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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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

A six-legged rover for planetary exploration

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

Simmons, Reid↗
NASA NTRS2005

A CSP-Based Agent Modeling Framework for the Cougaar Agent-Based Architecture

Cognitive Agent Architecture (Cougaar) is a Java-based architecture for large-scale distributed agent-based applications. A Cougaar agent is an autonomous software entity with behaviors that represent a real-world entity (e.g., a business process). A Cougaar-based Model Driven Architecture approach, currently under development, uses a description of system's functionality (requirements) to automatically implement the system in Cougaar. The Communicating Sequential Processes (CSP) formalism is used for the formal validation of the generated system. Two main agent components, a blackboard and a plugin, are modeled as CSP processes. A set of channels represents communications between the blackboard and individual plugins. The blackboard is represented as a CSP process that communicates with every agent in the collection. The developed CSP-based Cougaar modeling framework provides a starting point for a more complete formal verification of the automatically generated Cougaar code. Currently it is used to verify the behavior of an individual agent in terms of CSP properties and to analyze the corresponding Cougaar society.

Gracanin, Denis↗
NASA NTRS2007

Autonomous Payload Operations Onboard the International Space Station

Operating the International Space Station (ISS) involves many complex crew tended, ground operated and combined systems. Over the life of the ISS program, it has become evident that by having automated and autonomous systems on board, more can be accomplished and at the same time reduce the workload of the crew and ground operators. Engineers at the National Aeronautics and Space Administration's (NASA) Marshall Space Flight Center in Huntsville Alabama, working in collaboration with The Charles Stark Draper Laboratory have developed an autonomous software system that uses the Timeliner User Interface Language and expert logic to continuously monitor ISS payload systems, issue commands and signal ground operators as required. This paper describes the development history of the system, its concept of operation and components. The paper also discusses the testing process as well as the facilities used to develop the system. The paper concludes with a description of future enhancement plans for use on the ISS as well as potential applications to Lunar and Mars exploration systems.

Stetson, Howard K.↗
NASA NTRS2005

The Mars Exploration Rover Instrument Positioning System

During Mars Exploration Rover (MER) surface operations, the scientific data gathered by the in situ instrument suite has been invaluable with respect to the discovery of a significant water history at Meridiani Planum and the hint of water processes at work in Gusev Crater. Specifically, the ability to perform precision manipulation from a mobile platform (i.e., mobile manipulation) has been a critical part of the successful operation of Spirit and Opportunity rovers. As such, this paper describes the MER Instrument Positioning System that allows the in situ instruments to operate and collect their important science data using a robust, dexterous robotic arm combined with visual target selection and autonomous software functions.

in situ instruments↗
NASA NTRS2007

Feasibility of Turing-Style Tests for Autonomous Aerial Vehicle "Intelligence"

A new approach is suggested to define and evaluate key metrics as to autonomous aerial vehicle performance. This approach entails the conceptual definition of a "Turing Test" for UAVs. Such a "UAV Turing test" would be conducted by means of mission simulations and/or tailored flight demonstrations of vehicles under the guidance of their autonomous system software. These autonomous vehicle mission simulations and flight demonstrations would also have to be benchmarked against missions "flown" with pilots/human-operators in the loop. In turn, scoring criteria for such testing could be based upon both quantitative mission success metrics (unique to each mission) and by turning to analog "handling quality" metrics similar to the well-known Cooper-Harper pilot ratings used for manned aircraft. Autonomous aerial vehicles would be considered to have successfully passed this "UAV Turing Test" if the aggregate mission success metrics and handling qualities for the autonomous aerial vehicle matched or exceeded the equivalent metrics for missions conducted with pilots/human-operators in the loop. Alternatively, an independent, knowledgeable observer could provide the "UAV Turing Test" ratings of whether a vehicle is autonomous or "piloted." This observer ideally would, in the more sophisticated mission simulations, also have the enhanced capability of being able to override the scripted mission scenario and instigate failure modes and change of flight profile/plans. If a majority of mission tasks are rated as "piloted" by the observer, when in reality the vehicle/simulation is fully- or semi- autonomously controlled, then the vehicle/simulation "passes" the "UAV Turing Test." In this regards, this second "UAV Turing Test" approach is more consistent with Turing s original "imitation game" proposal. The overall feasibility, and important considerations and limitations, of such an approach for judging/evaluating autonomous aerial vehicle "intelligence" will be discussed from a theoretical perspective.

