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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 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS1996

Autonomous Navigation With Ground Station One-Way Forward-Link Doppler Data

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) has spent several years developing operational onboard navigation systems (ONS's) to provide real time autonomous, highly accurate navigation products for spacecraft using NASA's space and ground communication systems. The highly successful Tracking and Data Relay Satellite (TDRSS) ONS (TONS) experiment on the Explorer Platform/Extreme Ultraviolet (EP/EUV) spacecraft, launched on June 7, 1992, flight demonstrated the ONS for high accuracy navigation using TDRSS forward link communication services. In late 1994, a similar ONS experiment was performed using EP/EUV flight hardware (the ultrastable oscillator and Doppler extractor card in one of the TDRSS transponders) and ground system software to demonstrate the feasibility of using an ONS with ground station forward link communication services. This paper provides a detailed evaluation of ground station-based ONS performance of data collected over a 20 day period. The ground station ONS (GONS) experiment results are used to project the expected performance of an operational system. The GONS processes Doppler data derived from scheduled ground station forward link services using a sequential estimation algorithm enhanced by a sophisticated process noise model to provide onboard orbit and frequency determination. Analysis of the GONS experiment performance indicates that real time onboard position accuracies of better than 125 meters (1 sigma) are achievable with two or more 5-minute contacts per day for the EP/EUV 525 kilometer altitude, 28.5 degree inclination orbit. GONS accuracy is shown to be a function of the fidelity of the onboard propagation model, the frequency/geometry of the tracking contacts, and the quality of the tracking measurements. GONS provides a viable option for using autonomous navigation to reduce operational costs for upcoming spacecraft missions with moderate position accuracy requirements.

Horstkamp, G. M.↗
NASA NTRS1989

Experiences with the JPL telerobot testbed: Issues and insights

The Jet Propulsion Laboratory's (JPL) Telerobot Testbed is an integrated robotic testbed used to develop, implement, and evaluate the performance of advanced concepts in autonomous, tele-autonomous, and tele-operated control of robotic manipulators. Using the Telerobot Testbed, researchers demonstrated several of the capabilities and technological advances in the control and integration of robotic systems which have been under development at JPL for several years. In particular, the Telerobot Testbed was recently employed to perform a near completely automated, end-to-end, satellite grapple and repair sequence. The task of integrating existing as well as new concepts in robot control into the Telerobot Testbed has been a very difficult and timely one. Now that researchers have completed the first major milestone (i.e., the end-to-end demonstration) it is important to reflect back upon experiences and to collect the knowledge that has been gained so that improvements can be made to the existing system. It is also believed that the experiences are of value to the others in the robotics community. Therefore, the primary objective here will be to use the Telerobot Testbed as a case study to identify real problems and technological gaps which exist in the areas of robotics and in particular systems integration. Such problems have surely hindered the development of what could be reasonably called an intelligent robot. In addition to identifying such problems, researchers briefly discuss what approaches have been taken to resolve them or, in several cases, to circumvent them until better approaches can be developed.

Stone, Henry W.↗
NASA NTRS1982

Ship navigation using Navstar GPS - An application study

Ocean current measurement applications in physical oceanography require knowledge of inertial ship velocity to a precision of 1-2 cm/sec over a typical five minute averaging interval. The navigation accuracy must be commensurate with data precision obtainable from ship borne acoustic profilers used in sensing ocean currents. The Navstar Global Positioning System is viewed as a step in user technological simplification, extension in coverage availability, and enhancement in performance accuracy as well as reliability over the existing systems, namely, Loran-C, Transit, and Omega. Error analyses have shown the possibility of attaining the 1-2 cm/sec accuracy during active GPS coverage at a data rate of four position fixes per minute under varying sea-states. This paper is intended to present results of data validation exercises leading to design of an experiment at sea for deployment of both a GPS y-set and a direct Doppler measurement system as the autonomous navigation system used in conjunction with an acoustic Doppler as the sensor for ocean current measurement.

