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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 469 records · Page 26

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NASA NTRS2009

Miniature Piezoelectric Shaker Mechanism for Autonomous Distribution of Unconsolidated Sample to Instrument Cells

To perform in-situ measurements on Mars or other planetary bodies many instruments require powder produced using some sampling technique (drilling/coring) or sample processing technique (core crushing) to be placed in measurement cells. This usually requires filling a small sample cell using an inlet funnel. In order to minimize cross contamination with future samples and ensure the sample is transferred from the funnel to the test cell with minimal residual powder the funnel is shaken. The shaking assists gravity by fluidizing the powder and restoring flow of the material. In order to counter cross contamination or potential clogging due to settling during autonomous handling a piezoelectric shaking mechanism was designed for the deposition of sample fines in instrument inlet funnels. This device was designed to be lightweight, consume low power and demonstrated to be a resilient solid state actuator that can be mechanically and electrically tuned to shake the inlet funnel. In the final design configuration tested under nominal Mars Ambient conditions the funnel mechanism is driven by three symmetrically mounted piezoelectric flexure actuators that are out of the funnel support load path. The frequency of the actuation can be electrically controlled and monitored and mechanically tuned by the addition of tuning mass on the free end of the actuator. Unlike conventional electromagnetic motors these devices are solid state and can be designed with no macroscopically moving parts. This paper will discuss the design and testing results of these shaking mechanisms.

powder movement↗

NASA NTRS1989

Design of an autonomous teleoperated cargo transporting vehicle for lunar base operations

At the turn of the century NASA plans to begin construction of a lunar base. The base will likely consist of developed areas (i.e., habitation, laboratory, landing and launching sites, power plant) separated from each other due to safety considerations. The Self-Repositioning Track Vehicle (SRTV) was designed to transport cargo between these base facilities. The SRTV operates by using two robotic arms to raise and position segments of track upon which the vehicle travels. The SRTV utilizes the semiautonomous mobility (SAM) method of teleoperation; actuator-controlled interlocking track sections; two robotic arms each with five degrees of freedom; and these materials: titanium for structural members and aluminum for shell members, with the possible use of light-weight, high-strength composites.

Holt, James↗

NASA NTRS2019

Health Management and Prognostics for Electric Aircraft Powertrain

W and c Any air borne vehicle needs incorporating safety as key parameter of measure, and inclusion of autonomy raises the critical need for safety under autonomous operations. Management of faults and component degradation is key as complexity in autonomous operations grow over the period of time. Therefore, in addition to basic operational requirements, an autonomous electric vehicle should be able to make accurate estimates of its current system health and take the correct decisions to complete its mission successfully. Real-time safety and state-awareness tools are therefore essential for the vehicle to be able to reach its destination in a safe and successful manner. The need for safety assurance and health management capabilities is particularly relevant for aircraft electric propulsion systems, which are relatively new and with limited historical to learn. They are critical systems requiring high power density along with reliability, resilience, efficient management of weight, and operational costs. A model- based fault diagnosis and prognostics approach of complex critical systems can successfully accomplish the safety and state awareness goal for such electric propulsion systems, enabling autonomous decision making capability for safe and efficient operation. To identify critical components in the system a Qualitative Bayesian approach using FMECA is implemented. This requires the assessment of some quantities representing the state of the electric unmanned aerial systems (e-UAS), as well as look-ahead forecasts of such states during the entire flight, presented in form of safety metrics (SM). In-service data and performance data gathered from degraded components sup- ports diagnostic and prognostic methods for these systems, but this data can be difficult to obtain as weight and packaging restrictions reduce redundancy and instrumentation on-board the vehicle. Therefore, an model-based framework should be capable or operating with limited data. In addition to data scarcity, the variability of such complex critical systems re- quires the model-based framework to reason in the presence of uncertainty, such as sensor noise, and modeling imperfections. Quantification of errors and uncertainties in the measured states and quantities is therefore a fundamental step for a precise estimation of such SMs; un-modeled uncertainty may result in erroneous state assessment and un- reliable predictions of future states of e-UAVs. Typical, centralized model-based schemes suffer from inherent disadvantages such as computational complexity, single point of failure, and scalability issues, and therefore may fail in such a complex scenario. This paper presents a methodology for developing a system level diagnostics and prognostics approach using a Qualitative Bayesian FMECA approach along with a formal uncertainty management framework for an e-UAS. In this work we demonstrate the efficacy of the framework to predict effects of sub-system level degradation on vehicle operation incorporating uncertainty management to predict future behavior under different operating conditions.

