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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 NTRS1989

Adjustable impedance, force feedback and command language aids for telerobotics (parts 1-4 of an 8-part MIT progress report)

Projects recently completed or in progress at MIT Man-Machine Systems Laboratory are summarized. (1) A 2-part impedance network model of a single degree of freedom remote manipulation system is presented in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. (2) The extension of the predictor concept to include force feedback and dynamic modeling of the manipulator and the environment is addressed. (3) A system was constructed to infer intent from the operator's commands and the teleoperation context, and generalize this information to interpret future commands. (4) A command language system is being designed that is robust, easy to learn, and has more natural man-machine communication. A general telerobot problem selected as an important command language context is finding a collision-free path for a robot.

Sheridan, Thomas B.↗
NASA NTRS1990

Collision avoidance of a redundant manipulator operating through a window

The problem of collision-free operation of a redundant robot manipulator through a window is addressed. The window is modeled by a polygon with the sides representing the edges of the window. A performance criterion is defined to maximize the shortest distances between the arm link axes and the edges of the window. An efficient gradient projection optimization scheme for the kinematic control of manipulators with multiple degrees of redundancy is developed and used. The effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator (LTM), where controlling only the position of the end-effector provides three degrees of redundancy.

Zghal, H.↗
NASA NTRS1990

Planning and reasoning in the JPL telerobot testbed

The Telerobot Interactive Planning System is developed to serve as the highest autonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a task planner supporting disassembly and re-assembly operations, and a spatial planner for collision-free manipulator motion through the workspace. Each of these components is described in detail. Descriptions of the technical problem, approach, and lessons learned are included.

Peters, Stephen↗
NASA NTRS1991

Neural Architectures for Control

The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

Peterson, James K.↗
NASA NTRS1992

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

A capacitance based proximity sensor, the 'Capaciflector' (Vranish 92), has been developed at the Goddard Space Flight Center of NASA. We had investigated the use of this sensor for avoiding and maneuvering around unexpected objects (Mahalingam 92). The approach developed there would help in executing collision-free gross motions. Another important aspect of robot motion planning is fine motion planning. Let us classify manipulator robot motion planning into two groups at the task level: gross motion planning and fine motion planning. We use the term 'gross planning' where the major degrees of freedom of the robot execute large motions, for example, the motion of a robot in a pick and place type operation. We use the term 'fine motion' to indicate motions of the robot where the large dofs do not move much, and move far less than the mirror dofs, such as in inserting a peg in a hole. In this report we describe our experiments and experiences in this area.

Prinz, F. B. S.↗
NASA NTRS1991

Collision avoidance for CTV: Requirements and capabilities

Cargo transfer vehicle (CTV) operations near Space Station Freedom will require positive collision avoidance maneuver (CAM) capability to preclude any change of collision, even in the event of CTV failures. The requirements for CAM are discussed, and the CAM design approach and design of the Orbiting Maneuvering Vehicle (OMV) are reviewed; this design met requirements for OMV operation near the Space Station, provided a redundant collision avoidance maneuver capability. Significant portions of the OMV CAM design should be applicable to CTV. The key features of the OMV design are summarized and related to the CTV mission design to that of OMV's. CAM is a defined sequence of events executed by the CTV to place the vehicle in a safe position relative to a target such as the Space Station. CAM can be performed through software commands to the propulsion system, or through commands pre-stored in hardware. Various techniques for triggering CAM are considered, and the risks associated with CAM enable and execution in phases are considered. OMV CAM design features both hardware and software CAM capability, with analyses conducted to assess the ability to meet the collision-free requirement during all phases of the mission.

Nosek, Thomas P.↗
NASA NTRS1992

Collision avoidance of a multiple degree of redundancy manipulator operating through a window

The problem of collision-free operation of a multiple-degree-of-redundancy manipulator operating through a window is addressed. An efficient gradient projection optimization scheme is presented for the kinematic control of manipulators with multiple degrees of redundancy. This scheme was developed for dextrous robotic and telerobotic applications in space station construction as well as in congested shop floor environment. A performance criterion is defined to maximize the shortest distances between the manipulator links and the edges of the window. Effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator.

Zghal, H.↗
NASA NTRS1991

Path planning algorithms for assembly sequence planning

Planning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.

