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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 487 records · Page 27
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Stability analysis of position and force control problems for robot arms

Stability issues involving the control of a robot arm under the influence of external forces are discussed. Several different scenarios are considered: position control with the external force as an unmodeled disturbance, compliant control for a bounded external force in some subspace, and compliant control for a force due to the interaction with an environment whose dynamical behavior can be modeled. In each of these cases, a stability analysis using the Lyapunov method is presented. An explanation of instability is put forth for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved with the integral force feedback.

Wen, John T.↗
NASA NTRS2005

NASA Tech Briefs, February 2005

Topics discussed include: Instrumentation for Sensitive Gas Measurements; Apparatus for Testing Flat Specimens of Thermal Insulation; Quadrupole Ion Mass Spectrometer for Masses of 2 to 50 Da; Miniature Laser Doppler Velocimeter for Measuring Wall Shear; Coherent Laser Instrument Would Measure Range and Velocity; Printed Microinductors for Flexible Substrates; Digital Receiver for Microwave Radiometry; Printed Antennas Made Reconfigurable by Use of MEMS Switches; Traffic-Light-Preemption Vehicle-Transponder Software Module; Intersection-Controller Software Module; Central-Monitor Software Module; Estimating Effects of Multipath Propagation on GPS Signals; Parallel Adaptive Mesh Refinement Library; Predicting Noise From Aircraft Turbine-Engine Combustors; Generating Animated Displays of Spacecraft Orbits; Diagnosis and Prognosis of Weapon Systems; Training Software in Artificial-Intelligence Computing Techniques; APGEN Version 5.0; Single-Command Approach and Instrument Placement by a Robot on a Target; Three-Dimensional Audio Client Library; Isogrid Membranes for Precise, Singly Curved Reflectors; Nickel-Tin Electrode Materials for Nonaqueous Li-Ion Cells; Photocatalytic Coats in Glass Drinking-Water Bottles; Fast Laser Shutters With Low Vibratory Disturbances; Series-Connected Buck Boost Regulators; Space Physics Data Facility Web Services; Split-Resonator, Integrated-Post Vibratory Microgyroscope; Blended Buffet-Load-Alleviation System for Fighter Airplane; Gifford-McMahon/Joule-Thomson Refrigerator Cools to 2.5 K; High-Temperature, High-Load-Capacity Radial Magnetic Bearing; Fabrication of Spherical Reflectors in Outer Space; Automated Rapid Prototyping of 3D Ceramic Parts; Tissue Engineering Using Transfected Growth-Factor Genes; Automation of Vapor-Diffusion Growth of Protein Crystals; Atom Skimmers and Atom Lasers Utilizing Them; Gears Based on Carbon Nanotubes; Patched Off-Axis Bending/Twisting Actuators for Thin Mirrors; and Improving Control in a Joule-Thomson Refrigerator.

Source record↗
NASA NTRS2018

Low-Latency Teleoperations: Operational Implications for Human Space Exploration

Low-latency teleoperations (LLT) is envisioned to be an element of human exploration missions in a number of different applications. LLT can be broadly considered to encompass any remote operation of an asset with a communication delay that is less than the human response time to allow for what is effectively "real-time" or "near real-time" operations. This paper will explore motivations and operational implications for why and how LLT might be used for human exploration space missions. LLT analyses have been performed under the auspices of the NASA Human Spaceflight Architecture Team (HAT) and Evolvable Mars Campaign (EMC). The EMC created a flexible, evolvable, capability-driven architectural strategy to enable a sustainable long-term human presence at Mars. LLT is envisioned to be part of that strategy for both in-space and on-surface applications, and this paper will expand on operational considerations within that broader strategic context, as well additional contexts. Some operational implications explored in this paper, derived largely from previous work, are: (1) crew mission support, for which we will address roles for Mission Control on earth, balanced with the capability for crew and robotic assets to operate independently, (2) science operations, with a focus on "backroom" support, highly dynamic science, and enhanced science return and efficiency, and (3) operational efficiency at a deep-space destination such as Mars, including implications for communications infrastructures and how to leverage and balance system autonomy with crew operations, both of which can inform the overall operational "choreography" between crew members, multiple shifts, and exploration assets.

human spaceflight↗
NASA NTRS2006

Mission Control Technologies: A New Way of Designing and Evolving Mission Systems

