovery of precious metals from space

The overall objective is to develop efficient and economical separation and recovery methods for the platinum group and other precious metals. The separation of Pd(II) from Pt(II), Ir(III), and Rh(III) with trioctylphosphine oxide (TOPO) in heptane using centrifugal partition chromatography (CPC) was investigated. Activities to achieve this objective focussed on selection and evaluation of extraction systems for the PGM and modification of selected systems for multistage operation with a view to scaling up to desired macro levels. On the basis of preliminary evaluation of a series of simple metal complexing agents and chelating agents, the TOPO in heptane was selected as a likely system for isolating of Pd(II) and Pt(II) from the other PGM. A multistage apparatus capable of configuration as a simple rugged device, a centrifugal partition chromatograph (CPC), was shown to be effective. The extraction of Pd(II) was studied by CPC and batch solvent extraction. The distribution ratios for Pd(II) determined by both methods agree well. In low HCl concentrations (less than 0.1 M), the extracted species was PdCl2.(TOPO)2, irrespective of the chloride concentration, while at acid concentrations above 0.1 M, the Pd was extracted as the ion pair, 2(TOPO.H+).(PdCl4)2-. Base line separation of Pd(II) and Pt(II) in CPC was obtained under a variety of chloride and HCl concentration. It was demonstrated that the efficiency of CPC for metal separation was limited by chemical kinetic factors rather than instrumental factors, strongly suggesting that dramatic improvements can be achieved by studying reaction kinetics of formation and dissociation of the extractable metal complex.

Freiser, Henry↗
NASA NTRS1973

Traffic study of a computer system.

A study which may guide the operations of existing computer installations, as well as the design of future networks, is described. Performance data and evaluations are considered with reference to interarrival time, users' habits, waiting time for execution, time spent in a partition, figures of merit, and states of the system. The analysis of the variables proceeds from examination of typical data with appropriate statistical tests to conclusions about the possible state of nature.

Cramer, R. L.↗
NASA NTRS1988

Robust operative diagnosis as problem solving in a hypothesis space

This paper describes an approach that formulates diagnosis of physical systems in operation as problem solving in a hypothesis space. Such a formulation increases robustness by: (1) incremental hypotheses construction via dynamic inputs, (2) reasoning at a higher level of abstraction to construct hypotheses, and (3) partitioning the space by grouping fault hypotheses according to the type of physical system representation and problem solving techniques used in their construction. It was implemented for a turbofan engine and hydraulic subsystem. Evaluation of the implementation on eight actual aircraft accident cases involving engine faults provided very promising results.

Abbott, Kathy H.↗
NASA NTRS1999

Partitioning in Avionics Architectures: Requirements, Mechanisms, and Assurance

Automated aircraft control has traditionally been divided into distinct "functions" that are implemented separately (e.g., autopilot, autothrottle, flight management); each function has its own fault-tolerant computer system, and dependencies among different functions are generally limited to the exchange of sensor and control data. A by-product of this "federated" architecture is that faults are strongly contained within the computer system of the function where they occur and cannot readily propagate to affect the operation of other functions. More modern avionics architectures contemplate supporting multiple functions on a single, shared, fault-tolerant computer system where natural fault containment boundaries are less sharply defined. Partitioning uses appropriate hardware and software mechanisms to restore strong fault containment to such integrated architectures. This report examines the requirements for partitioning, mechanisms for their realization, and issues in providing assurance for partitioning. Because partitioning shares some concerns with computer security, security models are reviewed and compared with the concerns of partitioning.

Rushby, John↗
NASA NTRS1991

A design approach for ultrareliable real-time systems

A design approach developed over the past few years to formalize redundancy management and validation is described. Redundant elements are partitioned into individual fault-containment regions (FCRs). An FCR is a collection of components that operates correctly regardless of any arbitrary logical or electrical fault outside the region. Conversely, a fault in an FCR cannot cause hardware outside the region to fail. The outputs of all channels are required to agree bit-for-bit under no-fault conditions (exact bitwise consensus). Synchronization, input agreement, and input validity conditions are discussed. The Advanced Information Processing System (AIPS), which is a fault-tolerant distributed architecture based on this approach, is described. A brief overview of recent applications of these systems and current research is presented.

Lala, Jaynarayan H.↗
NASA NTRS1989

The PARTY parallel runtime system

In the present automated system for the organization of the data and computational operations entailed by parallel problems, in ways that optimize multiprocessor performance, general heuristics for partitioning program data and control are implemented by capturing and manipulating representations of a computation at run time. These heuristics are directed toward the dynamic identification and allocation of concurrent work in computations with irregular computational patterns. An optimized static-workload partitioning is computed for such repetitive-computation pattern problems as the iterative ones employed in scientific computation.

