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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 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Galileo spacecraft power distribution and autonomous fault recovery

There is a trend in current spacecraft design to achieve greater fault tolerance through the implemenation of on-board software dedicated to detecting and isolating failures. A combination of hardware and software is utilized in the Galileo power system for autonomous fault recovery. Galileo is a dual-spun spacecraft designed to carry a number of scientific instruments into a series of orbits around the planet Jupiter. In addition to its self-contained scientific payload, it will also carry a probe system which will be separated from the spacecraft some 150 days prior to Jupiter encounter. The Galileo spacecraft is scheduled to be launched in 1985. Attention is given to the power system, the fault protection requirements, and the power fault recovery implementation.

Detwiler, R. C.↗
NASA NTRS1993

Reactive system verification case study: Fault-tolerant transputer communication

A reactive program is one which engages in an ongoing interaction with its environment. A system which is controlled by an embedded reactive program is called a reactive system. Examples of reactive systems are aircraft flight management systems, bank automatic teller machine (ATM) networks, airline reservation systems, and computer operating systems. Reactive systems are often naturally modeled (for logical design purposes) as a composition of autonomous processes which progress concurrently and which communicate to share information and/or to coordinate activities. Formal (i.e., mathematical) frameworks for system verification are tools used to increase the users' confidence that a system design satisfies its specification. A framework for reactive system verification includes formal languages for system modeling and for behavior specification and decision procedures and/or proof-systems for verifying that the system model satisfies the system specifications. Using the Ostroff framework for reactive system verification, an approach to achieving fault-tolerant communication between transputers was shown to be effective. The key components of the design, the decoupler processes, may be viewed as discrete-event-controllers introduced to constrain system behavior such that system specifications are satisfied. The Ostroff framework was also effective. The expressiveness of the modeling language permitted construction of a faithful model of the transputer network. The relevant specifications were readily expressed in the specification language. The set of decision procedures provided was adequate to verify the specifications of interest. The need for improved support for system behavior visualization is emphasized.

Crane, D. Francis↗
NASA NTRS1986

Architecture of autonomous systems

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Dikshit, Piyush↗
NASA NTRS1989

Architecture of autonomous systems

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Dikshit, Piyush↗
NASA NTRSDate not supplied

Autonomy Voice Assistant for NPAS (NASA Platform for Autonomous Systems)

A prototype voice interaction system, Autonomy Voice Assistant (AVA), is described in this paper. AVA is designed to seamlessly integrate into the NASA Platform for Autonomous Systems (NPAS), an autonomy software platform, and to enable an operator to interact with NPAS autonomy applications through voice conversations. By integrating VA with NPAS, a major enhancement to NPAS applications is facilitated, enabling interaction through natural language expressions. An AVA prototype has been designed incorporating two principles:(1) self-containment (no external data or computations required), and (2) a readily modifiable, reconfigurable, and flexible architecture. By using voice messages in an NPAS application, an additional layer of user interface capability is enabled, thereby enhancing a user’s overall experience. Advancements, over the past several decades in speech recognition and natural language processing technologies has made it possible for AVA to implement robust messaging capabilities while still being lightweight. The main objective of incorporating a voice assistant like AVA is to augment the number and effectiveness of interactions a user has with a system that typically uses mouse-based interaction, while simultaneously enriching the user experience and providing heightened system awareness.

Lucian Murdock↗
NASA NTRS2016

SIG: Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects/systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

human-automation interaction↗
NASA NTRS2016

Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault-tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

safety-critical automation↗
NASA NTRS1981

Lessons from NASA

Particular requirements related to the design and the operation of spacecraft have forced NASA to take a reliability approach that differs somewhat from that used in many other applications. NASA has found that some of the traditional tools of reliability engineering, such as life testing, reliability demonstration testing, maintainability analysis, and direct failure analysis, are impractical for spacecraft. In place of a statistical approach, the space agency uses an engineering approach to mission reliability. Reliability is to be obtained with the aid of three different approaches, including the application of effective design principles, the control and screening of all parts, and the testing of the entire spacecraft or its prototype for predicted capabilities. Attention is given to failure-mode analysis, the enhancement of Voyager reliability by autonomous operation, the redundancy in Shuttle design, the weeding out of bad hardware, and the preference for off-the-shelf devices.