Current mission operations systems are built as a collection of monolithic software applications. Each application serves the needs of a specific user base associated with a discipline or functional role. Built to accomplish specific tasks, each application embodies specialized functional knowledge and has its own data storage, data models, programmatic interfaces, user interfaces, and customized business logic. In effect, each application creates its own walled-off environment. While individual applications are sometimes reused across multiple missions, it is expensive and time consuming to maintain these systems, and both costly and risky to upgrade them in the light of new requirements or modify them for new purposes. It is even more expensive to achieve new integrated activities across a set of monolithic applications. These problems impact the lifecycle cost (especially design, development, testing, training, maintenance, and integration) of each new mission operations system. They also inhibit system innovation and evolution. This in turn hinders NASA's ability to adopt new operations paradigms, including increasingly automated space systems, such as autonomous rovers, autonomous onboard crew systems, and integrated control of human and robotic missions. Hence, in order to achieve NASA's vision affordably and reliably, we need to consider and mature new ways to build mission control systems that overcome the problems inherent in systems of monolithic applications. The keys to the solution are modularity and interoperability. Modularity will increase extensibility (evolution), reusability, and maintainability. Interoperability will enable composition of larger systems out of smaller parts, and enable the construction of new integrated activities that tie together, at a deep level, the capabilities of many of the components. Modularity and interoperability together contribute to flexibility. The Mission Control Technologies (MCT) Project, a collaboration of multiple NASA Centers, led by NASA Ames Research Center, is building a framework to enable software to be assembled from flexible collections of components and services.

Trimble, Jay↗
NASA NTRS2007

Antenna Technology and other Radio Frequency (RF) Communications Activities at the Glenn Research Center in Support of NASA's Exploration Vision

NASA s Vision for Space Exploration outlines a very ambitious program for the next several decades of the Space Agency endeavors. Ahead is the completion of the International Space Station (ISS); safely flight the shuttle (STS) until 2010; develop and fly the Crew Exploration Vehicle (Orion) by no later than 2014; return to the moon by no later than 2020; extend human presence across the solar system and beyond; implement a sustainable and affordable human and robotic program; develop supporting innovative technologies, knowledge and infrastructure; and promote international and commercial participation in exploration. To achieve these goals, a series of enabling technologies must be developed or matured in a timely manner. Some of these technologies are: spacecraft RF technology (e.g., high power sources and large antennas which using surface receive arrays can get up to 1 Gbps from Mars), uplink arraying (reduce reliance on large ground-based antennas and high operation costs; single point of failure; enable greater data-rates or greater effective distance; scalable, evolvable, flexible scheduling), software define radio (i.e., reconfigurable, flexible interoperability allows for in flight updates open architecture; reduces mass, power, volume), and optical communications (high capacity communications with low mass/power required; significantly increases data rates for deep space). This presentation will discuss some of the work being performed at the NASA Glenn Research Center, Cleveland, Ohio, in antenna technology as well as other on-going RF communications efforts.

Miranda, Felix A.↗
DOE OSTI2022

Conductive Ink with Circular Life Cycle for Printed Electronics

Electronic waste carries energetic costs and an environmental burden rivaling that of plastic waste due to the rarity and toxicity of the heavy-metal components. Recyclable conductive composites are introduced for printed circuits formulated with polycaprolactone (PCL), conductive fillers, and enzyme/protectant nanoclusters. Circuits can be printed with flexibility (breaking strain ≈80%) and conductivity (≈2.1 × 10 4 S m -1 ). These composites are degraded at the end of life by immersion in warm water with programmable latency. Approximately 94% of the functional fillers can be recycled and reused with similar device performance. The printed circuits remain functional and degradable after shelf storage for at least 7 months at room temperature and one month of continuous operation under electrical voltage. Here, the present studies provide composite design toward recyclable and easily disposable printed electronics for applications such as wearable electronics, biosensors, and soft robotics.

36 MATERIALS SCIENCE↗
NASA NTRS2017

YADA: Yet Another Distributed Architecture for Real-Time Robotic Control Systems

This paper presents YADA, a new software architecture for real-time robotic control systems that is minimal, modular, and fully transparent. YADA divides control software into decoupled behavior, user-interface, and hardware-level bus modules. This decoupling at the module level is accomplished by auto-generating human-readable message types that are tailored to the hardware topology oft he current system. These message types provide modules with a common framework for exchanging state information and relaying commands to devices while being agnostic to the communication protocol itself. We also detail how to structure behavior and bus modules to facilitate modularity and flexibility with third party software. YADA has been used with success on several technology development testbeds at JPL, an example of which is given in this paper, and has proven to provide developers a light-weight and highly reconfigurable system for efficient debugging and practical code sharing