Mohan, S. N.↗
NASA NTRS1985

What Is Being Done to Control Motion Sickness?

AFT (Autogenic Feedback Training) involves practicing a series of mental exercises to speed up or slow down the control of autonomic activity. This produces a reduced tendency for autonomic activity levels to diverge from baseline (at rest) under stressful motion-sickness-inducing conditions. Subjects conditions. Subjects engaged in applying AFT exercises are required to closely monitor their own bodily sensations during motion-sickness-eliciting tests. These tests include the Coriolis Sickness Susceptibility Index (CSSI), which consists of sitting a subject into a rotating chair that moves at various speeds while a visual background turns at differing speeds and directions, and the Vertical Acceleration Rotation Device (VARD) test, which involves the placing of a subject in a drum that moves in an upward and downward motion until he or she is sick, while simultaneously monitoring the subject's vital signs. These tests provide investigators with evidence of slight changes in autonomic activities such as increases in heart rate, skin temperature, and sweat. All of these symptoms occur in subjects that experience bodily weakness or discomfort with the onset of motion sickness.

Hall, Y. D.↗
NASA NTRS1995

First lidar measurements of water vapor and aerosols from a high-altitude aircraft

Water vapor plays an important role in many atmospheric processes related to radiation, climate change, atmospheric dynamics, meteorology, the global hydrologic cycle, and atmospheric chemistry, and yet our knowledge of the global distribution of water vapor is very limited. The differential absorption lidar (DIAL) technique has the potential of providing needed high resolution water vapor measurements from aircraft and from space, and the Lidar Atmospheric Sensing Experiment (LASE) is a key step in the development of this capability. The LASE instrument is the first fully engineered, autonomous DIAL system, and it is designed to operate from a high-altitude aircraft (ER-2) and to make water vapor and aerosol profile measurements across the troposphere. The LASE system was flown from the NASA Wallops Flight Facility in a series of engineering flights during September 1994. This paper discusses the characteristics of the LASE system and presents the first LASE measurements of water vapor and aerosol profiles.

Browell, Edward V.↗
NASA NTRS2003

[Individual characteristics of correction of the cosmonauts' vegetative status with a method of adaptive biofeedback]

The ability of 4 cosmonauts to voluntarily control their physiological parameters during the standing test was evaluated following a series of the adaptive feedback (AF) training sessions. Vegetative status of the cosmonauts during voluntary "relaxation" and "straining" was different when compared with its indices determined before these sessions. In addition, there was a considerable individual variability in the intensity and direction of the AF effects, and the range of parameters responding to AF. It was GCR which was the easiest one for the AF control.

NASA Center ARC↗
NASA NTRS2016

Localization from Visual Landmarks on a Free-Flying Robot

We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of fixed ultrasonic beacons for localization limits them to work in a 2 meter cube. Astrobee localizes with monocular vision and an IMU, without any environmental modifications. Visual features detected on a pre-built map, optical flow information, and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise, and extensively evaluate the localization algorithm.

Coltin, Brian↗
NASA NTRS2017

Effects on Task Performance and Psychophysiological Measures of Performance During Normobaric Hypoxia Exposure