Young, Larry A.↗
NASA NTRS2021

Case Studies in Verifying Spacecraft Autonomy

Spacecraft, operating with a time-to-effect faster than human command response, or with absent or delayed communication, have depended on autonomy. It is likely that this reliance will continue, and increase further in future missions. Spacecraft autonomy is used when operator intervention is not available or feasible, or when dynamic aspects of a spacecraft situation cannot be predicted in advance. This paper provides case studies of several successfully verified autonomous software systems across multiple spacecraft, flight phases (launch, transit, entry and landing, science utilization), and software classifications, and can serve as examples to future missions in methods of successfully assuring spacecraft autonomy.

Johnson, Stephen B.↗
NASA NTRS2020

Software assurance of autonomous spacecraft control

The work described addresses assurance of a planning and execution software system being added to an in-orbit CubeSat to demonstrate autonomous control of that spacecraft. Our focus was on how to develop assurance of the correct operation of the added software in its operational context, our approach to which was to use an assurance case to guide and organize the information involved.

Bocchino, Robert↗
NASA NTRS2013

Autonomous Aerobraking Development Software: Phase 2 Summary

NASA has used aerobraking at Mars and Venus to reduce the fuel required to deliver a spacecraft into a desired orbit compared to an all-propulsive solution. Although aerobraking reduces the propellant, it does so at the expense of mission duration, large staff, and DSN coverage. These factors make aerobraking a significant cost element in the mission design. By moving on-board the current ground-based tasks of ephemeris determination, atmospheric density estimation, and maneuver sizing and execution, a flight project would realize significant cost savings. The NASA Engineering and Safety Center (NESC) sponsored Phase 1 and 2 of the Autonomous Aerobraking Development Software (AADS) study, which demonstrated the initial feasibility of moving these current ground-based functions to the spacecraft. This paper highlights key state-of-the-art advancements made in the Phase 2 effort to verify that the AADS algorithms are accurate, robust and ready to be considered for application on future missions that utilize aerobraking. The advancements discussed herein include both model updates and simulation and benchmark testing. Rigorous testing using observed flight atmospheres, operational environments and statistical analysis characterized the AADS operability in a perturbed environment.

Cianciolo, Alicia D.↗
NASA NTRS1997

Software Architecture for Autonomous Spacecraft

The thesis objective is to design an autonomous spacecraft architecture to perform both deliberative and reactive behaviors. The Autonomous Small Planet In-Situ Reaction to Events (ASPIRE) project uses the architecture to integrate several autonomous technologies for a comet orbiter mission.

Software Spacecraft ASPIRE project↗
NASA NTRS2014

The Use of Software Agents for Autonomous Control of a DC Space Power System

In order to enable manned deep-space missions, the spacecraft must be controlled autonomously using on-board algorithms. A control architecture is proposed to enable this autonomous operation for an spacecraft electric power system and then implemented using a highly distributed network of software agents. These agents collaborate and compete with each other in order to implement each of the control functions. A subset of this control architecture is tested against a steadystate power system simulation and found to be able to solve a constrained optimization problem with competing objectives using only local information.

autonomous control↗
NASA NTRS2012

Autonomous Aerobraking Development Software: Phase One Performance Analysis at Mars, Venus, and Titan