Kulkarni, Chetan↗

NASA NTRS1990

Control of multiple resonant power processors in a multi-source system

Analysis and test results show that phasor-regulated, Mapham-derived resonant inverters can be paralleled to provide standardizing interfaces for multiple sources on a utility-type, aerospace power distribution bus. The basic sources do not require matching in any way, and may have grossly different characteristics. Fully stable system architectures with multiple sources, parallel/redundant distribution buses, and a wide variety of loads can be easily constructed and controlled. The commands and parameters available for system control allow for tight tolerance bus voltage control, and absolute power-sharing control from the various sources over the full range of possible source and load variations. That level of control enables simplified load power processing hardware and the distribution of losses to optimally load the source thermal control system. Positive control of all system performance and allocation of losses are not required by all missions or vehicles, and overall vehicle considerations do not always require the loads on vehicle energy sources and thermal control systems to be balanced. In those cases, power system control can be simplified, and a hierarchical set of defaults can be substituted for computer-generated or supervisory input commands to allow for stable, fully autonomous system operation.

Mildice, James↗

NASA NTRS2014

Active Collision Avoidance for Planetary Landers

Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be miles from the mission objective, or, mission objectives may be tailored to suit landing sites. Future robotic exploration missions should be capable of autonomously identifying a safe landing target within a specified target area selected by mission requirements. Such autonomous landing sites must (1) 'see' the surface, (2) identify a target, and (3) land the vehicle. Recent advances in radar technology have resulted in small, lightweight, low power radars that are used for collision avoidance and cruise control systems in automobiles. Such radar systems can be adapted for use as active hazard avoidance systems for planetary landers. The focus of this CIF proposal is to leverage earlier work on collision avoidance systems for MSFC's Mighty Eagle lander and evaluate the use of automotive radar systems for collision avoidance in planetary landers.

Rickman, Doug↗

NASA NTRS2011

Testing of the Support Vector Machine for Binary-Class Classification

The Support Vector Machine is a powerful algorithm, useful in classifying data in to species. The Support Vector Machines implemented in this research were used as classifiers for the final stage in a Multistage Autonomous Target Recognition system. A single kernel SVM known as SVMlight, and a modified version known as a Support Vector Machine with K-Means Clustering were used. These SVM algorithms were tested as classifiers under varying conditions. Image noise levels varied, and the orientation of the targets changed. The classifiers were then optimized to demonstrate their maximum potential as classifiers. Results demonstrate the reliability of SMV as a method for classification. From trial to trial, SVM produces consistent results

autonomous target recognition systemr↗

NASA NTRS2017

Prospective Architectures for Onboard vs Cloud-Based Decision Making for Unmanned Aerial Systems

This paper investigates propsective architectures for decision-making in unmanned aerial systems. When these unmanned vehicles operate in urban environments, there are several sources of uncertainty that affect their behavior, and decision-making algorithms need to be robust to account for these different sources of uncertainty. It is important to account for several risk-factors that affect the flight of these unmanned systems, and facilitate decision-making by taking into consideration these various risk-factors. In addition, there are several technical challenges related to autonomous flight of unmanned aerial systems; these challenges include sensing, obstacle detection, path planning and navigation, trajectory generation and selection, etc. Many of these activities require significant computational power and in many situations, all of these activities need to be performed in real-time. In order to efficiently integrate these activities, it is important to develop a systematic architecture that can facilitate real-time decision-making. Four prospective architectures are discussed in this paper; on one end of the spectrum, the first architecture considers all activities/computations being performed onboard the vehicle whereas on the other end of the spectrum, the fourth and final architecture considers all activities/computations being performed in the cloud, using a new service known as Prognostics as a Service that is being developed at NASA Ames Research Center. The four different architectures are compared, their advantages and disadvantages are explained and conclusions are presented.