Human-autonomous systems have the potential to mitigate pilot cognitive impairment and improve aviation safety. A research team at NASA Langley conducted an experiment to study the impact of mild normobaric hypoxia induction on aircraft pilot performance and psychophysiological state. A within-subjects design involved non-hypoxic and hypoxic exposures while performing three 10-minute tasks. Results indicated the effect of 15,000 feet simulated altitude did not induce significant performance decrement but did produce increase in perceived workload. Analyses of psychophysiological responses evince the potential of biomarkers for hypoxia onset. This study represents on-going work at NASA intending to add to the current knowledge of psychophysiologically-based input to automation to increase aviation safety. Analyses involving coupling across physiological systems and wavelet transforms of cortical activity revealed patterns that can discern between the simulated altitude conditions. Specifically, multivariate entropy of ECG/Respiration components were found to be significant predictors (p< 0.02) of hypoxia. Furthermore, in EEG, there was a significant decrease in mid-level beta (15.19-18.37Hz) during the hypoxic condition in thirteen of sixteen sites across the scalp. Task performance was not appreciably impacted by the effect of 15,000 feet simulated altitude. Analyses of psychophysiological responses evince the potential of biomarkers for mild hypoxia onset.The potential for identifying shifts in underlying cortical and physiological systems could serve as a means to identify the onset of deteriorated cognitive state. Enabling such assessment in future flightdecks could permit increasingly autonomous systems-supported operations. Augmenting human operator through assessment of cognitive impairment has the potential to further improve operator performance and mitigate human error in safety critical contexts. This study represents ongoing work at NASA intending to add to the current knowledge of psychophysiologically-based input to automation to increase aviation safety.

Stephens, Chad↗
NASA NTRS2011

Space Environments Testbed

The Space Environments Testbed (SET) is a flight controller data system for the Common Carrier Assembly. The SET-1 flight software provides the command, telemetry, and experiment control to ground operators for the SET-1 mission. Modes of operation (see dia gram) include: a) Boot Mode that is initiated at application of power to the processor card, and runs memory diagnostics. It may be entered via ground command or autonomously based upon fault detection. b) Maintenance Mode that allows for limited carrier health monitoring, including power telemetry monitoring on a non-interference basis. c) Safe Mode is a predefined, minimum power safehold configuration with power to experiments removed and carrier functionality minimized. It is used to troubleshoot problems that occur during flight. d) Operations Mode is used for normal experiment carrier operations. It may be entered only via ground command from Safe Mode.

Leucht, David K.↗
NASA NTRS1993

Real-time qualitative reasoning for telerobotic systems

This paper discusses the sensor-based telerobotic driving of a car in a-priori unknown environments using 'human-like' reasoning schemes implemented on custom-designed VLSI fuzzy inferencing boards. These boards use the Fuzzy Set theoretic framework to allow very vast (30 kHz) processing of full sets of information that are expressed in qualitative form using membership functions. The sensor-based and fuzzy inferencing system was incorporated on an outdoor test-bed platform to investigate two control modes for driving a car on the basis of very sparse and imprecise range data. In the first mode, the car navigates fully autonomously to a goal specified by the operator, while in the second mode, the system acts as a telerobotic driver's aid providing the driver with linguistic (fuzzy) commands to turn left or right, speed up, slow down, stop, or back up depending on the obstacles perceived by the sensors. Indoor and outdoor experiments with both modes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Sample results are presented that illustrate the feasibility of developing autonomous navigation modules and robust, safety-enhancing driver's aids for telerobotic systems using the new fuzzy inferencing VLSI hardware and 'human-like' reasoning schemes.

Pin, Eancois G.↗
NASA NTRS2005

Conflict Resolution Performance in an Experimental Study of En Route Free Maneuvering Operations

NASA has developed a far-term air traffic management concept, termed Distributed Air/Ground Traffic Management (DAG-TM). One component of DAG-TM, En Route Free Maneuvering, allows properly trained flight crews of equipped autonomous aircraft to assume responsibility for separation from other autonomous aircraft and from Instrument Flight Rules (IFR) aircraft. Ground-based air traffic controllers continue to separate IFR traffic and issue flow management constraints to all aircraft. To examine En Route Free Maneuvering operations, a joint human-in-the-loop experiment was conducted in summer 2004 at the NASA Ames and Langley Research Centers. Test subject pilots used desktop flight simulators to resolve traffic conflicts and adhere to air traffic flow constraints issued by subject controllers. The experimental airspace integrated both autonomous and IFR aircraft at varying traffic densities. This paper presents a subset of the En Route Free Maneuvering experimental results, focusing on airborne and ground-based conflict resolution, and the effects of increased traffic levels on the ability of pilots and air traffic controllers to perform this task. The results show that, in general, increases in autonomous traffic do not significantly impact conflict resolution performance. In addition, pilot acceptability of autonomous operations remains high throughout the range of traffic densities studied. Together with previously reported findings, these results continue to support the feasibility of the En Route Free Maneuvering component of DAG-TM.