Godart, Peter↗
NASA NTRS1990

Inverse dynamics of adaptive space cranes with tip point adjustment

The 'space crane', which resembles a conventional solid-link robot but employs truss sections in place of links and length-adjustable bars in place of torque-generating motors, is presently characterized by means of two different inverse-dynamics schemes. While in the first of these the nominal angles are maintained between the links constituting the crane, the second scheme adjusts the nominal angles as a function of time in order to always maintain the tip of the crane along the desired (nomical) trajectory. Attention is given to the second scheme, and to a tip-adjustment method which keeps the high frequency flexibility vibration within limits and ensures numerical stability.

Das, S. K.↗
NASA NTRS1991

Commercial Capaciflector

A capacitive proximity/tactile sensor with unique performance capabilities ('capaciflector' or capacitive reflector) is being developed by NASA/Goddard Space Flight Center (GSFC) for use on robots and payloads in space in the interests of safety, efficiency, and ease of operation. Specifically, this sensor will permit robots and their attached payloads to avoid collisions in space with humans and other objects and to dock these payloads in a cluttered environment. The sensor is simple, robust, and inexpensive to manufacture with obvious and recognized commercial possibilities. Accordingly, NASA/GSFC, in conjunction with industry, is embarking on an effort to 'spin' this technology off into the private sector. This effort includes prototypes aimed at commercial applications. The principles of operation of these prototypes are described along with hardware, software, modelling, and test results. The hardware description includes both the physical sensor in terms of a flexible printed circuit board and the electronic circuitry. The software description will include filtering and detection techniques. The modelling will involve finite element electric field analysis and will underline techniques used for design optimization.

Vranish, John M.↗
NASA NTRS2003

NASA Tech Briefs, June 2003

Topics covered include: Nulling Infrared Radiometer for Measuring Temperature; The Ames Power Monitoring System; Hot Films on Ceramic Substrates for Measuring Skin Friction; Probe Without Moving Parts Measures Flow Angle; Detecting Conductive Liquid Leaking from Nonconductive Pipe; Adaptive Suppression of Noise in Voice Communications; High-Performance Solid-State W-Band Power Amplifiers; Microbatteries for Combinatorial Studies of Conventional Lithium-Ion Batteries; Correcting for Beam Aberrations in a Beam-Waveguide Antenna; Advanced Rainbow Solar Photovoltaic Arrays; Metal Side Reflectors for Trapping Light in QWIPs; Software for Collaborative Engineering of Launch Rockets; Software Assists in Extensive Environmental Auditing; Software Supports Distributed Operations via the Internet; Software Estimates Costs of Testing Rocket Engines; yourSky: Custom Sky-Image Mosaics via the Internet; Software for Managing Inventory of Flight Hardware; Lower-Conductivity Thermal-Barrier Coatings; Process for Smoothing an Si Substrate after Etching of SiO2; Flexible Composite-Material Pressure Vessel; Treatment to Destroy Chlorohydrocarbon Liquids in the Ground; Noncircular Cross Sections Could Enhance Mixing in Sprays; Small, Untethered, Mobile Roots for Inspecting Gas Pipes; Paint-Overspray Catcher; Preparation of Regular Specimens for Atom Probes; Inverse Tomo-Lithography for Making Microscopic 3D Parts; Predicting and Preventing Incipient Flameout in Combustors; MEMS-Based Piezoelectric/Electrostatic Inchworm Actuator; Metallized Capillaries as Probes for Raman Spectroscopy; Adaptation of Mesoscale Weather Models to Local Forecasting; Aerodynamic Design using Neural Networks; Combining Multiple Gyroscope Outputs for Increased Accuracy; and Improved Collision-Detection Method for Robotic Manipulator.

Source record↗
NASA NTRS2012

An Ontology for State Analysis: Formalizing the Mapping to SysML

State Analysis is a methodology developed over the last decade for architecting, designing and documenting complex control systems. Although it was originally conceived for designing robotic spacecraft, recent applications include the design of control systems for large ground-based telescopes. The European Southern Observatory (ESO) began a project to design the European Extremely Large Telescope (E-ELT), which will require coordinated control of over a thousand articulated mirror segments. The designers are using State Analysis as a methodology and the Systems Modeling Language (SysML) as a modeling and documentation language in this task. To effectively apply the State Analysis methodology in this context it became necessary to provide ontological definitions of the concepts and relations in State Analysis and greater flexibility through a mapping of State Analysis into a practical extension of SysML. The ontology provides the formal basis for verifying compliance with State Analysis semantics including architectural constraints. The SysML extension provides the practical basis for applying the State Analysis methodology with SysML tools. This paper will discuss the method used to develop these formalisms (the ontology), the formalisms themselves, the mapping to SysML and approach to using these formalisms to specify a control system and enforce architectural constraints in a SysML model.

