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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 NTRS1994

Generalized implementation of software safety policies

As part of a research program in the engineering of software for safety-critical systems, we are performing two case studies. The first case study, which is well underway, is a safety-critical medical application. The second, which is just starting, is a digital control system for a nuclear research reactor. Our goal is to use these case studies to permit us to obtain a better understanding of the issues facing developers of safety-critical systems, and to provide a vehicle for the assessment of research ideas. The case studies are not based on the analysis of existing software development by others. Instead, we are attempting to create software for new and novel systems in a process that ultimately will involve all phases of the software lifecycle. In this abstract, we summarize our results to date in a small part of this project, namely the determination and classification of policies related to software safety that must be enforced to ensure safe operation. We hypothesize that this classification will permit a general approach to the implementation of a policy enforcement mechanism.

Knight, John C.↗
NASA NTRS2009

On the Effects of Surface Roughness on Boundary Layer Transition

Surface roughness can influence laminar-turbulent transition in many different ways. This paper outlines selected analyses performed at the NASA Langley Research Center, ranging in speed from subsonic to hypersonic Mach numbers and highlighting the beneficial as well as adverse roles of the surface roughness in technological applications. The first theme pertains to boundary-layer tripping on the forebody of a hypersonic airbreathing configuration via a spanwise periodic array of trip elements, with the goal of understanding the physical mechanisms underlying roughness-induced transition in a high-speed boundary layer. The effect of an isolated, finite amplitude roughness element on a supersonic boundary layer is considered next. The other set of flow configurations examined herein corresponds to roughness based laminar flow control in subsonic and supersonic swept wing boundary layers. A common theme to all of the above configurations is the need to apply higher fidelity, physics based techniques to develop reliable predictions of roughness effects on laminar-turbulent transition.

Choudhari, Meelan M.↗
NASA NTRS2016

Human-Robot Interaction in High Vulnerability Domains

Future NASA missions will require successful integration of the human with highly complex systems. Highly complex systems are likely to involve humans, automation, and some level of robotic assistance. The complex environments will require successful integration of the human with automation, with robots, and with human-automation-robot teams to accomplish mission critical goals. Many challenges exist for the human performing in these types of operational environments with these kinds of systems. Systems must be designed to optimally integrate various levels of inputs and outputs based on the roles and responsibilities of the human, the automation, and the robots; from direct manual control, shared human-robotic control, or no active human control (i.e. human supervisory control). It is assumed that the human will remain involved at some level. Technologies that vary based on contextual demands and on operator characteristics (workload, situation awareness) will be needed when the human integrates into these systems. Predictive models that estimate the impact of the technologies on the system performance and the on the human operator are also needed to meet the challenges associated with such future complex human-automation-robot systems in extreme environments.

workload↗
NASA NTRS2014

Advanced Inspection System: Integrating Robotic Configurations & Controls

The Advanced Inspection System (AIS) promotes the ability to perform field inspections and repairs remotely by operator command. The robotic system is required to be a fully autonomous operation, managed by computer execution of scripts with limited user control. AIS is a complex yet intriguing challenge in which various goals must be reached to achieve complete autonomy. The first steps to building such a system require human computer interactions and computer simulations for testing and verification. Such applications include the use of a wireless video game controller via Bluetooth Technology and the use of Leap Motion, a gesture based motion controller which can be used to manipulate robotic arm movements. Utilizing the Robotic Operating System (ROS) environment, these applications, in accordance to developing a 3D simulation of the system, will provide a foundational test bed for AIS development.