Doble, Nathan A.↗
NASA NTRS1984

Spaceborne lidar investigations of the atmosphere

Atmospheric investigations with a spaceborne lidar system are discussed. Measurements of aerosols, O3, and H2O with the NASA/LaRC airborne DIAL system are presented as examples of data obtained from space. The NASA/CNES study of an autonomous differential absorption lidar system is described. This system is a precursor to a spaceborne lidar system. Simulations of spaceborne lidar experiments are reviewed, and laser requirements for a spaceborne lidar system are presented.

Browell, E. V.↗
NASA NTRS1995

The Lunar Ultraviolet Telescope Experiment (LUTE): Enabling technology for an early lunar surface payload

The Lunar Ultraviolet Telescope Experiment (LUTE) is a 1-m aperture, fixed declination, optical telescope to be operated on the surface of the Moon. This autonomous science payload will provide an unprecedented ultraviolet stellar survey even before manned lunar missions are resumed. This paper very briefly summarizes the LUTE concept analyzed by the LUTE Task Team of NASA's Marshall Space Flight Center (MSFC). Scientific capabilities and the Reference Design Concept are identified, and the expected system characteristics are summarized. Technologies which will be required to enable the early development, deployment, and operation of the LUTE are identified, and the principle goals and approaches for their advancement are described.

Nein, M. E.↗
NASA NTRS2001

Airborne Use of Traffic Intent Information in a Distributed Air-Ground Traffic Management Concept: Experiment Design and Preliminary Results

A predominant research focus in the free flight community has been on the type of information required on the flight deck to enable pilots to "autonomously" maintain separation from other aircraft. At issue are the relative utility and requirement for information exchange between aircraft regarding the current "state" and/or the "intent" of each aircraft. This paper presents the experimental design and some initial findings of an experimental research study designed to provide insight into the issue of intent information exchange in constrained en-route operations and its effect on pilot decision making and flight performance. Two operational modes for autonomous operations were compared in a piloted simulation. The tactical mode was characterized primarily by the use of state information for conflict detection and resolution and an open-loop means for the pilot to meet operational constraints. The strategic mode involved the combined use of state and intent information, provided the pilot an additional level of alerting, and allowed a closed-loop approach to meeting operational constraints. Potential operational benefits of both modes are illustrated through several scenario case studies. Subjective data results are presented that generally indicate pilot consensus in favor of the strategic mode.

Wing, David J.↗
NASA NTRS1998

Mission Operations with an Autonomous Agent

The Remote Agent (RA) is an Artificial Intelligence (AI) system which automates some of the tasks normally reserved for human mission operators and performs these tasks autonomously on-board the spacecraft. These tasks include activity generation, sequencing, spacecraft analysis, and failure recovery. The RA will be demonstrated as a flight experiment on Deep Space One (DSI), the first deep space mission of the NASA's New Millennium Program (NMP). As we moved from prototyping into actual flight code development and teamed with ground operators, we made several major extensions to the RA architecture to address the broader operational context in which PA would be used. These extensions support ground operators and the RA sharing a long-range mission profile with facilities for asynchronous ground updates; support ground operators monitoring and commanding the spacecraft at multiple levels of detail simultaneously; and enable ground operators to provide additional knowledge to the RA, such as parameter updates, model updates, and diagnostic information, without interfering with the activities of the RA or leaving the system in an inconsistent state. The resulting architecture supports incremental autonomy, in which a basic agent can be delivered early and then used in an increasingly autonomous manner over the lifetime of the mission. It also supports variable autonomy, as it enables ground operators to benefit from autonomy when L'@ey want it, but does not inhibit them from obtaining a detailed understanding and exercising tighter control when necessary. These issues are critical to the successful development and operation of autonomous spacecraft.