When entering orbit about a planet or moon with an appreciable atmosphere, instead of using only the propulsion system to insert the spacecraft into its desired orbit, aerodynamic drag can be used after the initial orbit insertion to further decelerate the spacecraft. Several past NASA missions have used this aerobraking technique to reduce the fuel required to deliver a spacecraft into a desired orbit. Aerobraking was first demonstrated at Venus with Magellan in 1993 and then was used to achieve the science orbit of three Mars orbiters: Mars Global Surveyor in 1997, Mars Odyssey in 2001, and Mars Reconnaissance Orbiter in 2006. Although aerobraking itself reduces the propellant required to reach a final low period orbit, it does so at the expense of additional mission time to accommodate the aerobraking operations phase (typically 3-6 months), a large mission operations staff, and significant Deep Space Network (DSN) coverage. By automating ground based tasks and analyses associated with aerobraking and moving these onboard the spacecraft, a flight project could save millions of dollars in operations staffing and DSN costs (Ref. 1).

Maddock, Robert W.↗
NASA NTRSDate not supplied

The Anatomy of Software Changes and Bugs in Autonomous Operating System

Cyberphysical systems with autonomous functions are complex pieces of software, consisting of many components, some of which implement autonomous functionality and some may use AI or machine learning algorithms. Software bugs in an autonomous system are of particular concern, as they can have catastrophic consequences. However, detailed studies based on empirical data are rare and therefore these bugs are not well understood. This paper aims to contribute towards filling that gap by investigating the software changes and bugs in Autonomy Operating System (AOS) for Unmanned Aircraft Systems (UAS), which consist of 26 components containing about 103,000 lines of code and having a total of 772 bugfixes. Based on the data extracted from the code repository and semi-structured interviews with the developers of AOS, we explore the differences among autonomous software components, components developed using Model-based Software Engineering, and reuse with respect to change proneness, fault proneness, distribution of bugfixes among AOS components and files of these components, and characteristics of bugs of different AOS components. Our results show that the autonomous components were significantly more change prone (measured in number of commits and code churn) and fault prone (measured in bugfixes per KLoC) than non-autonomous components. The distribution of the locations of bugfixes was skewed, both at component and file level (i.e., a small number of components / files contained the majority of bugs). These evidence-based findings provide important insights to researchers and practitioners alike and can be used to efficiently improve the quality and reliability of autonomous systems.

Katerina Goseva-Popstojanova↗
NASA NTRS2004

NASA Tech Briefs, December 2004

opics include: High-Rate Digital Receiver Board; Signal Design for Improved Ranging Among Multiple Transceivers; Automated Analysis, Classification, and Display of Waveforms; Fast-Acquisition/Weak-Signal-Tracking GPS Receiver for HEO; Format for Interchange and Display of 3D Terrain Data; Program Analyzes Radar Altimeter Data; Indoor Navigation using Direction Sensor and Beacons; Software Assists in Responding to Anomalous Conditions; Software for Autonomous Spacecraft Maneuvers; WinPlot; Software for Automated Testing of Mission-Control Displays; Nanocarpets for Trapping Microscopic Particles; Precious-Metal Salt Coatings for Detecting Hydrazines; Amplifying Electrochemical Indicators; Better End-Cap Processing for Oxidation-Resistant Polyimides; Carbon-Fiber Brush Heat Exchangers; Solar-Powered Airplane with Cameras and WLAN; A Resonator for Low-Threshold Frequency Conversion; Masked Proportional Routing; Algorithm Determines Wind Speed and Direction from Venturi-Sensor Data; Feature-Identification and Data-Compression Software; Alternative Attitude Commanding and Control for Precise Spacecraft Landing; Inspecting Friction Stir Welding using Electromagnetic Probes; and Helicity in Supercritical O2/H2 and C7H16/N2 Mixing Layers.

