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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 NTRS1995

Advanced flight experiment automation development

NASA's space science program suffers under operational constraints that severely limit scientific reactivity. We describe a possible extension to an existing system that enables space science to be conducted in a more reactive manner through advanced automation techniques that have recently been used in the Space Transportation System (STS)-based Spacelab. This automation allows sophisticated autonomous control of the experiment by monitoring and dynamically controlling the progress of the experiment protocol. This new approach permits intelligent conduct of experimental research investigations whether or not the crew is available or contact with the ground is possible. We describe an intelligent software assistant that can manage the conduct of the experiment autonomously, by providing responsive telepresence science, or by assisting the astronaut operator with scientific advice. The crew could be unavailable for short periods when the experiment has low priority, or for longer periods on partially tended Space Station. We suggest this system could be developed as a ground prototype using commercial hardware, versions of which have been flight qualified, in order to provide a natural transition path towards flight use. In order to make this demonstration most valuable, we propose not to select a particular Life Sciences experiment, but to include an experiment simulator representative of major scientific domains.

Groleau, Nicolas↗
NASA NTRS2014

Ground Operations Autonomous Control and Integrated Health Management

The Ground Operations Autonomous Control and Integrated Health Management plays a key role for future ground operations at NASA. The software that is integrated into this system is called G2 2011 Gensym. The purpose of this report is to describe the Ground Operations Autonomous Control and Integrated Health Management with the use of the G2 Gensym software and the G2 NASA toolkit for Integrated System Health Management (ISHM) which is a Computer Software Configuration Item (CSCI). The decision rationale for the use of the G2 platform is to develop a modular capability for ISHM and AC. Toolkit modules include knowledge bases that are generic and can be applied in any application domain module. That way, there's a maximization of reusability, maintainability, and systematic evolution, portability, and scalability. Engine modules are generic, while application modules represent the domain model of a specific application. Furthermore, the NASA toolkit, developed since 2006 (a set of modules), makes it possible to create application domain models quickly, using pre-defined objects that include sensors and components libraries for typical fluid, electrical, and mechanical systems.

Computer Programs↗
NASA NTRS2011

Towards Autonomous Operation of Robonaut 2

The Robonaut 2 (R2) platform, as shown in Figure 1, was designed through a collaboration between NASA and General Motors to be a capable robotic assistant with the dexterity similar to a suited astronaut [1]. An R2 robot was sent to the International Space Station (ISS) in February 2011 and, in doing so, became the first humanoid robot in space. Its capabilities are presently being tested and expanded to increase its usefulness to the crew. Current work on R2 includes the addition of a mobility platform to allow the robot to complete tasks (such as cleaning, maintenance, or simple construction activities) both inside and outside of the ISS. To support these new activities, R2's software architecture is being developed to provide efficient ways of programming robust and autonomous behavior. In particular, a multi-tiered software architecture is proposed that combines principles of low-level feedback control with higher-level planners that accomplish behavioral goals at the task level given the run-time context, user constraints, the health of the system, and so on. The proposed architecture is shown in Figure 2. At the lowest-level, the resource level, there exists the various sensory and motor signals available to the system. The sensory signals for a robot such as R2 include multiple channels of force/torque data, joint or Cartesian positions calculated through the robot's proprioception, and signals derived from objects observable by its cameras.

Badger, Julia M.↗
NASA NTRS2020

A ROS-based Simulator for Testing the Enhanced Autonomous Navigation of the Mars 2020 Rover