Saltz, J. H.↗
NASA NTRS1991

Intelligent systems technology infrastructure for integrated systems

A system infrastructure must be properly designed and integrated from the conceptual development phase to accommodate evolutionary intelligent technologies. Several technology development activities were identified that may have application to rendezvous and capture systems. Optical correlators in conjunction with fuzzy logic control might be used for the identification, tracking, and capture of either cooperative or non-cooperative targets without the intensive computational requirements associated with vision processing. A hybrid digital/analog system was developed and tested with a robotic arm. An aircraft refueling application demonstration is planned within two years. Initially this demonstration will be ground based with a follow-on air based demonstration. System dependability measurement and modeling techniques are being developed for fault management applications. This involves usage of incremental solution/evaluation techniques and modularized systems to facilitate reuse and to take advantage of natural partitions in system models. Though not yet commercially available and currently subject to accuracy limitations, technology is being developed to perform optical matrix operations to enhance computational speed. Optical terrain recognition using camera image sequencing processed with optical correlators is being developed to determine position and velocity in support of lander guidance. The system is planned for testing in conjunction with Dryden Flight Research Facility. Advanced architecture technology is defining open architecture design constraints, test bed concepts (processors, multiple hardware/software and multi-dimensional user support, knowledge/tool sharing infrastructure), and software engineering interface issues.

Lum, Henry↗
NASA NTRS1994

JTEC Panel report on microelectromechanical systems in Japan

This report summarizes recent activities in the development of microelectromechanical systems (MEMS) in Japan. For the purposes of this study, 'MEMS' means batch-fabricated miniature devices that convert physical parameters to or from electrical signals and that depend on mechanical structures or parameters in important ways for their operation. The report covers advanced materials and process technology; sensors and sensing microstructures; microactuators and actuation mechanisms; sensor-circuit integration and system partitioning; advanced packaging, microassembly, and testing technologies; and MEMS design techniques, applications, and infrastructure. The panel found that Japanese industry is emphasizing approaches to MEMS that are similar to those taken by U.S. industry (i.e., approaches based on silicon integrated-circuit technology); these efforts are comparable in their level of development to those in the United States. However, the ten-year, $250 million, MITI-sponsored program in micromachines emphasizes the miniaturization of more traditional (nonlithographic) machining processes, an area in which there is no comparable U.S. effort. Packaging technology and applications for batch-fabricated MEMS devices is considered a major challenge in both countries. The panel concluded that these and other issues will require global leadership and international cooperation to realize the benefits of MEMS in a timely way.

Wise, Kensall D.↗
NASA NTRS1997

Using Superconducting Thin Films in Microwave Lines

High temperature superconductors(HTS) and microwaves devices form the ideal partnership. The application of superconductors in microwave devices, components and systems allows the reduction in size, power consumption and insertion loss. The surface resistance of high-Tc superconductors has been found to be two orders of magnitude lower than normal conducting copper materials. The reduction in size and power requirements, which together both lead to a reduction in system mass, coupled with reasonably accessible operating temperatures, suggest that HTS microwave components should find ready application in satellite communications systems. At present, multi- channeling communication networks demand filters with narrow bandwidth in order to allow the available RF frequency spectrum to be partitioned into small frequency bands, -and possible variation of dielectric constant from substrate to substrate is undesirable. Microwave multiplexers demand the fabrication of two identical filters in each channel. Thus, the filter with tuning function is preferable. Tunable filters are the critical component for phased array antennas in order to electronically steer the radiated beam. To fabricate a tunable filter that uses an electric field for operation, one would like a material that provides a large change on dielectric constant for a given electric field, yet has a relatively low tangent in order to minimize the insertion loss of the device. Ferroelectrics have been the materials of choice. Their large dielectric constant sufficiently increases the coupling between microwave resonators and its dependence on electric field provides timability. Development of technology promises to diminish tangent loss. The use of thin ferroelectric films sufficiently decreases insertion losses keeping considerable potential for applications. NASA Lewis Research Center is the one of the leading centers in investigation of superconductors/ferroelectric tunable components for microwave devices. A large number of possible microwave devices were fabricated and tested on the basis of thin film multilayer superconductor-ferroelectric structures. In major cases the systems with edge-coupling scheme were investigated. Dr. Genkin has recently focused on the new potentialities which implements the using of thin ferroelectric films in filters fabricated with end-coupled microstrip lines. Numerical modeling shows that these systems have large potential for application in tunable narrow- and wide-bandpass filters in the frequency range 10-20 GHz. The phase shifter with end-coupled resonant sections was fabricated and tested. Experimental results show large tunability, particular in low voltages. The possible optimization of this structure promises to improve the obtained result and to reach the low level of insertion losses.