Source record↗
NASA NTRS2011

Software Architecture to Support the Evolution of the ISRU RESOLVE Engineering Breadboard Unit 2 (EBU2)

The In-Situ Resource Utilization (ISRU) Regolith & Environmental Science and Oxygen & Lunar Volatiles Extraction (RESOLVE) software provides operation of the physical plant from a remote location with a high-level interface that can access and control the data from external software applications of other subsystems. This software allows autonomous control over the entire system with manual computer control of individual system/process components. It gives non-programmer operators the capability to easily modify the high-level autonomous sequencing while the software is in operation, as well as the ability to modify the low-level, file-based sequences prior to the system operation. Local automated control in a distributed system is also enabled where component control is maintained during the loss of network connectivity with the remote workstation. This innovation also minimizes network traffic. The software architecture commands and controls the latest generation of RESOLVE processes used to obtain, process, and quantify lunar regolith. The system is grouped into six sub-processes: Drill, Crush, Reactor, Lunar Water Resource Demonstration (LWRD), Regolith Volatiles Characterization (RVC) (see example), and Regolith Oxygen Extraction (ROE). Some processes are independent, some are dependent on other processes, and some are independent but run concurrently with other processes. The first goal is to analyze the volatiles emanating from lunar regolith, such as water, carbon monoxide, carbon dioxide, ammonia, hydrogen, and others. This is done by heating the soil and analyzing and capturing the volatilized product. The second goal is to produce water by reducing the soil at high temperatures with hydrogen. This is done by raising the reactor temperature in the range of 800 to 900 C, causing the reaction to progress by adding hydrogen, and then capturing the water product in a desiccant bed. The software needs to run the entire unit and all sub-processes; however, throughout testing, many variables and parameters need to be changed as more is learned about the system operation. The Master Events Controller (MEC) is run on a standard laptop PC using Windows XP. This PC runs in parallel to another laptop that monitors the GC, and a third PC that monitors the drilling/ crushing operation. These three PCs interface to the process through a CompactRIO, OPC Servers, and modems.

Moss, Thomas↗
NASA NTRS2001

Adjustable Autonomy Testbed

The Adjustable Autonomy Testbed (AAT) is a simulation-based testbed located in the Intelligent Systems Laboratory in the Automation, Robotics and Simulation Division at NASA Johnson Space Center. The purpose of the testbed is to support evaluation and validation of prototypes of adjustable autonomous agent software for control and fault management for complex systems. The AA T project has developed prototype adjustable autonomous agent software and human interfaces for cooperative fault management. This software builds on current autonomous agent technology by altering the architecture, components and interfaces for effective teamwork between autonomous systems and human experts. Autonomous agents include a planner, flexible executive, low level control and deductive model-based fault isolation. Adjustable autonomy is intended to increase the flexibility and effectiveness of fault management with an autonomous system. The test domain for this work is control of advanced life support systems for habitats for planetary exploration. The CONFIG hybrid discrete event simulation environment provides flexible and dynamically reconfigurable models of the behavior of components and fluids in the life support systems. Both discrete event and continuous (discrete time) simulation are supported, and flows and pressures are computed globally. This provides fast dynamic simulations of interacting hardware systems in closed loops that can be reconfigured during operations scenarios, producing complex cascading effects of operations and failures. Current object-oriented model libraries support modeling of fluid systems, and models have been developed of physico-chemical and biological subsystems for processing advanced life support gases. In FY01, water recovery system models will be developed.

Malin, Jane T.↗
NASA NTRSDate not supplied

Software Design for the Supervised Autonomous Assembly of a Tall Lunar Tower

Tall towers enable a wide-ranging set of capabilities on the lunar surface including communication, navigation, surveillance, power generation, and more. The Tall Lunar Tower project at NASA Langley Research Center is focused on the design, modeling, fabrication, and testing of an engineering development unit to assemble a tall tower through supervised autonomous operations. In this paper, the software design for the supervised autonomous assembly of a tall lunar tower is presented. The paper includes a high-level description of the concept of operations, the agents, and an overview of the software architecture.

Moon↗