Pell, Barney↗
DOE OSTI2025

Automating ridehailing services would reduce pooling, especially among women

Here, this study investigates how autonomous vehicles (AVs) could transform pooled (shared) ridehailing services, focusing on the impacts of fare reductions, the absence of drivers/staff, and psychological attributes such as trust in other passengers and privacy concerns. We distinguish between the automation of driving tasks and the removal of human driver/staff from the vehicle, providing novel insights into the factors influencing AV ridehailing adoption. Using a national survey with stated preference (SP) choice experiments and psychometric questions, we analyze the complex interactions of ridehailing fare, pooled ridehailing service quality, and latent attitudes on ridehailing choices. Our findings suggest that the elimination of drivers/staff from fully autonomous ridehailing could lead to a shift from pooled to solo rides, particularly among female travelers who may have greater concerns about trust and safety in unstaffed AVs. This study highlights the importance of addressing trust and comfort beyond fare discounts to ensure the inclusivity and widespread adoption of pooled AV ridehailing. These insights underscore the need for ridehailing providers and policymakers to prioritize trust-building measures, user-centered AV design that offers greater privacy, and dynamic pricing strategies, to ensure inclusive and widespread adoption of pooled AV services.

Autonomous vehicle↗
NASA NTRS1995

Biomorphic architectures for autonomous Nanosat designs

Modern space tool design is the science of making a machine both massively complex while at the same time extremely robust and dependable. We propose a novel nonlinear control technique that produces capable, self-organizing, micron-scale space machines at low cost and in large numbers by parallel silicon assembly. Experiments using biomorphic architectures (with ideal space attributes) have produced a wide spectrum of survival-oriented machines that are reliably domesticated for work applications in specific environments. In particular, several one-chip satellite prototypes show interesting control properties that can be turned into numerous application-specific machines for autonomous, disposable space tasks. We believe that the real power of these architectures lies in their potential to self-assemble into larger, robust, loosely coupled structures. Assembly takes place at hierarchical space scales, with different attendant properties, allowing for inexpensive solutions to many daunting work tasks. The nature of biomorphic control, design, engineering options, and applications are discussed.

Hasslacher, Brosl↗
NASA NTRSDate not supplied

In-Time Safety Assessment & Risk Prediction for Unmanned Aerial Systems

One of the critical challenges in emerging autonomous systems is timely mitigation of hazards encountered during operation which may not be known or accounted for at the time of design. Efficient execution of unmanned systems therefore demands a paradigm shift from scheduled periodic maintenance to predictive risk analysis that includes condition-based-monitoring, real-time reliability assessment and hazard mitigation. Particularly, the state-of-health parameters needs to be computed at the component level, unit level as well as the integrated system level. While in the former two levels, the physics of health propagation may be based on underlying electro-mechanical properties, system level prognostics often relies on data-driven models. Further, uncertainty from model, measurements and input sources should be accurately quantified to generate meaningful prediction results that can be fed into reliable decision making processes. Finally, the expected risk and time to failure has to be computed based on the current state-of-health of the overall system. This talk presents a conceptual design of such an in-time safety assurance approach for unmanned aerial vehicles (UAV) operating at low altitudes near and over populated areas. Typical in-flight hazard incidents include unplanned detour, proximity to obstacles, mid-flight component faults, limited battery life and poor quality of GPS measurements. Safety assessment therefore comprises trajectory generation and re-plan, battery RUL computation, distributed fault diagnostics and uncertainty management of predicted trajectory based on GPS measurement noise. The entire monitoring framework will be demonstrated on simulated as well as real UAV flight experiments conducted at the NASA Langley Research Center. This tutorial will therefore guide the audience through a step-by-step tracking of an autonomous system with focus on in-time risk prediction in the presence of unforeseen hazards and uncertain environment.

diagnostics↗