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At least 415 records · Page 23

Recovering from execution errors in SIPE

In real-world domains (e.g., a mobile robot environment), things do not always proceed as planned, so it is important to develop better execution-monitoring techniques and replanning capabilities. These capabilities in the SIPE planning system are described. The motivation behind SIPE is to place enough limitations on the representation so that planning can be done efficiently, while retaining sufficient power to still be useful. This work assumes that new information given to the execution monitor is in the form of predicates, thus avoiding the difficult problem of how to generate these predicates from information provided by sensors. The replanning module presented here takes advantage of the rich structure of SIPE plans and is intimately connected with the planner, which can be called as a subroutine. This allows the use of SIPE's capabilities to determine efficiently how unexpected events affect the plan being executed and, in many cases, to retain most of the original plan by making changes in it to avoid problems caused by these unexpected events. SIPE is also capable of shortening the original plan when serendipitous events occur. A general set of replanning actions is presented along with a general replanning capability that has been implemented by using these actions.

Wilkins, D. E.↗

The Pressurized Logistics Module: Providing Consumables and Resupply Logistics to the Lunar Surface for a Long-duration Manned Mission

In response to President Bush s 2004 Vision for Space Exploration initiative, NASA established an agency-wide Lunar Architecture Team (LAT) to develop the high-level requirements, assumptions, ground-rules and objectives for a manned mission to the moon. During Phase II of the evaluation, the Habitation Focus Element Group was directed to conceptually develop and design a Pressurized Logistics Module (PLM). The PLM task was delivered with one major requirement: to derive a system with minimal mass and cost, and a maximum, functional, internal volumetric area in order to provide the maximum amount of consumables, supportability and logistic re-supply for a crew of four to the Lunar surface with an overall integrated maximum weight of 5200kg. The PLM was derived from the Habitation Group s "mini-Hab" option. This concept required that the PLM have an aluminum-clad graphite epoxy external truss, utilized for increased mobility and stability, which would encompass a 2.7 meter diameter pressurized aluminum-lithium cylinder. Several trade studies and analyses were performed to determine the final length and orientation of the module, the number of systems required to maintain the PLM, and the number of hatches/mating mechanisms which would successfully and efficiently meet the requirements. Of the five specific configurations assessed, the PLM was determined to have a 3 meter by 3 meter by 5 meter external truss with a 2.7 meter diameter and 5 meter long horizontal, pressurized cylinder with one hatch/mating mechanism on one end cone. Two major assumptions aided in the formulation of the technical baseline: 1) the PLM should be sustainable for up to 18 months on the Lunar Lander without connection to its final destination, the Lunar Outpost, and 2) it must be self-sufficient to withstand a maximum eight hour transit from the Lander to the Outpost. Per these assumptions, eight major systems constitute the PLM: structures, passive mating, protection, power, thermal, avionics, life support and outfitting. Including a conservative 20% growth, the overall estimated tare weight for the PLM was determined to be 2181kg. The tare weight of the design allowed the available internal volume of the cylinder with a 0.20 meter high floor to transport the maximum of either 176 single Crew Transfer Bags (CTBs) or 3019kg.

Carpenter, Amanda↗

Integrated Oxygen Flow Meter/Heat Exchanger for Portable Life Support Systems

Space suits for future exploration missions will have multi-mission goals with new and challenging requirements for the portable life support system (PLSS). In particular, the space suit ventilation loop requires cooling and flow measurement components that must meet specifications that go well beyond the capabilities of the components used for the existing Extravehicular Mobility Unit. The flow meter must have high measurement accuracy over a wide flow range, compatibility with pure oxygen, low pressure losses, and very compact size. The heat exchanger that cools the ventilation loop must be built from materials that are compatible with the liquid cooling loop, and it must provide efficient gas cooling in a small package across conditions ranging from normal suit pressure to elevated pressure. This paper describes the development of a novel device that combines the flow measurement and cooling functions in a single, compact flow meter/heat exchanger (FMHX). We have developed design methods that enable us to assess trade-offs, optimize performance, and specify the design of an FMHX that meets the requirements and constraints for operation in future PLSSs. We used empirical design correlations combined with computational fluid dynamics analysis to design the FMHX design. Data from tests of a proof-of-concept FMHX validate the design methods and show that the device meets all design requirements. We used the results from these tests to refine the design parameters and predict performance of an optimized, prototype FMHX.