Wlodarczyk, Stephan J.↗
NASA NTRS2015

Human Factors Assessment of Disturbances to Scheduled Performance-Based Navigation Arrival Operations

The introduction of Performance-Based Navigation (PBN) specifications to air traffic management has resulted in many benefits during nominal operations, including shorter flight paths, reduced fuel costs, and improved terminal area arrival rates. However, these benefits become less noticeable during off-nominal operations where aircraft are routinely interrupted from staying on PBN procedures due to disturbances such as missed approaches. This human-in-the-loop (HITL) study used multiple types of disturbance events to perturb the arrival schedule. Perturbed schedules were managed with different types of schedule adjustments, including a condition with no adjustments. The study collected data on a host of dependent variables, including human factors measures on controller workload and system performance measures such as schedule nonconformance (nc). Initial analyses showed strong correlations between aggregated controller workload and aggregated nc, as well as benefits of both automatic and manual schedule adjustments for increasing system performance, such as reduced PBN procedure interruptions. The goal of this paper is to further test these initial findings. The results indicated that an increase in schedule nonconformance correlated with an increase in controller workload at specific time intervals, and automated schedule adjustments consistently reduced controller workload associated with nonconformance.

Human factors↗
NASA NTRS1992

Moving formal methods into practice. Verifying the FTPP Scoreboard: Results, phase 1

This report documents the Phase 1 results of an effort aimed at formally verifying a key hardware component, called Scoreboard, of a Fault-Tolerant Parallel Processor (FTPP) being built at Charles Stark Draper Laboratory (CSDL). The Scoreboard is part of the FTPP virtual bus that guarantees reliable communication between processors in the presence of Byzantine faults in the system. The Scoreboard implements a piece of control logic that approves and validates a message before it can be transmitted. The goal of Phase 1 was to lay the foundation of the Scoreboard verification. A formal specification of the functional requirements and a high-level hardware design for the Scoreboard were developed. The hardware design was based on a preliminary Scoreboard design developed at CSDL. A main correctness theorem, from which the functional requirements can be established as corollaries, was proved for the Scoreboard design. The goal of Phase 2 is to verify the final detailed design of Scoreboard. This task is being conducted as part of a NASA-sponsored effort to explore integration of formal methods in the development cycle of current fault-tolerant architectures being built in the aerospace industry.

Srivas, Mandayam↗
NASA NTRS1994

Control theory based airfoil design for potential flow and a finite volume discretization

This paper describes the implementation of optimization techniques based on control theory for airfoil design. In previous studies it was shown that control theory could be used to devise an effective optimization procedure for two-dimensional profiles in which the shape is determined by a conformal transformation from a unit circle, and the control is the mapping function. The goal of our present work is to develop a method which does not depend on conformal mapping, so that it can be extended to treat three-dimensional problems. Therefore, we have developed a method which can address arbitrary geometric shapes through the use of a finite volume method to discretize the potential flow equation. Here the control law serves to provide computationally inexpensive gradient information to a standard numerical optimization method. Results are presented, where both target speed distributions and minimum drag are used as objective functions.

Reuther, J.↗
NASA NTRS2003

Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

Ippolito, Corey↗
NASA NTRS2005

Acquisition of Autonomous Behaviors by Robotic Assistants

Our research achievements under the NASA-JSC grant contributed significantly in the following areas. Multi-agent based robot control architecture called the Intelligent Machine Architecture (IMA) : The Vanderbilt team received a Space Act Award for this research from NASA JSC in October 2004. Cognitive Control and the Self Agent : Cognitive control in human is the ability to consciously manipulate thoughts and behaviors using attention to deal with conflicting goals and demands. We have been updating the IMA Self Agent towards this goal. If opportunity arises, we would like to work with NASA to empower Robonaut to do cognitive control. Applications 1. SES for Robonaut, 2. Robonaut Fault Diagnostic System, 3. ISAC Behavior Generation and Learning, 4. Segway Research.

Peters, R. A., II↗
NASA NTRS2013

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

Birge, Brian↗
NASA NTRS2007

Spatial Correlation and Coherence of Boundary Layer Winds Near Cape Canaveral Florida

The spatial correlation and coherence of winds over separation distances from 8.5 to 31 km based on central Florida data from November 1999 through August 2001 are presented. The winds at altitudes from 500 to 3000 m were measured using a network of five radar wind profilers. The goal was to determine the extent to which the profilers may be considered independent data sources. Quality controlled profiles were produced every 15 minutes for up to sixty gates, each representing 101 m in altitude over the range from 130 m to 6089 m. Five levels, each containing three consecutive gates, were selected for analysis. These levels covered the range from 433 to 3059 m. The results show that the profilers are independent for features having time scales of less than one hour in the winter or two hours in the summer. This does not depend significantly on height. Because the size of the network coincides with the "spectral gap" in the boundary layer, the result also does not depend on the spacing of the profilers within the network.