Software engineering↗

NASA NTRS2019

Mitigations to Reduce the Law of Unintended Consequences for Autonomy and Other Technological Advances

The United Nations states that Earth’s population is expected to reach just under 10 billion people (9.7) by the year 2050. To meet the demands of 10 billion people, governments, multinational corporations and global leaders are relying on autonomy and technological advances to augment and/or accommodate human efforts to meet the required needs of daily living. Genetically modified organisms (GMOs), Clustered Regularly Interspaced Short Palindromic Repeats (CRISPR) gene-edited plants and cloning will be utilized to expand human food supply. Biomimetic implants are expected to improve life expectancy with 3D printed body parts. Human functioning will be extended with wearables and cybernetic implants continuing humanity’s path toward transhumanism. Families will be strengthened with 3 parent households. Disease will surely be eradicated using the CRISPR-CAS9 genetic engineering revolution to design out undesirable human traits and to design in new capabilities. With autonomous cars, trucks and buses on our roads and on-demand autonomous aircraft delivering pizzas, medical prescriptions and groceries in the air and multi-planet vehicles traversing space, utopia will finally arrive! Or will it? All of these powerful, man-made, technological systems will experience unintended consequences with certainty. Instead of over-reacting with hysteria and fear, we should be seeking answers to the following questions - “What skills are required to architect socially-healthy technological systems for 2050?” “What mindsets should we embody to ameliorate hubris syndrome and to build our future technological systems with deliberation, soberness and social responsibility?”

Morris, A. Terry↗

NASA NTRSDate not supplied

Self-Healing RF/Microwave Communications Circuits/Systems for NASA Missions - A Review

The success of current and future NASA missions relies in great part on the performance reliability and robustness of the communication circuits and systems of said missions. Some of the manifestations of reliability and robustness are comprised by properties such as graceful degradation, which provide redundancy and potentially longer life to the mission, and the ability to perform efficiently in harsh environments destinations such as Venus and the Jovian and Saturnian moons Europa and Enceladus, respectively. While several approaches have been considered or are currently underway to develop communications circuitry capable of performing in harsh environments, they lack the flexibility to enable reconfigurability to preserve functionality under adverse or contingency scenarios. This paper discusses some examples of self-healing RF/Microwave communications circuits and systems that could provide advantageous options in support of NASA missions.

Self-healing↗

NASA NTRS1997

Promethazine affects autonomic cardiovascular mechanisms minimally

Promethazine hydrochloride, Phenergan, is a phenothiazine derivative with antihistaminic (H1), sedative, antiemetic, anticholinergic, and antimotion sickness properties. These properties have made promethazine a candidate for use in environments such as microgravity, which provoke emesis and motion sickness. Recently, we evaluated carotid baroreceptor-cardiac reflex responses during two Space Shuttle missions 18 to 20 hr after the 50 mg intramuscular administration of promethazine. Because the effects of promethazine on autonomic cardiovascular mechanisms in general and baroreflex function in particular were not known, we were unable to exclude a possible influence of promethazine on our results. Our purpose was to determine the ground-based effects of promethazine on autonomic cardiovascular control. Because of promethazine's antihistaminic and anticholinergic properties, we expected that a 50-mg intramuscular injection of promethazine would affect sympathetically and vagally mediated cardiovascular mechanisms. Eight healthy young subjects, five men and three women, were studied at rest in recumbency. All reported drowsiness as a result of the promethazine injection; most also reported nervous excitation, dry mouth, and fatigue. Three subjects had significant reactions: two reported excessive anxiety and one reported dizziness. Measurements were performed immediately prior to injection and 3.1 +/- 0.1 and 19.5 +/- 0.4 hr postinjection. We found no significant effect of promethazine on resting mean R-R interval, arterial pressure, R-R interval power spectra, carotid baroreflex function, and venous plasma catecholamine levels.