Krishnan, S. S.↗
NASA NTRS2000

Laboratory Astrochemistry: Interstellar PAHs

Polycyclic aromatic hydrocarbons (PAHs) are now considered to be an important and ubiquitous component of the organic material in space. PAHs are found in a large variety of extraterrestrial materials such as interplanetary dust particles (IDPs) and meteoritic materials. PAHs are also good candidates to account for the infrared emission bands (UIRs) and the diffuse interstellar optical absorption bands (DIBs) detected in various regions of the interstellar medium. The recent observations made with the Infrared Space Observatory (ISO) have confirmed the ubiquitous nature of the UIR bands and their carriers. PAHs are thought to form through chemical reactions in the outflow from carbon-rich stars in a process similar to soot formation. Once injected in the interstellar medium, PAHs are further processed by the interstellar radiation field, interstellar shocks and energetic particles. A major, dedicated, laboratory effort has been undertaken to measure the physical and chemical characteristics of these complex molecules and their ions under experimental conditions that mimic the interstellar conditions. These measurements require collision-free conditions where the molecules and ions are cold and chemically isolated. The spectroscopy of PAHs under controlled conditions represents an essential diagnostic tool to study the evolution of extraterrestrial PAHs. The Astrochemistry Laboratory program will be discussed through its multiple aspects: (1) objectives, (2) approach and techniques adopted, (3) adaptability to the nature of the problem(s), and (4) results and implications for astronomy as well as for molecular spectroscopy. A review of the data generated through laboratory simulations of space environments and the role these data have played in our current understanding of the properties of interstellar PAHs will be presented. The discussion will also introduce the newest generation of laboratory experiments that are currently being developed in order to provide a closer simulation of space environments and a better support to space missions.

Salama, Farid↗
NASA NTRS2000

Rate Constant and RRKM Product Study for the Reaction Between CH3 and C2H3 at T = 298K

The total rate constant k1 has been determined at P = 1 Torr nominal pressure (He) and at T = 298 K for the vinyl-methyl cross-radical reaction CH3 + C2H3 yields products. The measurements were performed in a discharge flow system coupled with collision-free sampling to a mass spectrometer operated at low electron energies. Vinyl and methyl radicals were generated by the reactions of F with C2H4 and CH4, respectively. The kinetic studies were performed by monitoring the decay of C2H3 with methyl in excess, 6 < |CH3|(sub 0)/|C2H3|(sub 0) < 21. The overall rate coefficient was determined to be k1(298 K) = (1.02 +/- 0.53)x10(exp -10) cubic cm/molecule/s with the quoted uncertainty representing total errors. Numerical modeling was required to correct for secondary vinyl consumption by reactions such as C2H3 + H and C2H3 + C2H3. The present result for k1 at T = 298 K is compared to two previous studies at high pressure (100-300 Torr He) and to a very recent study at low pressure (0.9-3.7 Torr He). Comparison is also made with the rate constant for the similar reaction CH3 + C2H5 and with a value for k1 estimated by the geometric mean rule employing values for k(CH3 + CH3) and k(C2H3 + C2H3). Qualitative product studies at T = 298 K and 200 K indicated formation of C3H6, C2H2, and C2H5 as products of the combination-stabilization, disproportionation, and combination-decomposition channels, respectively, of the CH3 + C2H3 reaction. We also observed the secondary C4H8 product of the subsequent reaction of C3H5 with excess CH3; this observation provides convincing evidence for the combination-decomposition channel yielding C3H5 + H. RRKM calculations with helium as the deactivator support the present and very recent experimental observations that allylic C-H bond rupture is an important path in the combination reaction. The pressure and temperature dependencies of the branching fractions are also predicted.

Thorn, R. Peyton, Jr.↗
NASA NTRS2000

Laboratory Astrochemistry: Interstellar PAH Analogs

Polycyclic aromatic hydrocarbons (PAHs) are now considered to be an important and ubiquitous component of the organic material in space. PAHs are found in a large variety of extraterrestrial materials such as interplanetary dust particles (IDPs) and meteoritic materials. PAHs are also good candidates to account for the infrared emission bands (UIRs) and the diffuse interstellar optical absorption bands (DIBs) detected in various regions of the interstellar medium. The recent observations made with the Infrared Space Observatory (ISO) have confirmed the ubiquitous nature of the UIR bands and their carriers. PAHs are though to form through chemical reactions in the outflow from carbon-rich stars in a process similar to soot formation. Once injected in the interstellar medium, PAHs are further processed by the interstellar radiation field, interstellar shocks and energetic particles. A major, dedicated, laboratory effort has been undertaken over the past years to measure the physical and chemical characteristics of these complex molecules and their ions under experimental conditions that mimic the interstellar conditions. These measurements require collision-free conditions where the molecules and ions are cold and chemically isolated. The spectroscopy of PAHs under controlled conditions represents an essential diagnostic tool to study the evolution of extraterrestrial PAHs. The Astrochemistry Laboratory program will be discussed through its multiple aspects: objectives, approach and techniques adopted, adaptability to the nature of the problem(s), results and implications for astronomy as well as for molecular spectroscopy. A review of the data generated through laboratory simulations of space environments and the role these data have played in our current understanding of the properties of interstellar PAHs will be presented. The discussion will also introduce the newest generation of laboratory experiments that are currently being developed in order to provide a closer simulation of space environments and a better support to space missions.