Merceret, Francis J.↗
NASA NTRS1999

Electrorheological Fluid Based Force Feedback Device

Parallel to the efforts to develop fully autonomous robots, it is increasingly being realized that there are applications where it is essential to have a fully controlled robot and "feel" its operating conditions, i.e. telepresence. This trend is a result of the increasing efforts to address tasks where humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Such robots need to be assisted by a human that remotely controls the operation. To address the goal of operating robots as human surrogates, the authors launched a study of mechanisms that provide mechanical feedback. For this purpose, electrorheological fluids (ERF) are being investigated for the potential application as miniature haptic devices. This family of electroactive fluids has the property of changing the viscosity during electrical stimulation. Consequently, ERF can be used to produce force feedback haptic devices for tele-operated control of medical and space robotic systems. Forces applied at the robot end-effector due to a compliant environment are reflected to the user using an ERF device where a change in the system viscosity will occur proportionally to the transmitted force. Analytical model and control algorithms are being developed taking into account the non-linearities of these type of devices. This paper will describe the concept and the developed mechanism of ERF based force feedback. The test process and the physical properties of this device will be described and the results of preliminary tests will be presented.

Pfeiffer, Charles↗
NASA NTRS1973

Fuel cell technology program

A fuel cell technology program was established to advance the state-of-the-art of hydrogen-oxygen fuel cells using low temperature, potassium hydroxide electrolyte technology as the base. Program tasks are described consisting of baseline cell design and stack testing, hydrogen pump design and testing, and DM-2 powerplant testing and technology extension efforts. A baseline cell configuration capable of a minimum of 2000 hours of life was defined. A 6-cell prototype stack, incorporating most of the scheme cell features, was tested for a total of 10,497 hours. A 6-cell stack incorporating all of the design features was tested. The DM-2 powerplant with a 34 cell stack, an accessory section packaged in the basic configuration anticipated for the space shuttle powerplant and a powerplant control unit, was defined, assembled, and tested. Cells were used in the stack and a drag-type hydrogen pump was installed in the accessory section. A test program was established, in conjunction with NASA/JSC, based on space shuttle orbiter mission. A 2000-hour minimum endurance test and a 5000-hour goal were set and the test started on August 8, 1972. The 2000-hour milestone was completed on November 3, 1972. On 13 March 1973, at the end of the thirty-first simulated seven-day mission and 5072 load hours, the test was concluded, all goals having been met. At this time, the DM-2 was in excellent condition and capable of additional endurance.

Source record↗
NASA NTRS1988

Motion planning for a free-flying robot

An investigation is presented of motion planning combining low level control and obstacle avoidance for a free flying robot. This free flying robot is an outgrowth of the concept of an assistant for astronauts on the U.S. Space Station and Shuttle. A motion planner based on the Khatib potential field approach is described. Because of the uncluttered environment in space, it generates a path from representation of known obstacles rather than from a representation of free space. A global planner supplies the low level controller with interim points between the current position and the desired goal position so that the vehicle does not become trapped by local minima, a phenomenon of the potential field approach. Discussion of the feasibility of this system for space applications is presented.

Kaiser, Donald Leo↗
NASA NTRS1994

Superconducting rebalance acceleration and rate sensor

The goal of this program is the development of a high precision multisensor based on a high T(sub c) superconducting proof mass. The design of a prototype is currently underway. Key technical issues appear resolvable. High temperature superconductors have complicated, hysteretic flux dynamics but the forces on them can be linearly controlled for small displacements. Current data suggests that the forces on the superconductors decay over a short time frame and then stabilize, though very long term data is not available. The hysteretic force characteristics are substantial for large scale excursions, but do not appear to be an issue for the very small displacements required in this device. Sufficient forces can be exerted for non-contact suspension of a centimeter sized proof mass in a vacuum sealed nitrogen jacket cryostat. High frequency capacitive sensing using stripline technology will yield adequate position resolution for 0.1 micro-g measurements at 100 Hz. Overall, a reasonable cost, but very high accuracy, system is feasible with this technology.