Izenson, Michael G.↗

Demand Capacity Balancing at Vertiports for Initial Strategic Conflict Management of Urban Air Mobility Operations

Urban Air Mobility (UAM) is a new transportation concept that enables highly automated, cooperative, passenger or cargo-carrying air transportation services in and around urban areas. To achieve the high level of operational density and complexity desired by the UAM community, an airspace system that allows UAM operators to readily access and operate safely and efficiently in the airspace is needed. This airspace system will require air traffic management designed to reduce the risk of conflicts and loss of separation between UAM flights. In general, strategic conflict management is considered as the first layer of conflict management for safe flight operations to condition the traffic to reduce the need for airborne separation provision, the second layer of conflict management. Demand Capacity Balancing (DCB) is one of the concept components to achieve strategic conflict management. DCB strategically evaluates traffic demand and resource capacities to allow UAM operators to determine when, where and how they operate, while mitigating conflicting needs for airspace and vertiport capacity. DCB can be applied whenever UAM demand exceeds the capacity in airspace or at vertiports. As the UAM ecosystem evolves with advanced technologies and matured operational procedures, more complicated conflict management will likely be needed. In the current UAM ‘Concept of Operation (ConOps) 1.0’ operational stage defined by FAA, however, it will be meaningful to explore the demand capacity balancing at vertiports only, as an initial strategic conflict management approach for UAM operations because vertiport capacity seems to be a bottleneck of UAM traffic. For this research, we developed a demand-capacity imbalance detection and resolution service for UAM. This DCB service identifies the demand from operators and compares the demand to a given capacity at the shared resources (i.e., vertiports) over the upcoming time horizon which is divided into time bins having a constant interval. When a new flight plan is submitted, the algorithm embedded in the DCB service checks the available time bins based on the desired departure time and estimated arrival time at origin and destination vertiports, respectively. If the time bins for the originally desired times are already occupied by other flights (i.e., demand is at or above capacity), the algorithm finds the next available time bins for takeoff and landing and shifts the conflicting departure time to the earliest time that satisfies the capacity constraints at both origin and destination vertiports. The details of the algorithm will be described in the final manuscript. Figure 1 shows that the proposed DCB algorithm works well for a sample traffic scenario. In this example, a total of 144 flights, split between two operators, are planned over 2 hours, traveling 10 routes between five vertiports. In the heatmaps, the horizontal axis shows 12 time bins where each bin represents a 12-minute interval, and the vertical axis shows five vertiports. The number in each cell shows the number of operations, counting both departures and arrivals, at a specific vertiport in each time bin. For the given capacity of 2 operations/vertiport/bin, Figure 1 shows that the original demand sometimes exceeds the capacity, but the modified demand is reduced to the given capacity after resolving demand-capacity imbalances. When UAM flights are operated, it is expected that many practical issues would arise in the federated system architecture with multiple operators. UAM operators may experience a time synchronization issue due to communication delay between operator and vehicle. UAM vehicles would fly at different flight speeds, depending on vehicle models. Actual departure and arrival times can have large variations, compared to the schedule. The lead time from flight plan submission to desired departure time can vary by service type (e.g., regular shuttle service vs. on-demand service). Using the proposed DCB algorithm, we also investigated how the actual flight schedule and DCB performance are affected by these uncertainties such as unsynchronized times between operators, flight speed differences, lead time differences, and departure time errors. The final manuscript will include the background of this research work, the description of the DCB algorithm and its use cases with traffic scenarios. It will also provide the analytical results about the impact of various uncertainties that can occur in actual UAM operations on the DCB at vertiports, in terms of demand distribution changes, number of simultaneous operations, and delay propagation.