In order to achieve the ambitious objectives of the Mars 2020 (M2020) mission, in particular the ability to autonomously traverse more challenging terrains more efficiently, new surface mobility software was developed for Enhanced Navigation (ENav). That decision was made early in the project, before most of the new surface flight software (FSW) existed, which created a need for a separate framework where the new navigation algorithms could be quickly prototyped and tested, before more realistic FSW-based testbeds became available. The JPL robotics team chose the Robot Operating System [1] (ROS) as the environment in which to test the new ENav algorithms. This made it possible to write the algorithms in the C language required by the FSW, so they could be directly ported over to the flight module later on, while leveraging all the C++ libraries and tools provided by ROS for simulation and testing. The ENav algorithms were developed as a separate C library, and stubs were used to replace any FSW-specific code, such as Event Reporting (EVRs) and data products (DPs). A ROS simulator was developed to generate a rich set of varied 3D terrains representative of the candidate Mars landing sites and simulate the physics of the rover motion, the point cloud perceived by the rover’s stereo vision system, and the new thinking-while-driving (TWD) navigation logic which directs the rover to drive autonomously to user-specified waypoints. To simulate the rover motion and perception, a ROS node was developed that uses a software library called HyperDrive Sim (HDSim), which is a wrapper for the Rover Sequencing and Visualization Program [2] (RSVP). That library provides roverterrain settling, realistic slip modelling, and camera rendering capability based on the rover’s NavCam machine vision models. To simulate the navigation logic, a ROS node was created that initializes and runs the ENav algorithms in a way that mimics the FSW execution, while also providing the capability to load and replay data products, including re-running the recorded inputs through the ENav algorithms for testing. An engineering Graphical User Interface (GUI) was also developed to visualize various elements, such as the rover pose during the drive, the simulated and perceived terrain, the selected local and global paths to the goal, the evaluated candidate paths and the reasons why they were rejected, the keep-in and keep-out zones (KIOZs), etc. Finally, an advanced Monte Carlo (MC) framework that can run many simulations in parallel on the Cloud and automatically generate reports that capture the key ENav performance metrics was developed to evaluate the system in a statisticallymeaningful way. This paper provides an overview of the ROSbased simulator used for testing the M2020 ENav algorithms.

Toupet, Olivier↗
NASA NTRS2004

Automated Recognition of Geologically Significant Shapes in MER PANCAM and MI Images

Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.

Morris, Robert↗
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 NTRS2011

NASA Tech Briefs, June 2011

Topics covered include: Wind and Temperature Spectrometry of the Upper Atmosphere in Low-Earth Orbit; Health Monitor for Multitasking, Safety-Critical, Real-Time Software; Stereo Imaging Miniature Endoscope; Early Oscillation Detection Technique for Hybrid DC/DC Converters; Parallel Wavefront Analysis for a 4D Interferometer; Schottky Heterodyne Receivers With Full Waveguide Bandwidth; Carbon Nanofiber-Based, High-Frequency, High-Q, Miniaturized Mechanical Resonators; Ultracapacitor-Based Uninterrupted Power Supply System; Coaxial Cables for Martian Extreme Temperature Environments; Using Spare Logic Resources To Create Dynamic Test Points; Autonomous Coordination of Science Observations Using Multiple Spacecraft; Autonomous Phase Retrieval Calibration; EOS MLS Level 1B Data Processing Software, Version 3; Cassini Tour Atlas Automated Generation; Software Development Standard Processes (SDSP); Graphite Composite Panel Polishing Fixture; Material Gradients in Oxygen System Components Improve Safety; Ridge Waveguide Structures in Magnesium-Doped Lithium Niobate; Modifying Matrix Materials to Increase Wetting and Adhesion; Lightweight Magnetic Cooler With a Reversible Circulator; The Invasive Species Forecasting System; Method for Cleanly and Precisely Breaking Off a Rock Core Using a Radial Compressive Force; Praying Mantis Bending Core Breakoff and Retention Mechanism; Scoring Dawg Core Breakoff and Retention Mechanism; Rolling-Tooth Core Breakoff and Retention Mechanism; Vibration Isolation and Stabilization System for Spacecraft Exercise Treadmill Devices; Microgravity-Enhanced Stem Cell Selection; Diagnosis and Treatment of Neurological Disorders by Millimeter-Wave Stimulation; Passive Vaporizing Heat Sink; Remote Sensing and Quantization of Analog Sensors; Phase Retrieval for Radio Telescope and Antenna Control; Helium-Cooled Black Shroud for Subscale Cryogenic Testing; Receive Mode Analysis and Design of Microstrip Reflectarrays; and Chance-Constrained Guidance With Non-Convex Constraints.