Genkin, Varery↗
NASA NTRS1992

Propulsion system performance resulting from an Integrated Flight/Propulsion Control design

Propulsion system specific results are presented from the application of the Integrated Methodology for Propulsion and Airframe Control (IMPAC) design approach to Integrated Flight/Propulsion Control design for a STOVL aircraft in transition flight. The IMPAC method is briefly discussed and the propulsion system specifications for the integrated control design are examined. The structure of a linear engine controller that results from partitioning a linear centralized controller is discussed. The details of a nonlinear propulsion control system are presented, including a scheme to protect the engine operational limits: the fan surge margin and the acceleration/deceleration schedule which limits the fuel flow. Also, a simple but effective multivariable integrator windup protection scheme is investigated. Nonlinear closed-loop simulation results are presented for two typical pilot commands for transition flight: acceleration while maintaining flight path angle and a change in flight path angle while maintaining airspeed. The simulation nonlinearities include the airframe/engine coupling, the actuator and sensor dynamics and limits, the protection scheme for the engine operational limits, and the integrator windup protection. Satisfactory performance of the total airframe plus engine system for transition flight, as defined by the specifications, is maintained during the limit operation of the closed-loop engine subsystem.

Mattern, Duane↗
NASA NTRS1992

Propulsion system performance resulting from an integrated flight/propulsion control design

Propulsion-system-specific results are presented from the application of the integrated methodology for propulsion and airframe control (IMPAC) design approach to integrated flight/propulsion control design for a 'short takeoff and vertical landing' (STOVL) aircraft in transition flight. The IMPAC method is briefly discussed and the propulsion system specifications for the integrated control design are examined. The structure of a linear engine controller that results from partitioning a linear centralized controller is discussed. The details of a nonlinear propulsion control system are presented, including a scheme to protect the engine operational limits: the fan surge margin and the acceleration/deceleration schedule that limits the fuel flow. Also, a simple but effective multivariable integrator windup protection scheme is examined. Nonlinear closed-loop simulation results are presented for two typical pilot commands for transition flight: acceleration while maintaining flightpath angle and a change in flightpath angle while maintaining airspeed. The simulation nonlinearities include the airframe/engine coupling, the actuator and sensor dynamics and limits, the protection scheme for the engine operational limits, and the integrator windup protection. Satisfactory performance of the total airframe plus engine system for transition flight, as defined by the specifications, was maintained during the limit operation of the closed-loop engine subsystem.

Mattern, Duane↗
NASA NTRS1990

Effects of error sources on the parallelism of an optical matrix-vector processor

The error sources in a high accuracy optical matrix-vector processor are analyzed by numerical simulation in terms of their effects on the parallelism and speed of the processor. These effects are detailed for radices -2, -4 and -8. Radix -4 is shown to provide maximum parallel processing capabilities under the effects of the system's error sources. Processing speed is shown to be a function of matrix partitioning and the number of parallel processing channels. Consequently, radix -4 operation provides a higher processing speed than radix -2 and -8 for most matrix-vector multiplications when error source effects are considered.

Perlee, Caroline J.↗
NASA NTRSDate not supplied

Thermal Control System Architecture and Technology Challenges for a Lunar Surface Habitat

NASA’s current plans for exploration of the Lunar South Pole region include a Surface Habitat (SH) to provide up to 60-day habitability for a crew of four. The SH concept is comprised of several elements including an inflatable volume for the habitable space and a metallic airlock for access to a pressurized rover and other surface assets. A conceptual architecture for the SH Thermal Control System (TCS) is presented. A TCS dual loop design is utilized with a water/propylene glycol mix for the internal crew spaces and an external loop with low temperature coolant. The internal loop is partitioned into low and moderate temperature service with a sublimator available for operational scenarios prior to thermal radiator deployment (or redeployment). Waste heat is rejected through thermal radiators contained in the external loop. Optimization of the thermal radiator geometry/orientation as well as the TCS internal/external loop architecture is accomplished via analytical models of the system. Low mass, dust tolerant, deployable/retractable thermal radiators (in partial gravity) and thermal control surfaces, along with accommodating infrequent eclipse periods lasting up to 100 hours, present the major technology challenges. Mitigation strategies to reduce the energy needed to maintain the SH and associated systems above survival temperature limits during the eclipse period are considered in the paper. Options include retractable radiators, re-generable heat exchangers, temperature excursions, thermal energy storage and optimized inflatable optical properties. TCS sensitivity to potential SH Electrical Power System (EPS) growth is also a consideration for both operational and dormant mission phases.

Thermal Control System↗