Clinical Trial↗

NASA NTRS2004

A Survey of Formal Methods for Intelligent Swarms

Swarms of intelligent autonomous spacecraft, involving complex behaviors and interactions, are being proposed for future space exploration missions. Such missions provide greater flexibility and offer the possibility of gathering more science data than traditional single spacecraft missions. The emergent properties of swarms make these missions powerful, but simultaneously far more difficult to design, and to assure that the proper behaviors will emerge. These missions are also considerably more complex than previous types of missions, and NASA, like other organizations, has little experience in developing or in verifying and validating these types of missions. A significant challenge when verifying and validating swarms of intelligent interacting agents is how to determine that the possible exponential interactions and emergent behaviors are producing the desired results. Assuring correct behavior and interactions of swarms will be critical to mission success. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm types of missions NASA is considering. The ANTS mission will use a swarm of picospacecraft that will fly from Earth orbit to the Asteroid Belt. Using an insect colony analogy, ANTS will be composed of specialized workers for asteroid exploration. Exploration would consist of cataloguing the mass, density, morphology, and chemical composition of the asteroids, including any anomalous concentrations of specific minerals. To perform this task, ANTS would carry miniaturized instruments, such as imagers, spectrometers, and detectors. Since ANTS and other similar missions are going to consist of autonomous spacecraft that may be out of contact with the earth for extended periods of time, and have low bandwidths due to weight constraints, it will be difficult to observe improper behavior and to correct any errors after launch. Providing V&V (verification and validation) for this type of mission is new to NASA, and represents the cutting edge in system correctness, and requires higher levels of assurance than other (traditional) missions that use a single or small number of spacecraft that are deterministic in nature and have near continuous communication access. One of the highest possible levels of assurance comes from the application of formal methods. Formal methods are mathematics-based tools and techniques for specifying and verifying (software and hardware) systems. They are particularly useful for specifying complex parallel systems, such as exemplified by the ANTS mission, where the entire system is difficult for a single person to fully understand, a problem that is multiplied with multiple developers. Once written, a formal specification can be used to prove properties of a system (e.g., the underlying system will go from one state to another or not into a specific state) and check for particular types of errors (e.g., race or livelock conditions). A formal specification can also be used as input to a model checker for further validation. This report gives the results of a survey of formal methods techniques for verification and validation of space missions that use swarm technology. Multiple formal methods were evaluated to determine their effectiveness in modeling and assuring the behavior of swarms of spacecraft using the ANTS mission as an example system. This report is the first result of the project to determine formal approaches that are promising for formally specifying swarm-based systems. From this survey, the most promising approaches were selected and are discussed relative to their possible application to the ANTS mission. Future work will include the application of an integrated approach, based on the selected approaches identified in this report, to the formal specification of the ANTS mission.

Truszkowski, Walt↗

NASA NTRS2003

Pseudo Linear Gyro Calibration

Previous high fidelity onboard attitude algorithms estimated only the spacecraft attitude and gyro bias. The desire to promote spacecraft and ground autonomy and improvements in onboard computing power has spurred development of more sophisticated calibration algorithms. Namely, there is a desire to provide for sensor calibration through calibration parameter estimation onboard the spacecraft as well as autonomous estimation on the ground. Gyro calibration is a particularly challenging area of research. There are a variety of gyro devices available for any prospective mission ranging from inexpensive low fidelity gyros with potentially unstable scale factors to much more expensive extremely stable high fidelity units. Much research has been devoted to designing dedicated estimators such as particular Extended Kalman Filter (EKF) algorithms or Square Root Information Filters. This paper builds upon previous attitude, rate, and specialized gyro parameter estimation work performed with Pseudo Linear Kalman Filter (PSELIKA). The PSELIKA advantage is the use of the standard linear Kalman Filter algorithm. A PSELIKA algorithm for an orthogonal gyro set which includes estimates of attitude, rate, gyro misalignments, gyro scale factors, and gyro bias is developed and tested using simulated and flight data. The measurements PSELIKA uses include gyro and quaternion tracker data.