Wagner, David A.↗
DOE OSTI2022

Flexible Siting Criteria and Staff Minimization for Micro-Reactors

The economic potential of micro-reactors is vast and underestimated. Commonly-emphasized applications include niche markets such as remote communities, mines and military bases. However, micro-reactors could be used as flexible energy generators also for larger markets, such as mobile and containerized agriculture and manufacturing facilities, district heating, micro-grids for data centers, sea ports, airports and hospitals. The implication is that micro-reactors may have to be deployed also in non-remote locations. Successful implementation of micro-reactors needs a navigable and predictable licensing process, technology-appropriate siting restrictions, risk-informed emergency and safety requirements, and practical operating and maintenance requirements. The primary goal of this project was to develop siting criteria that are tailored to micro-reactors deployable in densely-populated areas, e.g., urban environments. To achieve that goal, we compared the characteristics of the MIT research reactor (MITR) with those of leading micro-reactor concepts (e.g., eVinci, USNC, Aurora), and evaluated whether and how the MITR design basis (e.g., inherent safety features, engineered safety systems, source term, emergency planning and emergency operating procedures) and associated regulations may be applicable to these new micro-reactors as well. What makes MITR a unique analogue in this context is its small power rating (6 MWt) and physical size, mode of operations (24/7 with a somewhat more commercial flavor than typical university reactors), and especially its urban location. Of course significant differences exist, such as mission (power production vs. research) and the reactor design itself. Leveraging the MITR experience, this project was able to generate criteria that will allow micro-reactors to realize their full economic potential as flexible heat and electricity generators for a diverse portfolio of applications in non-remote locations. As such, the outcome of this project might encourage investment in and use of micro-reactors. A second goal of the project was to conceptualize a model of operations for micro-reactors that would minimize the staffing requirements, and thus reduce the cost of electricity and heat generated by these systems. Here too our approach was to systematically review the MITR experience and requirements, as well as survey the innovations in autonomous control technologies and monitoring (e.g., advanced sensors, drones, robotics, AI) that would permit a dramatic reduction in staffing at future micro-reactor installations. The scope of work was expanded after the start date to include also an evaluation of micro-reactor security, using the so-called consequence-based analysis, and the development of a methodology to perform dynamic risk assessment for micro-reactors, using system theory and modeling and simulation.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS1989

Model based manipulator control

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

Petrosky, Lyman J.↗
NASA NTRS2011

A Low Risk Strategy for the Exploration of Near-Earth Objects

The impetus for asteroid exploration is scientific, political, and pragmatic. The notion of sending human explorers to asteroids is not new. Piloted missions to these primitive bodies were first discussed in the 1960s, pairing Saturn V rockets with enhanced Apollo spacecraft to explore what were then called "Earth-approaching asteroids." Two decades ago, NASA's Space Exploration Initiative (SEI) also briefly examined the possibility of visiting these small celestial bodies. Most recently, the U.S. Human Space Flight Review Committee (the second Augustine Commission) suggested that near-Earth objects (NEOs) represent a target-rich environment for exploration via the "Flexible Path" option. However, prior to seriously considering human missions to NEOs, it has become clear that we currently lack a robust catalog of human accessible targets. The majority of the NEOs identified by a study team across several NASA centers as "human-accessible" are probably too small and have orbits that are too uncertain to consider mounting piloted expeditions to these small worlds. The first step in developing such a catalog is, therefore, to complete a space-based NEO survey. The resulting catalog of candidate NEOs would then be transformed into a matrix of opportunities for robotic and human missions for the next several decades. This initial step of a space-based NEO survey first is the linchpin to laying the foundation of a low-risk architecture to venture out and explore these primitive bodies. We suggest such a minimalist framework architecture from 1) extensive ground-based and precursor spacecraft investigations (while applying operational knowledge from science-driven robotic missions), 2) astronaut servicing of spacecraft operating at geosynchronous Earth orbit to retain essential skills and experience, and 3) applying the sum of these skills, knowledge and experience to piloted missions to NEOs.