Williams, W. C.↗
NASA NTRS2012

Self-Sealing Wet Chemistry Cell for Field Analysis

In most analytical investigations, there is a need to process complex field samples for the unique detection of analytes, especially when detecting low concentration organic molecules that may identify extraterrestrial life. Wet chemistry based instruments are the techniques of choice for most laboratory- based analysis of organic molecules due to several factors including less fragmentation of fragile biomarkers, and ability to concentrate target species resulting in much lower limits of detection. Development of an automated wet chemistry preparation system that can operate autonomously on Earth and is also designed to operate under Martian ambient conditions will demonstrate the technical feasibility of including wet chemistry on future missions. An Automated Sample Processing System (ASPS) has recently been developed that receives fines, extracts organics through solvent extraction, processes the extract by removing non-organic soluble species, and delivers sample to multiple instruments for analysis (including for non-organic soluble species). The key to this system is a sample cell that can autonomously function under field conditions. As a result, a self-sealing sample cell was developed that can autonomously hermetically seal fines and powder into a container, regardless of orientation of the apparatus. The cap is designed with a beveled edge, which allows the cap to be self-righted as the capping motor engages. Each cap consists of a C-clip lock ring below a crucible O-ring that is placed into a groove cut into the sample cap.

Beegle, Luther W.↗
NASA NTRS1992

Project Ares 3

The mission of Project Ares is to design and fabricate an Earth prototype, autonomous flying rover capable of flying on the Martian surface. The project was awarded to California State University, Northridge (CSUN) in 1989 where an in-depth paper study was completed. The second year's group, Project Ares 2, designed and fabricated a full-scale flight demonstration aircraft. Project Ares 3, the third and final group, is responsible for propulsion system design and installation, controls and instrumentation, and high altitude testing. The propulsion system consists of a motor and its power supply, geartrain, and propeller. The motor is a four-brush DC motor powered by a 50-V NiCd battery supply. A pulley and belt arrangement is used for the geartrain and includes light weight, low temperature materials. The propeller is constructed from composite materials which ensures high strength and light weight, and is specifically developed to provide thrust at extremely high altitudes. The aircraft is controlled with a ground-based radio control system and an autopilot which will activate in the event that the control signal is lost. A transponder is used to maintain radar contact for ground tracking purposes. The aircraft possesses a small, onboard computer for collecting and storing flight data. To safeguard the possibility of computer failure, all flight data is transmitted to a ground station via a telemetry system. An initial, unpowered, low-level test flight was completed in August of 1991. Testing of systems integration in the second low-level test flight resulted in loss of elevator control which caused considerable damage on landing. Complete failure analysis and repairs are scheduled for September of 1992.

Raymer, Dan↗
NASA NTRSDate not supplied

A Distributed Simulation-to-Flight Framework to Support Investigating Trust/Trustworthiness in Multi-Agent Systems

As autonomous systems continue to grow both in use and complexity, the necessity for robust and extensible simulation-to-flight frameworks is paramount for establishing an effective architecture for autonomous systems. Hardware test flights are time-consuming and cost prohibitive during early system design and development. Simulation environments can be useful tools to accelerate algorithm development and testing. However, transitions from simulation to flight (sim-to-flight) can be challenging, unless systems are designed with this transition in mind and with the necessary capabilities built into the architecture and framework. One of the objectives of Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) was to design and develop a distributed mixed-reality simulation environment to begin establishing a basis for certification of autonomous systems via research into trust and trustworthiness. ATTRACTOR’s objective was to construct computational concepts of trustworthiness and justifiable trust in multi-agent autonomous teams, to inform future certification of safety-critical and time-critical autonomous systems in aviation. In this paper, we present an autonomous systems architecture and development framework paired with a persistent distributed modeling and simulation (ModSim) environment for test and evaluation of autonomous systems. They were designed under ATTRACTOR in order to measure and establish trustworthiness and trust in single-and multi-agent human-machine systems whether these machines are fixed-wing general aviation, rotary-wing Unmanned Aerial Vehicles (UAVs), ground rovers, or even spacecraft. The Autonomous Entity Operational Network (AEON) framework enables autonomous system development with an easily extensible collection of libraries and plug-n-play nodes facilitated by the Data Distribution Service (DDS) communication protocol standard. The Baseline Environment for Autonomous Modeling (BEAM) simulation environment is a distributed mixed-reality Unity™-based environment built around the same DDS communication paradigm allowing for easy integration with AEON-based autonomous applications, enabling sim-to-flight with minimal configuration changes. Using AEON and BEAM, source code that runs in simulation ports directly to hardware and has successfully flown in the National Airspace System (NAS) at NASA LaRC many times over the lifetime of ATTRACTOR.