Harman, Richard↗

NASA NTRSDate not supplied

Lander Lighting to Reduce Pilot Approach Errors: Project Design Assumptions & Model Constraints

The south pole lighting environment will have harsh low inclination sunlight, making overhead judgement of surface features difficult. Autonomous solutions are great, however, the need for visual monitoring and independent go/no-go decisions remain. Our project proposes that lunar landing systems will be better served by including a powerful landing light system that improves visibility of surfaces from overhead by illuminating the ground at critical distances for the crew to make last minute decisions regarding an approach.

Toni A. Clark↗

NASA NTRS2013

Cryogenic Liquid Sample Acquisition System for Remote Space Applications

There is a need to acquire autonomously cryogenic hydrocarbon liquid sample from remote planetary locations such as the lakes of Titan for instruments such as mass spectrometers. There are several problems that had to be solved relative to collecting the right amount of cryogenic liquid sample into a warmer spacecraft, such as not allowing the sample to boil off or fractionate too early; controlling the intermediate and final pressures within carefully designed volumes; designing for various particulates and viscosities; designing to thermal, mass, and power-limited spacecraft interfaces; and reducing risk. Prior art inlets for similar instruments in spaceflight were designed primarily for atmospheric gas sampling and are not useful for this front-end application. These cryogenic liquid sample acquisition system designs for remote space applications allow for remote, autonomous, controlled sample collections of a range of challenging cryogenic sample types. The design can control the size of the sample, prevent fractionation, control pressures at various stages, and allow for various liquid sample levels. It is capable of collecting repeated samples autonomously in difficult lowtemperature conditions often found in planetary missions. It is capable of collecting samples for use by instruments from difficult sample types such as cryogenic hydrocarbon (methane, ethane, and propane) mixtures with solid particulates such as found on Titan. The design with a warm actuated valve is compatible with various spacecraft thermal and structural interfaces. The design uses controlled volumes, heaters, inlet and vent tubes, a cryogenic valve seat, inlet screens, temperature and cryogenic liquid sensors, seals, and vents to accomplish its task.

Mahaffy, Paul↗

NASA NTRS2001

Gender differences in autonomic cardiovascular regulation: spectral, hormonal, and hemodynamic indexes

The autonomic nervous system drives variability in heart rate, vascular tone, cardiac ejection, and arterial pressure, but gender differences in autonomic regulation of the latter three parameters are not well documented. In addition to mean values, we used spectral analysis to calculate variability in arterial pressure, heart rate (R-R interval, RRI), stroke volume, and total peripheral resistance (TPR) and measured circulating levels of catecholamines and pancreatic polypeptide in two groups of 25 +/- 1.2-yr-old, healthy men and healthy follicular-phase women (40 total subjects, 10 men and 10 women per group). Group 1 subjects were studied supine, before and after beta- and muscarinic autonomic blockades, administered singly and together on separate days of study. Group 2 subjects were studied supine and drug free with the additional measurement of skin perfusion. In the unblocked state, we found that circulating levels of epinephrine and total spectral power of stroke volume, TPR, and skin perfusion ranged from two to six times greater in men than in women. The difference (men > women) in spectral power of TPR was maintained after beta- and muscarinic blockades, suggesting that the greater oscillations of vascular resistance in men may be alpha-adrenergically mediated. Men exhibited muscarinic buffering of mean TPR whereas women exhibited beta-adrenergic buffering of mean TPR as well as TPR and heart rate oscillations. Women had a greater distribution of RRI power in the breathing frequency range and a less negative slope of ln RRI power vs. ln frequency, both indicators that parasympathetic stimuli were the dominant influence on women's heart rate variability. The results of our study suggest a predominance of sympathetic vascular regulation in men compared with a dominant parasympathetic influence on heart rate regulation in women.