Source record↗
NASA NTRS2002

Software Construction and Analysis Tools for Future Space Missions

NASA and its international partners will increasingly depend on software-based systems to implement advanced functions for future space missions, such as Martian rovers that autonomously navigate long distances exploring geographic features formed by surface water early in the planet's history. The software-based functions for these missions will need to be robust and highly reliable, raising significant challenges in the context of recent Mars mission failures attributed to software faults. After reviewing these challenges, this paper describes tools that have been developed at NASA Ames that could contribute to meeting these challenges; 1) Program synthesis tools based on automated inference that generate documentation for manual review and annotations for automated certification. 2) Model-checking tools for concurrent object-oriented software that achieve memorability through synergy with program abstraction and static analysis tools.

Lowry, Michael R.↗
NASA NTRS1998

Integration of the Remote Agent for the NASA Deep Space One Autonomy Experiment

This paper describes the integration of the Remote Agent (RA), a spacecraft autonomy system which is scheduled to control the Deep Space 1 spacecraft during a flight experiment in 1999. The RA is a reusable, model-based autonomy system that is quite different from software typically used to control an aerospace system. We describe the integration challenges we faced, how we addressed them, and the lessons learned. We focus on those aspects of integrating the RA that were either easier or more difficult than integrating a more traditional large software application because the RA is a model-based autonomous system. A number of characteristics of the RA made integration process easier. One example is the model-based nature of RA. Since the RA is model-based, most of its behavior is not hard coded into procedural program code. Instead, engineers specify high level models of the spacecraft's components from which the Remote Agent automatically derives correct system-wide behavior on the fly. This high level, modular, and declarative software description allowed some interfaces between RA components and between RA and the flight software to be automatically generated and tested for completeness against the Remote Agent's models. In addition, the Remote Agent's model-based diagnosis system automatically diagnoses when the RA models are not consistent with the behavior of the spacecraft. In flight, this feature is used to diagnose failures in the spacecraft hardware. During integration, it proved valuable in finding problems in the spacecraft simulator or flight software. In addition, when modifications are made to the spacecraft hardware or flight software, the RA models are easily changed because they only capture a description of the spacecraft. one does not have to maintain procedural code that implements the correct behavior for every expected situation. On the other hand, several features of the RA made it more difficult to integrate than typical flight software. For example, the definition of correct behavior is more difficult to specify for a system that is expected to reason about and flexibly react to its environment than for a traditional flight software system. Consequently, whenever a change is made to the RA it is more time consuming to determine if the resulting behavior is correct. We conclude the paper with a discussion of future work on the Remote Agent as well as recommendations to ease integration of similar autonomy projects.

Dorais, Gregory A.↗
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

Designing Autonomy into Interfaces for Long-Duration Missions

As NASA develops technologies for long-duration crewed missions, we must understand how communication between ground control teams and astronauts differs from the current dynamic to adapt new concepts for long-duration mission operations. Today, ground control teams support astronauts with immediate availability to answer questions, resolve issues, and manage activities. In the near future, however, extended communication delays during long-duration missions will require astronauts to become more autonomous. As many of the responsibilities shift from the ground control teams to the astronauts on-board, the concept of operations must also change from how it functions today. With increased astronaut autonomy, software tools must be developed that enable efficient completion of mission tasks without increased mental workload. Designing software tools to facilitate crew autonomy requires development teams to know which data will enhance quick decision making while providing necessary context for situational awareness of systems being managed on-board. NASA's Autonomous Systems and Operations (ASO) team is presently developing a software interface tool, EXPRESS (EXpedite the PRocessing of Experiments for Space Station) 2.5 to enable a long-duration crew to schedule activities for and operate autonomous systems. This paper describes details of the integrated human factors approach that drove the design of the elements of the software tool, including self-managed scheduling, constraint-driven planning, autonomous system fault recovery, and recommended troubleshooting actions. Additionally, this paper will chronicle ASO modifications of the user interface after the team's first flight demonstration, how it was based on lessons learned during software development, as well as from crew feedback in order to develop the current version which will be demonstrated on ISS in 2021. In the upcoming ISS demonstration, the astronaut crew will be given scenarios for scheduling and operating autonomous system activities, including off-nominal scenarios and autonomous system recoveries. The demonstration of the EXPRESS 2.5 tool is a step towards improved levels of autonomy as our new journeys take us farther into space.