Benjamin N Kelley↗
NASA NTRS1991

Thermoacoustic refrigeration

A new refrigerator which uses resonant high amplitude sound in inert gases to pump heat is described and demonstrated. The phasing of the thermoacoustic cycle is provided by thermal conduction. This 'natural' phasing allows the entire refrigerator to operate with only one moving part (the loudspeaker diaphragm). The thermoacoustic refrigerator has no sliding seals, requires no lubrication, uses only low-tolerance machine parts, and contains no expensive components. Because the compressor moving mass is typically small and the oscillation frequency is high, the small amount of vibration is very easily isolated. This low vibration and lack of sliding seals makes thermoacoustic refrigeration an excellent candidate for food refrigeration and commercial/residential air conditioning applications. The design, fabrication, and performance of the first practical, autonomous thermoacoustic refrigerator, which will be flown on the Space Shuttle (STS-42), are described, and designs for terrestrial applications are presented.

Garrett, Steven L.↗
NASA NTRS2001

Results of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA's first autonomous formation flying mission completed its primary goal of demonstrating an advanced technology called enhanced formation flying. To enable this technology, the Guidance, Navigation, and Control center at the Goddard Space Flight Center (GSFC) implemented a universal 3-axis formation flying algorithm in an autonomous executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm and the onboard flight design and presents the validation results of this unique system. Results from functionality assessment through fully autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(tm), its ground-based predecessor, and a standalone algorithm.

Folta, David C.↗
DOE OSTI2026

Autonomous Radiation Cartographer (ARC) System Training Manual

This training manual is designed to provide end users with a comprehensive knowledge base for the safe and effective use of the Autonomous Radiation Cartographer (ARC) System. The ARC is a fully autonomous radiation detection robot based on the Spot Robot platform manufactured by Boston Dynamics.

42 ENGINEERING↗
NASA NTRSDate not supplied

The Troupe System: an Autonomous Multi-Agent Rover Swarm

Autonomous cooperative robotic systems are the future of space exploration. The complexity of such systems makes their development, verification and assurance challenging. The Robust Software Engineering group at NASA Ames has developed the Troupe project that aims to explore the design and development of a swarm of autonomous rovers tasked to perform autonomous exploration and mapping of an unknown terrain. In this paper, we showcase the system design, and accompanying verification and validation tools integrated in the Troupe system development life-cycle.

TROUPE↗
NASA NTRS2004

UWB Tracking System Design for Free-Flyers

This paper discusses an ultra-wideband (UWB) tracking system design effort for Mini-AERCam (Autonomous Extra-vehicular Robotic Camera), a free-flying video camera system under development at NASA Johnson Space Center for aid in surveillance around the International Space Station (ISS). UWB technology is exploited to implement the tracking system due to its properties, such as high data rate, fine time resolution, and low power spectral density. A system design using commercially available UWB products is proposed. A tracking algorithm TDOA (Time Difference of Arrival) that operates cooperatively with the UWB system is developed in this research effort. Matlab simulations show that the tracking algorithm can achieve fine tracking resolution with low noise TDOA data. Lab experiments demonstrate the UWB tracking capability with fine resolution.

Ni, Jianjun↗
NASA NTRS2017

Quantifying Pilot Contribution to Flight Safety during Drive Shaft Failure

Accident statistics cite the flight crew as a causal factor in over 60% of large transport aircraft fatal accidents. Yet, a well-trained and well-qualified pilot is acknowledged as the critical center point of aircraft systems safety and an integral safety component of the entire commercial aviation system. The latter statement, while generally accepted, cannot be verified because little or no quantitative data exists on how and how many accidents/incidents are averted by crew actions. A joint NASA/FAA high-fidelity motion-base simulation experiment specifically addressed this void by collecting data to quantify the human (pilot) contribution to safety-of-flight and the methods they use in today's National Airspace System. A human-in-the-loop test was conducted using the FAA's Oklahoma City Flight Simulation Branch Level D-certified B-737-800 simulator to evaluate the pilot's contribution to safety-of-flight during routine air carrier flight operations and in response to aircraft system failures. These data are fundamental to and critical for the design and development of future increasingly autonomous systems that can better support the human in the cockpit. Eighteen U.S. airline crews flew various normal and non-normal procedures over a two-day period and their actions were recorded in response to failures. To quantify the human's contribution to safety of flight, crew complement was used as the experiment independent variable in a between-subjects design. Pilot actions and performance during single pilot and reduced crew operations were measured for comparison against the normal two-crew complement during normal and non-normal situations. This paper details the crew's actions, including decision-making, and responses while dealing with a drive shaft failure - one of 6 non-normal events that were simulated in this experiment.

Kramer, Lynda J.↗
NASA NTRS1991

Experiments in teleoperator and autonomous control of space robotic vehicles

A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

Alexander, Harold L.↗