Landis, Rob R.↗
DOE OSTI2025

Ultra‐Flexible Pixelated Perovskite Photodetectors Enabled by Honeycomb Polymer Grids for High‐Resolution Imaging

Abstract A nature‐inspired fabrication method based on a photolithography‐free flexible polymer grid is reported for high‐resolution pixelation of perovskite photodiode arrays with exceptional mechanical ductility and a morphology resembling that of natural compound eyes. The resulting pixelated perovskite photosensitive layer has a ≈1 µm pixel size with 2000 Pixels per inch (PPI) resolution when fully assembled as a photodetector array, delivering a detectivity of >10 13 Jones while providing cross‐talk free imaging. Using a polymer grid effectively releases stress on the perovskite platform, greatly increasing the mechanical agility of the otherwise brittle perovskite film. This novel fabrication methodology and device design offer new possibilities for applications in robotics, biomedical imaging, and virtual and augmented reality.

Zheng, Ding [Department of Chemistry and the Mater↗
NASA NTRS1989

An assessment of multibody simulation tools for articulated spacecraft

A survey of multibody simulation codes was conducted in the spring of 1988, to obtain an assessment of the state of the art in multibody simulation codes from the users of the codes. This survey covers the most often used articulated multibody simulation codes in the spacecraft and robotics community. There was no attempt to perform a complete survey of all available multibody codes in all disciplines. Furthermore, this is not an exhaustive evaluation of even robotics and spacecraft multibody simulation codes, as the survey was designed to capture feedback on issues most important to the users of simulation codes. We must keep in mind that the information received was limited and the technical background of the respondents varied greatly. Therefore, only the most often cited observations from the questionnaire are reported here. In this survey, it was found that no one code had both many users (reports) and no limitations. The first section is a report on multibody code applications. Following applications is a discussion of execution time, which is the most troublesome issue for flexible multibody codes. The representation of component flexible bodies, which affects both simulation setup time as well as execution time, is presented next. Following component data preparation, two sections address the accessibility or usability of a code, evaluated by considering its user interface design and examining the overall simulation integrated environment. A summary of user efforts at code verification is reported, before a tabular summary of the questionnaire responses. Finally, some conclusions are drawn.

Man, Guy K.↗
NASA NTRS2004

Mars Exploration Rovers Propulsive Maneuver Design

The Mars Exploration Rovers Spirit and Opportunity successfully landed respectively at Gusev Crater and Meridiani Planum in January 2004. The rovers are essentially robotic geologists, sent on a mission to search for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. In order to conduct NASA's 'follow the water' strategy on opposite sides of the planet Mars, an interplanetary journey of over 300 million miles culminated with historic navigation precision. Rigorous trajectory targeting and control was necessary to achieve the atmospheric entry requirements for the selected landing sites. The propulsive maneuver design challenge was to meet or exceed these requirements while preserving the necessary design margin to accommodate additional project concerns. Landing site flexibility was maintained for both missions after launch, and even after the first trajectory correction maneuver for Spirit. The final targeting strategy was modified to improve delivery performance and reduce risk after revealing constraining trajectory control characteristics. Flight results are examined and summarized for the six trajectory correction maneuvers that were planned for each mission.

trajectory↗
NASA NTRS2015

Mars Ascent Vehicle-First Stage Motor

This project is development effort of a first stage solid motor based on a two-stage solid motor Mars Ascent Vehicle (MAV) design for the robotic Mars Sample Return (MSR) mission (fig. 1). The MSR MAV has been studied for decades and multiple concepts have been shown to meet the mission objectives as posed.1 However, there remains significant uncertainty with the MAV requirements. The sample container and sample cache itself is immature. Additionally, MAV-specific requirements ranging from full three-axis controlled and strict communication requirements to minimal capability concepts are still under consideration. Given the maturity of the overall mission requirements, the MAV has been limited to a large number of parametric analyses and paper studies. Recently, a Jet Propulsion Laboratory study highlighted the flexibility of a two-stage solid motor concept. The MAV itself is driven by the constraints of the Entry, Decent, and Landing (EDL) system. Within the EDL constraints, there is a range of MAV options ranging in complexity from simple spun upper stage options to higher capability three-axis controlled solutions. There are also options to trade the ratio of mission (Delta)V between the first and second stage. Finally, sensitivity studies also indicated that solid motors with a high percentage of off-load flexability only had minor impact on the total system mass over a single point design optimized motor. This flexibility in the first stage motor has allowed NASA to mature the design of the motor beyond parametric analyses and start to address known design challenges of the motor.

Dankanich, John↗