Non-NASA Center↗

NASA NTRS2002

Fielding An Amphibious UAV: Development, Results, and Lessons Learned

This report summarizes the work completed on the design and flight-testing of a small, unmanned, amphibious demonstrator aircraft that flies autonomously. The aircraft named ACAT (Autonomous Cargo Amphibious Transport) is intended to be a large cargo carrying unmanned aircraft that operates from water to avoid airspace and airfield conflict issues between manned and unmanned aircraft. To demonstrate the feasibility of this concept, a demonstrator ACAT was designed, built, and flown that has a six-foot wingspan and can fly autonomously from land or water airfield. The demonstrator was designed for a 1-hour duration and 1-mile telemetry range. A sizing code was used to design the smallest demonstrator UAV to achieve these goals. The final design was a six-foot wingspan, twin hull configuration that distributes the cargo weight across the span, reducing the wing structural weight. The demonstrator airframe was constructed from balsa wood, fiberglass, and plywood. A 4-stroke model airplane engine powered by methanol fuel was mounted in a pylon above the wing and powers the ACAT UAV. Initial flight tests from land and water were conducted under manual radio control and confirmed the amphibious capability of the design. Flight avionics that were developed by MLB for production UAVs were installed in the ACAT demonstrator. The flight software was also enhanced to permit autonomous takeoff and landing from water. A complete autonomous flight from ahard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and landing under complete computer control. A completely autonomous flight that featured a water takeoff and landing was completed on October 4, 2001. This report describes these activities in detail and highlights the challenges encountered and solved during the development of the ACAT demonstrator. hard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and landing under complete computer control. A completely autonomous flight that featured a water takeoff and landing was completed on October 4, 2001. This report describes these activities in detail and highlights the challenges encountered and solved during the development of the ACAT demonstrator.

Pisanich, Greg↗

NASA NTRS1992

Spectral analysis of heart rate dynamics in elderly persons with postprandial hypotension

Prior studies suggest that postprandial hypotension in elderly persons may be due to defective sympathetic nervous system activation. We examined autonomic control of heart rate (HR) after a meal using spectral analysis of HR data in 13 old (89 +/- 6 years) and 7 young (24 +/- 4 years) subjects. Total spectral power, an index of overall HR variability, was calculated for the frequency band between 0.01 and 0.40 Hz. Relatively low-frequency power, associated with sympathetic nervous system and baroreflex activation, was calculated for the 0.01 to 0.15 Hz band. High-frequency power, representing parasympathetic influences on HR, was calculated for the 0.15 to 0.40 Hz band. Mean arterial blood pressure declined 27 +/- 8 mm Hg by 60 minutes after the meal in elderly subjects, compared with 9 +/- 8 mm Hg in young subjects (p less than or equal to 0.0001, young vs old). The mean change in low-frequency HR power from 30 to 50 minutes after the meal was +19.4 +/- 25.3 U in young subjects versus -0.1 +/- 1.5 U in old subjects (p less than or equal to 0.02). Mean change in total power was also greater in young (19.0 +/- 26.6 U) subjects compared with old subjects (0.0 +/- 1.6 U, p greater than or equal to 0.02). Mean ratio of low:high-frequency power increased 3.1 +/- 3.3 U in young subjects vs 0.5 +/- 2.7 U in old subjects (p less than or equal to 0.01). The increase in low-frequency HR power and in the low:high frequency band ratio in young subjects is consistent with sympathetic activation in the postprandial period.(ABSTRACT TRUNCATED AT 250 WORDS).

NASA Discipline Cardiopulmonary↗

NASA NTRSDate not supplied

Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS)

To meet the needs of future deep space exploration, NASA is interested in large-scale hardware systems in the agency’s thrust areas of solar power, communications, habitats and science interests. Scalable in-space assembly of physical systems is critical to massless exploration and in-space reliance goals. The ARMADAS project demonstrates the autonomous assembly of digital materials and structures. This provides automation technologies with potential for meeting long duration and deep space infrastructure needs, such as construction and maintenance of long duration spaceport, surface infrastructure, and habitat scale systems. Project demonstrations to date include a system that can fit into a small satellite-sized payload, which automatically assembles into primary structures, such as a small habitat module or array/antenna, using onboard robotic assemblers.

In Space Assembly↗