Urban Air Mobility↗

Advanced Stirling Convertor Testing at NASA Glenn Research Center

The U.S. Department of Energy (DOE), Lockheed Martin Space Systems (LMSS), Sunpower Inc., and NASA Glenn Research Center (GRC) have been developing an Advanced Stirling Radioisotope Generator (ASRG) for use as a power system on space science and exploration missions. This generator will make use of the free-piston Stirling convertors to achieve higher conversion efficiency than currently available alternatives. The ASRG will utilize two Advanced Stirling Convertors (ASC) to convert thermal energy from a radioisotope heat source to electricity. NASA GRC has initiated several experiments to demonstrate the functionality of the ASC, including: in-air extended operation, thermal vacuum extended operation, and ASRG simulation for mobile applications. The in-air and thermal vacuum test articles are intended to provide convertor performance data over an extended operating time. These test articles mimic some features of the ASRG without the requirement of low system mass. Operation in thermal vacuum adds the element of simulating deep space. This test article is being used to gather convertor performance and thermal data in a relevant environment. The ASRG simulator was designed to incorporate a minimum amount of support equipment, allowing integration onto devices powered directly by the convertors, such as a rover. This paper discusses the design, fabrication, and implementation of these experiments.

Oriti, Salvatore↗

Advanced Stirling Convertor Testing at NASA Glenn Research Center

The U.S. Department of Energy (DOE), Lockheed Martin Space Systems (LMSS), Sunpower Inc., and NASA Glenn Research Center (GRC) have been developing an Advanced Stirling Radioisotope Generator (ASRG) for use as a power system on space science and exploration missions. This generator will make use of the free-piston Stirling convertors to achieve higher conversion efficiency than currently available alternatives. The ASRG will utilize two Advanced Stirling Convertors (ASC) to convert thermal energy from a radioisotope heat source to electricity. NASA GRC has initiated several experiments to demonstrate the functionality of the ASC, including: in-air extended operation, thermal vacuum extended operation, and ASRG simulation for mobile applications. The in-air and thermal vacuum test articles are intended to provide convertor performance data over an extended operating time. These test articles mimic some features of the ASRG without the requirement of low system mass. Operation in thermal vacuum adds the element of simulating deep space. This test article is being used to gather convertor performance and thermal data in a relevant environment. The ASRG simulator was designed to incorporate a minimum amount of support equipment, allowing integration onto devices powered directly by the convertors, such as a rover. This paper discusses the design, fabrication, and implementation of these experiments.

Oriti, Salvatore M.↗

Powdered Magnesium-Carbon Dioxide Rocket Combustion Technology for In Situ Mars Propulsion

Powdered magnesium (Mg) carbon dioxide (CO2) combustion is examined as a potential in situ propellant combination for Mars propulsion. Although this particular combination has relatively low performance in comparison to traditional bipropellants, it remains attractive as a potential basis for future martian mobility systems, since it could be partially or wholly manufactured from indigenous planetary resources. As a means of achieving high mobility during long-duration Mars exploration missions, the poorer performing in situ combination can, in fact, become a superior alternative to conventional storable propellants, which would need to be entirely transported from Earth. Thus, the engineering aspects of powdered metal combustion devices are discussed including transport/injection of compacted powder, ignition, combustion efficiency, combustion stability, dilution effects, lean burn limits, and slag formation issues. It is suggested that these technological issues could be effectively addressed through a multiphase research and development effort beginning with basic feasibility tests using an existing dump configured atmospheric pressure burner. Follow-on phases would involve the development and testing of a pressurized research combustor and technology demonstration tests of a prototypical rocket configuration.