Torti, R.↗
NASA NTRS1994

An operations and command systems for the extreme ultraviolet explorer

About 40% of the budget of a scientific spacecraft mission is usually consumed by Mission Operations & Data Analysis (MO&DA) with MO driving these costs. In the current practice, MO is separated from spacecraft design and comes in focus relatively late in the mission life cycle. As a result, spacecraft may be designed that are very difficult to operate. NASA centers have extensive MO expertise but often lessons learned in one mission are not exploited for other parallel or future missions. A significant reduction of MO costs is essential to ensure a continuing and growing access to space for the scientific community. We are addressing some of these issues with a highly automated payload operations and command system for an existing mission, the Extreme Ultraviolet Explorer (EUVE). EUVE is currently operated jointly by the Goddard Space Flight Center (GSFC), responsible for spacecraft operations, and the Center for Extreme Ultraviolet Astrophysics (CEA) of the University of California, Berkeley, which controls the telescopes and scientific instruments aboard the satellite. The new automated system is being developed by a team including personnel from the NASA Ames Research Center (ARC), the Jet Propulsion Laboratory (JPL) and the Center for EUV Astrophysics (CEA). An important goal of the project is to provide AI-based technology that can be easily operated by nonspecialists in AI. Another important goal is the reusability of the techniques for other missions. Models of the EUVE spacecraft need to be built both for planning/scheduling and for monitoring. In both cases, our modeling tools allow the assembly of a spacecraft model from separate sub-models of the various spacecraft subsystems. These sub-models are reusable; therefore, building mission operations systems for another small satellite mission will require choosing pre-existing modules, reparametrizing them with respect to the actual satellite telemetry information, and reassembling them in a new model. We briefly describe the EUVE mission and indicate why it is particularly suitable for the task. Then we briefly outline our current work in mission planning/scheduling and spacecraft and instrument health monitoring.

Muscettola, Nicola↗
NASA NTRS2000

LaRC Separate Flow Testing Status

The main goal of this presentation is to give some of the objectives of the testing program. This includes: develop jet noise data base for separate flow nozzles with bypass ratio's 5 to 14; evaluate effect of pylon on noise; develop low performance impact noise suppression concepts; and evaluate potential for active control of jet noise.

Seiner, Jack↗
NASA NTRS2002

Space Operations Training Concepts Benchmark Study (Training in a Continuous Operations Environment)

The NASA/USAF Benchmark Space Operations Training Concepts Study will perform a comparative analysis of the space operations training programs utilized by the United States Air Force Space Command with those utilized by the National Aeronautics and Space Administration. The concentration of the study will be focused on Ground Controller/Flight Controller Training for the International Space Station Payload Program. The duration of the study is expected to be five months with report completion by 30 June 2002. The U.S. Air Force Space Command was chosen as the most likely candidate for this benchmark study because their experience in payload operations controller training and user interfaces compares favorably with the Payload Operations Integration Center's training and user interfaces. These similarities can be seen in the dynamics of missions/payloads, controller on-console requirements, and currency/proficiency challenges to name a few. It is expected that the report will look at the respective programs and investigate goals of each training program, unique training challenges posed by space operations ground controller environments, processes of setting up controller training programs, phases of controller training, methods of controller training, techniques to evaluate adequacy of controller knowledge and the training received, and approaches to training administration. The report will provide recommendations to the respective agencies based on the findings. Attached is a preliminary outline of the study. Following selection of participants and an approval to proceed, initial contact will be made with U.S. Air Force Space Command Directorate of Training to discuss steps to accomplish the study.

Johnston, Alan E.↗