Salama, Farid↗
NASA NTRS2000

Molecular Spectroscopy in Astrophysics: Interstellar PAHs

Polycyclic aromatic hydrocarbons (PAHs) are now considered to be an important and ubiquitous component of the organic material in space. PAHs are found in a large variety of extraterrestrial materials such as interplanetary dust particles (IDPs) and meteoritic materials. PAHs are also good candidates to account for the infrared emission bands (UIRs) and the diffuse interstellar optical absorption bands (DIBs) detected in various regions of the interstellar medium. The recent observations made with the Infrared Space Observatory (ISO) have confirmed the ubiquitous nature of the UIR bands and their carriers. PAHs are thought to form through chemical reactions in the outflow from carbon-rich stars in a process similar to soot formation. Once injected in the interstellar medium, PAHs are further processed by the interstellar radiation field, interstellar shocks and energetic particles. A long-term laboratory effort has been undertaken to measure the physical and chemical characteristics of these carbon molecules and their ions under experimental conditions that mimic the interstellar conditions. These measurements require collision-free conditions where the molecules and ions are cold and chemically isolated. The spectroscopy of PAHs under controlled conditions represents an essential diagnostic tool to study the evolution of extraterrestrial PAHs. The laboratory results will be discussed as well as the implications for astronomy and for molecular spectroscopy. A review of the data generated through laboratory simulations of space environments and the role these data have played in our current understanding of the properties of interstellar PAHs will be presented. We will also present the new generation of laboratory experiments that are currently being developed in order to provide a closer simulation of space environments and a better support to space missions.

Salama, Farid↗
NASA NTRS2000

Laboratory Studies of Interstellar PAH Analogs

Polycyclic aromatic hydrocarbons (PAHs) are now considered to be an important and ubiquitous component of the organic material in space. PAHs are found in a large variety of extraterrestrial materials such as interplanetary dust particles (IDPs) and meteoritic materials. PAHs are also good candidates to account for the infrared emission bands (UIRs) and the diffuse interstellar optical absorption bands (DIBs) detected in various regions of the interstellar medium. The recent observations made with the Infrared Space Observatory (ISO) have confirmed the ubiquitous nature of the UIR bands and their carriers. PAHs are though to form through chemical reactions in the outflow from carbon-rich stars in a process similar to soot formation. Once injected in the interstellar medium, PAHs are further processed by the interstellar radiation field, interstellar shocks and energetic particles. A major, dedicated, laboratory effort has been undertaken over the past years to measure the physical and chemical characteristics of these complex molecules and their ions under experimental conditions that mimic the interstellar conditions. These measurements require collision-free conditions where the molecules and ions are cold and chemically isolated. The spectroscopy of PAHs under controlled conditions represents an essential diagnostic tool to study the evolution of extraterrestrial PAHs. The Astrochemistry Laboratory program will be discussed through its multiple aspects: objectives, approach and techniques adopted, adaptability to the nature of the problem(s), results and implications for astronomy as well as for molecular spectroscopy. A review of the data generated through laboratory simulations of space environments and the role these data have played in our current understanding of the properties of interstellar PAHs will be presented. The discussion will also introduce the newest generation of laboratory experiments that are currently being developed in order to provide a closer simulation of space environments and a better support to space missions.

Salama, Farid↗
NASA NTRS2005

Precise Laboratory Measurement of Line Frequencies Useful to Studies of Star and Planet Formation

In March 2002, we began a program in laboratory spectroscopy to provide accurate molecular line frequencies essential to studies of the motions and abundance in star-forming dense cores and planet-forming circumstellar disks. Summarized here is the progress that has been made in Year 3 of this grant. Work included measurement of 10 successive rotational lines in the ground vibrational state of SiO between 86 and 500 GHz, and two lines near 800 GHz to an accuracy of a few kHz; conducting pilot experiments on molecular ions in collision-free supersonic beams, including HCO+, N2H+, and H2D+; measurement of 22 lines of CN between 113 and 340 GHz; and setting up an experiment that would allow us to refine earlier measurements of the neutral species such as C3H2, CCS, H2CS, and SO by observing the very narrow sub-Doppler (Lamb dip) features in the millimeter-wave spectra of these species.