autonomy↗
NASA NTRS2009

Lunar Landing Trajectory Design for Onboard Hazard Detection and Avoidance

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing the software and hardware technology needed to support a safe and precise landing for the next generation of lunar missions. ALHAT provides this capability through terrain-relative navigation measurements to enhance global-scale precision, an onboard hazard detection system to select safe landing locations, and an Autonomous Guidance, Navigation, and Control (AGNC) capability to process these measurements and safely direct the vehicle to a landing location. This paper focuses on the key trajectory design issues relevant to providing an onboard Hazard Detection and Avoidance (HDA) capability for the lander. Hazard detection can be accomplished by the crew visually scanning the terrain through a window, a sensor system imaging the terrain, or some combination of both. For ALHAT, this hazard detection activity is provided by a sensor system, which either augments the crew s perception or entirely replaces the crew in the case of a robotic landing. Detecting hazards influences the trajectory design by requiring the proper perspective, range to the landing site, and sufficient time to view the terrain. Following this, the trajectory design must provide additional time to process this information and make a decision about where to safely land. During the final part of the HDA process, the trajectory design must provide sufficient margin to enable a hazard avoidance maneuver. In order to demonstrate the effects of these constraints on the landing trajectory, a tradespace of trajectory designs was created for the initial ALHAT Design Analysis Cycle (ALDAC-1) and each case evaluated with these HDA constraints active. The ALHAT analysis process, described in this paper, narrows down this tradespace and subsequently better defines the trajectory design needed to support onboard HDA. Future ALDACs will enhance this trajectory design by balancing these issues and others in an overall system design process.

Paschall, Steve↗
NASA NTRS2016

ICAROUS - Integrated Configurable Algorithms for Reliable Operations Of Unmanned Systems

NASA's Unmanned Aerial System (UAS) Traffic Management (UTM) project aims at enabling near-term, safe operations of small UAS vehicles in uncontrolled airspace, i.e., Class G airspace. A far-term goal of UTM research and development is to accommodate the expected rise in small UAS traffic density throughout the National Airspace System (NAS) at low altitudes for beyond visual line-of-sight operations. This paper describes a new capability referred to as ICAROUS (Integrated Configurable Algorithms for Reliable Operations of Unmanned Systems), which is being developed under the UTM project. ICAROUS is a software architecture comprised of highly assured algorithms for building safety-centric, autonomous, unmanned aircraft applications. Central to the development of the ICAROUS algorithms is the use of well-established formal methods to guarantee higher levels of safety assurance by monitoring and bounding the behavior of autonomous systems. The core autonomy-enabling capabilities in ICAROUS include constraint conformance monitoring and contingency control functions. ICAROUS also provides a highly configurable user interface that enables the modular integration of mission-specific software components.

Consiglio, María↗
NASA NTRS1988

Autonomous satellite command and control: A comparison with other military systems

Existing satellite concepts of operation depend on readily available experts and are extremely manpower intensive. Areas of expertise required include mission planning, mission data interpretation, telemetry monitoring, and anomaly resolution. The concepts of operation have envolved to their current state in part because space systems have tended to be treated more as research and development assets rather than as operational assets. These methods of satellite command and control will be inadequate in the future because of the availability, survivability, and capability of human experts. Because space systems have extremely high reliability and limited access, they offer challenges not found in other military systems. Thus, automation techniques used elsewhere are not necessarily applicable to space systems. A program to make satellites much more autonomous has been developed, using a variety of advanced software techniques. The problem the program is addressing, some possible solutions, the goals of the Rome Air Development Center (RADC) program, the rationale as to why the goals are reasonable, and the current program status are discussed. Also presented are some of the concepts used in the program and how they differ from more traditional approaches.