Foote, J. P.↗

Advanced thermoelectric materials with enhanced crystal lattice structure and methods of preparation

New skutterudite phases including Ru.sub.0.5 Pd.sub.0.5 Sb.sub.3, RuSb.sub.2 Te, and FeSb.sub.2 Te, have been prepared having desirable thermoelectric properties. In addition, a novel thermoelectric device has been prepared using skutterudite phase Fe.sub.0.5 Ni.sub.0.5 Sb.sub.3. The skutterudite-type crystal lattice structure of these semiconductor compounds and their enhanced thermoelectric properties results in semiconductor materials which may be used in the fabrication of thermoelectric elements to substantially improve the efficiency of the resulting thermoelectric device. Semiconductor materials having the desired skutterudite-type crystal lattice structure may be prepared in accordance with the present invention by using powder metallurgy techniques. Measurements of electrical and thermal transport properties of selected semiconductor materials prepared in accordance with the present invention, demonstrated high Hall mobilities and good Seebeck coefficients. These materials have low thermal conductivity and relatively low electrical resistivity, and are good candidates for low temperature thermoelectric applications.

Fleurial, Jean-Pierre↗

Vibration Considerations for Cryogenic Tanks Using Glass Bubbles Insulation

The use of glass bubbles as an efficient and practical thermal insulation system has been previously demonstrated in cryogenic storage tanks. One such example is a spherical, vacuum-jacketed liquid hydrogen vessel of 218,000 liter capacity where the boiloff rate has been reduced by approximately 50 percent. Further applications may include non-stationary tanks such as mobile tankers and tanks with extreme duty cycles or exposed to significant vibration environments. Space rocket launch events and mobile tanker life cycles represent two harsh cases of mechanical vibration exposure. A number of bulk fill insulation materials including glass bubbles, perlite powders, and aerogel granules were tested for vibration effects and mechanical behavior using a custom design holding fixture subjected to random vibration on an Electrodynamic Shaker. The settling effects for mixtures of insulation materials were also investigated. The vibration test results and granular particle analysis are presented with considerations and implications for future cryogenic tank applications. A thermal performance update on field demonstration testing of a 218,000 L liquid hydrogen storage tank, retrofitted with glass bubbles, is presented. KEYWORDS: Glass bubble, perlite, aerogel, insulation, liquid hydrogen, storage tank, mobile tanker, vibration.

Werlink, Rudolph J.↗

NASA’s Simulation Activities for Evaluating UAM Concept of Operations

NASA’s vision for Advanced Air Mobility (AAM) is to help emerging aviation markets to safely develop an air transportation system that moves people and cargo between places previously not served or underserved by aviation using revolutionary new aircraft types. Urban Air Mobility (UAM), the concept of expanding transportation networks by serving short flights to transport people and goods around metropolitan areas, is part of a larger paradigm shift toward AAM, in which new technologies and business models are enabling transformational applications of aviation. In NASA’s Concept of Operations for UAM, Providers of Services for UAM (PSU) play a key role to enable safe and efficient UAM operations by sharing operational data among UAM operators. PSUs provide a pre-departure strategic conflict management service that establishes operational plans for new flights and coordinates them with all relevant operations in shared airspace. The strategic conflict management aims to minimize the need for tactical separation provision, while considering anticipated traffic demand, vertiport capacity and availability, forecasted weather, and airspace restrictions. NASA is currently preparing a new lab evaluation activity with aviation industry partners, called the X4 simulation, to demonstrate their airspace services and capabilities and test new information exchange requirements for UAM operations. This simulation activity will support NASA’s National Campaign (NC) flight tests which are planned over the next several years to guide the collective community and stakeholders through a series of scenario-based test activities that involve vehicles and airspace management services operating in a live test environment. This presentation will provide an overview of the X4 simulation, including objectives, scenarios, assumptions, system architecture, and test schedule. The X4 simulation will evaluate the interconnectivity and operational intent sharing between PSUs for multiple operators, as well as the performance of strategic conflict management.