Myers, Philip C.↗
NASA NTRS2015

A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications

This paper presents a methods for safe spacecraft autonomous maneuvering that leverages robotic motion-planning techniques to spacecraft control. Specifically the scenario we consider is an in-plan rendezvous of a chaser spacecraft in proximity to a target spacecraft at the origin of the Clohessy Wiltshire Hill frame. The trajectory for the chaser spacecraft is generated in a receding horizon fashion by executing a sampling based robotic motion planning algorithm name Fast Marching Trees (FMT) which efficiently grows a tree of trajectories over a set of probabillistically drawn samples in the state space. To enforce safety the tree is only grown over actively safe samples for which there exists a one-burn collision avoidance maneuver that circularizes the spacecraft orbit along a collision-free coasting arc and that can be executed under potential thrusters failures. The overall approach establishes a provably correct framework for the systematic encoding of safety specifications into the spacecraft trajectory generations process and appears amenable to real time implementation on orbit. Simulation results are presented for a two-fault tolerant spacecraft during autonomous approach to a single client in Low Earth Orbit.

Spacecraft↗
NASA NTRS2017

Distributed Fast Motion Planning for Spacecraft Swarms in Cluttered Environments using Spherical Expansions and Sequence of Convex Optimization Problems

This paper presents a novel guidance algorithm for spacecraft swarms in an environment cluttered with many obstacles like a debris field or the asteroid belt. The objective of this algorithm is to reconfigure the swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. The agents first use a spherical-expansion-based sampling algorithm to cooperatively explore the workspace and find paths to the desired terminal positions. Using a distributed assignment algorithm, the agents converge on an optimal assignment of the target locations in the desired formation. Then each agent generates a locally optimal trajectory from its current location to its terminal position by solving a sequence of convex optimization problems. As the agent moves along this trajectory, it receives the position of other agents and updates its trajectory to avoid collisions with other agents and the obstacles. Thus the swarm achieves the desired formation in a distributed manner while avoiding collisions. Moreover, this algorithm is computationally efficient, therefore it can be implemented onboard resource-constrained spacecraft. Simulations results show that the proposed distributed algorithm can be used by a spacecraft swarm to reconfigure a desired formation around an asteroid in a collision-free manner.

Bandyopadhyay, Saptarshi↗
NASA NTRS2019

Vehicle to Vehicle (V2V) Communication for Collision Avoidance for Multi-Copters Flying in UTM -TCL4

NASA’s UAS Traffic management (UTM) research initiative is aimed at identifying requirements for safe autonomous operations of UAS operating in dense urban environments. For complete autonomous operations vehicle to vehicle (V2V) communications has been identified as an essential tool. In this paper we simulate a complete urban operations in an high fidelity simulation environment. We design a V2V communication protocol and all the vehicles participating communicate over this system. We show how V2V communication can be used for finding feasible, collision-free paths for multi agent systems. Different collision avoidance schemes are explored and an end to end simulation study shows the use of V2V communication for UTM TCL4 deployment.

Chakrabarty, Anjan↗
NASA NTRSDate not supplied

Simultaneous Temperature/Pressure Monitoring in Compressible Flows using Hybrid fs/ps Pure-Rotational CARS

We demonstrate simultaneous monitoring of temperature and pressure using a hybrid femtosecond/picosecond pure-rotational CARS technique in a one-dimensional line-imaging configuration. The method employs two detection channels and two 60-ps-duration probe laser beams with independently adjustable time delays from the broadband 35-fs pump/Stokes pulse. Simultaneous temperature and pressure monitoring is demonstrated along the centerline of a canonical under expanded compressible air jet flow emanating from a choked, sonic nozzle. Temperature is measured almost independently of pressure by analyzing CARS spectra obtained with a probe pulse near zero time delay for nearly collision-free acquisition. Pressure is obtained from spectra acquired with long probe time delays to sample the impact of gas-phase collisions. The CARS measurements were obtained in both time-averaged and single-laser-shot mode with 67 μm spatial resolution along the jet axis along a nominally 6-mm line. The measurements span a temperature and pressure range of T= 70-300 K and P= 0.05-1.2atm.

Sean P Kearney↗