Kruchten, Robert J.↗
NASA NTRS1993

Future space transportation system architecture avionics requirements

NASA began a multi-center study in January 1993 to examine options for providing the most cost effective space transportation system in the future. The key advanced avionics requirements for these vehicle concepts are envisioned to provide significantly improved operational efficiency and effectiveness. It is very desirable to have adaptive guidance, navigation, and control approaches that will allow launch and return in almost any weather condition. The vehicles must be able to accommodate atmospheric density variations and winds without software changes. The flight operations must become much more autonomous in all flight regimes like an aircraft, and preflight checkout should make use of the onboard systems. When the vehicle returns to the launch site, subsystem health must be known and maintenance tasks scheduled accordingly. Ground testing of most subsystems must be eliminated. Also, the health monitoring system must be designed to enhance the ability to abort the mission significantly and save the crew and the vehicle. The displays and controls must be much less complex than current systems and must significantly reduce pilot work load. It is important to have low power, light weight displays and controls. Rendezvous and docking and all flight phases must have autopilot capability to reduce pilot work load for routine operations and in abort situations. The vehicles must have the demonstrated ability to return to the launch site. Abort from all mission phases can put additional demands on the communications system.

Stone, Howard↗
NASA NTRS1994

A Model-Based Expert System for Space Power Distribution Diagnostics

When engineers diagnose system failures, they often use models to confirm system operation. This concept has produced a class of advanced expert systems that perform model-based diagnosis. A model-based diagnostic expert system for the Space Station Freedom electrical power distribution test bed is currently being developed at the NASA Lewis Research Center. The objective of this expert system is to autonomously detect and isolate electrical fault conditions. Marple, a software package developed at TRW, provides a model-based environment utilizing constraint suspension. Originally, constraint suspension techniques were developed for digital systems. However, Marple provides the mechanisms for applying this approach to analog systems such as the test bed, as well. The expert system was developed using Marple and Lucid Common Lisp running on a Sun Sparc-2 workstation. The Marple modeling environment has proved to be a useful tool for investigating the various aspects of model-based diagnostics. This report describes work completed to date and lessons learned while employing model-based diagnostics using constraint suspension within an analog system.

Quinn, Todd M.↗
NASA NTRS2002

A New Look at NASA: Strategic Research In Information Technology

This viewgraph presentation provides information on research undertaken by NASA to facilitate the development of information technologies. Specific ideas covered here include: 1) Bio/nano technologies: biomolecular and nanoscale systems and tools for assembly and computing; 2) Evolvable hardware: autonomous self-improving, self-repairing hardware and software for survivable space systems in extreme environments; 3) High Confidence Software Technologies: formal methods, high-assurance software design, and program synthesis; 4) Intelligent Controls and Diagnostics: Next generation machine learning, adaptive control, and health management technologies; 5) Revolutionary computing: New computational models to increase capability and robustness to enable future NASA space missions.

Alfano, David↗
NASA NTRS2006

AutoNav Mark3: Engineering the Next Generation of Autonomous Onboard Navigation and Guidance

The success of JPL's AutoNav system at comet Tempel-1 on July 4, 2005, demonstrated the power of autonomous navigation technology for the Deep Impact Mission. This software is being planned for use as the onboard navigation, tracking and rendezvous system for a Mars Sample Return Mission technology demonstration, and several mission proposals are evaluating its use for rendezvous with, and landing on asteroids. Before this however, extensive re-engineering of AutoNav will take place. This paper describes the AutoNav systems-engineering effort in several areas: extending the capabilities, improving operability, utilizing new hardware elements, and demonstrating the new possibilities of AutoNav in simulations.

navigation↗