Urban Air Mobility, Simulation, Advanced Air Mobil↗

"Powdered Magnesium: Carbon Dioxide Combustion for Mars Propulsion"

Powdered magnesium - carbon dioxide combustion is examined as a potential in-situ propellant combination for Mars propulsion. Although this particular combination has relatively low performance in comparison to traditional bi-propellants, it remains attractive as a potential basis for future Martian mobility systems since it could be partially or wholly manufactured from indigenous planetary resources. As a means of achieving high mobility during long-duration Mars exploration missions, the poorer performing in-situ combination can, in fact, become a superior alternative to conventional storable propellants, which would need to be entirely transported from earth. Thus, the engineering aspects of powdered metal combustion devices are discussed including transport/injection of compacted powder, ignition, combustion efficiency, combustion stability, dilution effects, lean burn limits, and slag formation issues. It is suggested that these technological issues could be effectively addressed through a multi-phase research and development effort beginning with basic feasibility tests using an existing dump configured atmospheric pressure burner. Follow-on phases would involve the development and testing of a pressurized research combustor and technology demonstration tests of a prototypical rocket configuration.

Foote, John P.↗

Design Considerations for Heavily-Doped Cryogenic Schottky Diode Varactor Multipliers

Diode modeling for Schottky varactor frequency multipliers above 500 GHz is presented with special emphasis placed on simple models and fitted equations for rapid circuit design. Temperature- and doping-dependent mobility, resistivity, and avalanche current multiplication and breakdown are presented. Next is a discussion of static junction current, including the effects of tunneling as well as thermionic emission. These results have been compared to detailed measurements made down to 80 K on diodes fabricated at JPL, followed by a discussion of the effect on multiplier efficiency. Finally, a simple model of current saturation in the undepleted active layer suitable for inclusion in harmonic balance simulators is derived.

Schlecht, E.↗

Robonaut Mobile Autonomy: Initial Experiments

A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

Federal USS Synthesis Effort: 2023 Flight Test Report. A NASA and Department of Defense Joint Evaluation of Multi-Domain Airspace Integration

In recent years, advancements in technology have greatly improved the utility and applicability of Uncrewed Aircraft Systems (UAS) and have highlighted the need for and importance of UAS Traffic Management (UTM). Onboard sense and avoid systems, ground-based sensors, and long- range command and control (C2) systems have significantly expanded the possibilities for UAS beyond visual line of sight (BVLOS) operations. Initially, research on UTM flights focused on their interactions with other UTM operations, but that has since been expanded to include interactions with the flight profiles of Advanced Air Mobility (AAM) and upper Class E Traffic Management (ETM) operations. Recognizing the potential of these systems and the increase in UAS autonomy, the Department of Defense (DoD) is working towards integrating these missions and systems into a unified DoD Federal ecosystem. The Federal USS Synthesis Effort (FUSE) aims to develop a live system that can efficiently combine this wide range of UTM, AAM, and ETM systems, thus enabling expanded operations within a single common operating environment. The goal of the Federal USS Synthesis Effort (FUSE) is for NASA and the DoD to develop a live system that can efficiently combine UTM, AAM, and ETM systems. The most recent endeavor in this effort was a live flight test conducted near Grand Forks Air Force Base in June, 2023, where the FUSE ecosystem successfully demonstrated integrating UTM, AAM, and ETM operations while providing a single, shared COP to users. Additional investigations were made during the test, including assessing the usefulness of the system and its capability to support UAS weighing over 55 lbs.; testing user messaging capabilities and a DoD adaptation of a Federal USS; and assessing user workload, automated vs manual control, and the usability of NASA’s XTMClient.

Federal USS↗

High Temperature Polymers for use in Fuel Cells

NASA Glenn Research Center (GRC) is currently working on polymers for fuel cell and lithium battery applications. The desire for more efficient, higher power density, and a lower environmental impact power sources has led to interest in proton exchanges membrane fuels cells (PEMFC) and lithium batteries. A PEMFC has many advantages as a power source. The fuel cell uses oxygen and hydrogen as reactants. The resulting products are electricity, heat, and water. The PEMFC consists of electrodes with a catalyst, and an electrolyte. The electrolyte is an ion-conducting polymer that transports protons from the anode to the cathode. Typically, a PEMFC is operated at a temperature of about 80 C. There is intense interest in developing a fuel cell membrane that can operate at higher temperatures in the range of 80 C- 120 C. Operating the he1 cell at higher temperatures increases the kinetics of the fuel cell reaction as well as decreasing the susceptibility of the catalyst to be poisoned by impurities. Currently, Nafion made by Dupont is the most widely used polymer membrane in PEMFC. Nafion does not function well above 80 C due to a significant decrease in the conductivity of the membrane from a loss of hydration. In addition to the loss of conductivity at high temperatures, the long term stability and relatively high cost of Nafion have stimulated many researches to find a substitute for Nafion. Lithium ion batteries are popular for use in portable electronic devices, such as laptop computers and mobile phones. The high power density of lithium batteries makes them ideal for the high power demand of today s advanced electronics. NASA is developing a solid polymer electrolyte that can be used for lithium batteries. Solid polymer electrolytes have many advantages over the current gel or liquid based systems that are used currently. Among these advantages are the potential for increased power density and design flexibility. Automobiles, computers, and cell phones require highly efficient power density for lowering emissions and meeting increasing consumer demands. Many of the solutions can be provided by proton exchange membrane fuel cells and lithium batteries. NASA Glenn Research Center has recognized this need, and is presently engaged in a solution. The goals for the summer include mastering synthesis techniques, understanding the reactions occurring during the synthesis, and characterizing the resulting polymer membranes using NMR, DSC, and TGA for the PEMFC and lithium batteries.

Peplowski, Katherine M.↗

WRAP-RIB antenna technology development

The wrap-rib deployable antenna concept development is based on a combination of hardware development and testing along with extensive supporting analysis. The proof-of-concept hardware models are large in size so they will address the same basic problems associated with the design fabrication, assembly and test as the full-scale systems which were selected to be 100 meters at the beginning of the program. The hardware evaluation program consists of functional performance tests, design verification tests and analytical model verification tests. Functional testing consists of kinematic deployment, mesh management and verification of mechanical packaging efficiencies. Design verification consists of rib contour precision measurement, rib cross-section variation evaluation, rib materials characterizations and manufacturing imperfections assessment. Analytical model verification and refinement include mesh stiffness measurement, rib static and dynamic testing, mass measurement, and rib cross-section characterization. This concept was considered for a number of potential applications that include mobile communications, VLBI, and aircraft surveillance. In fact, baseline system configurations were developed by JPL, using the appropriate wrap-rib antenna, for all three classes of applications.

Freeland, R. E.↗

Mobile Autonomous Humanoid Assistant

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

Preliminary Results from a Model-Driven Architecture Methodology for Development of an Event-Driven Space Communications Service Concept

NASA's next generation space communications network will involve dynamic and autonomous services analogous to services provided by current terrestrial wireless networks. This architecture concept, known as the Space Mobile Network (SMN), is enabled by several technologies now in development. A pillar of the SMN architecture is the establishment and utilization of a continuous bidirectional control plane space link channel and a new User Initiated Service (UIS) protocol to enable more dynamic and autonomous mission operations concepts, reduced user space communications planning burden, and more efficient and effective provider network resource utilization. This paper provides preliminary results from the application of model driven architecture methodology to develop UIS. Such an approach is necessary to ensure systematic investigation of several open questions concerning the efficiency, robustness, interoperability, scalability and security of the control plane space link and UIS protocol.

Roberts, Christopher J.↗