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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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NASA NTRS1974

Martian and lunar science with remotely-controlled long-range surface vehicles

Science objectives are outlined for long surface traverse missions on Mars and the moon, with remotely-controlled roving vehicles. Series of candidate rover science payloads are proposed, varying in purpose, development needed, cost, and weight (35 to almost 300 kg). A high degree of internal control will be needed on the Mars rover, including the ability to carry out complex science sequences. Decision-making by humans in the Mars mission includes supervisory control of rover operations and selection of features and samples of geological and biological interest. For the lunar mission, less control on the rover and more on earth is appropriate. Operational problem areas for Mars include control, communications, data storage, night operations, and the mission operations system. For the moon, science data storage on the rover would be unnecessary and control much simpler.

Jaffe, L. D.↗

NASA NTRS1991

JPL space station telerobotic engineering prototype development: Advanced telerobotics system technology

The objective of the Advanced Telerobotics System Technology Task is to develop/prototype advanced telerobotics supervisory and shared control to enhance Intra-Vehicular Activity (IVA) teleoperation in the Space Station. The technology provides enhanced telerobotics capabilities while operating within the expected constraints of computation limitations, time delay, and bus bandwidth. A local site operator interface has also been developed for specifying teleoperation and shared control modes as well as supervised autonomous macros for execution at the remote site. The primary objective of the task is to transfer the advanced technology to appropriate flight centers to enhance the baseline Station capabilities.

Backes, Paul G.↗

NASA NTRS2015

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Hebert, Paul↗

NASA NTRS1991

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗

NASA NTRS1990

UMI - An interactive supervisory and shared control system for telerobotics

An interactive user interface, User-Macro-Interface (UMI), and its complete task execution system are developed and implemented for utilization by an operator to describe, simulate and execute tasks on a multiarm telerobot. The sequences or primitives can be executed on a graphics simulator or on the JPL Telerobot which incorporates two task execution manipulators, one manipulation used for positioning cameras, and two 6-degree-of-freedom force-reflecting hand controllers employed for shared and teleoperation modes of execution. The UMI interface is to be used as the operator interface at a local command site to prepare and send commands to a remote space telerobot.

Backes, Paul G.↗

NASA NTRS1988

Diagnostics in the Extendable Integrated Support Environment (EISE)

Extendable Integrated Support Environment (EISE) is a real-time computer network consisting of commercially available hardware and software components to support systems level integration, modifications, and enhancement to weapons systems. The EISE approach offers substantial potential savings by eliminating unique support environments in favor of sharing common modules for the support of operational weapon systems. An expert system is being developed that will help support diagnosing faults in this network. This is a multi-level, multi-expert diagnostic system that uses experiential knowledge relating symptoms to faults and also reasons from structural and functional models of the underlying physical model when experiential reasoning is inadequate. The individual expert systems are orchestrated by a supervisory reasoning controller, a meta-level reasoner which plans the sequence of reasoning steps to solve the given specific problem. The overall system, termed the Diagnostic Executive, accesses systems level performance checks and error reports, and issues remote test procedures to formulate and confirm fault hypotheses.

Brink, James R.↗

NASA NTRS1979

Computer aided control of a mechanical arm

A method for computer-aided remote control of a six-degree-of-freedom manipulator arm involved in the on-orbit servicing of a spacecraft is presented. The control configuration features a supervisory type of control in which each of the segments of a module exchange trajectory is controlled automatically under human supervision, with manual commands to proceed to the next step and in the event of a failure or undesirable outcome. The implementation of the supervisory system is discussed in terms of necessary onboard and ground- or Orbiter-based hardware and software, and a one-g demonstration system built to allow further investigation of system operation is described. Possible applications of the system include the construction of satellite solar power systems, environmental testing and the control of heliostat solar power stations.

Derocher, W. L., Jr.↗

DOE OSTI2020

Design, Development and Testing Plan for Energy Efficiency Algorithms Related to Building-Integrated Cooling, Heating, and Power Systems

Building-integrated cooling, heating and power (CHP) systems are more efficient than conventional systems at providing local power and thermal energy, and favorable fuel prices are bound to spur their increased adoption. It is estimated that the total CHP technical potential in the commercial building sector is approximately 76 GW, but only a small fraction of it is actually deployed. Advanced control and monitoring systems that realize the full potential of these CHP systems can transform this capacity into an asset for both the owner and the grid and also accelerate the adoption of these systems in the building sector. However, to realize the full benefit of the CHP systems, we must ensure persistence of energy efficient operations. It has been demonstrated by several studies that as much as 30% of building energy use is wasted. Much of the waste results from the inability to anticipate load variations (design day vs. non-design day operations; diurnal variation of loads), identify improper operation, and efficiently operate, control and maintain building systems. Moreover, many buildings, even those with adequate control infrastructure, lack knowledgeable staff to operate and maintain energy systems. Operators of buildings with CHP systems will constantly need to make tradeoffs (economic dispatch) between onsite power generation and purchasing power, between onsite heat production from distributed generation versus heating/cooling from conventional systems, and different passive and active load management measures. Much of the inefficiency in the current building operations can be eliminated by use of automated performance monitoring (PM), real-time commissioning verification (CxV) and automated fault detection and diagnostic (AFDD) tools. Automation can help system operators make intelligent decisions. Remote and continuous monitoring of system conditions and performance will enable better management and integration of CHP with existing building systems. Continuous PM, real-time CxV and AFDD could alleviate burdens for operations staff, enhance operations and maintenance (O&M), and improve reliability of building and CHP systems. To address the O&M challenges and to provide a means to maximize the rate-of-return of building-integrated CHP systems, the Building Technologies Office (BTO) within the U.S. Department of Energy’s (DOE’s) Office of Energy Efficiency and Renewable Energy (EERE) initiated a project to design, develop, and field test a VOLTTRON™-based supervisory controller and associated open-source algorithms. These algorithms will ensure real-time optimal operation of a building-integrated CHP system, support electric grid reliability, and lead to achieving the goal of a clean, efficient, reliable and affordable next-generation integrated energy systems. This report lists the components for which PM, real-time CxV and AFDD algorithms will be developed, how the algorithms will be tested, and metrics that will be used to validate the algorithms and easy of deployment. Deployment of these algorithms in the field will result in savings reduction in energy consumption of between 10% and 20%.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2020

Implementation Plan for Combined Heat and Power Systems VOLTTRON Controller: Performance Monitoring and Real-Time Commissioning Algorithm Verification

Building-integrated cooling, heating, and power (CHP) systems are more efficient than conventional systems at providing local power and thermal energy, and favorable fuel prices are bound to spur their increased adoption. However, to realize the full benefit of the CHP systems, we must ensure persistence of energy efficient operations. Much of the inefficiency in the current building operations can be eliminated by use of automated performance monitoring (PM), real-time commissioning verification (CxV) and automated fault detection and diagnostic (AFDD) tools. Automation can help system operators make intelligent decisions. Remote and continuous monitoring of system conditions and performance will enable better management and integration of CHP with existing building systems. Continuous PM, real-time CxV, and AFDD could alleviate burdens for operations staff, enhance operations and maintenance (O&M), and improve reliability of building and CHP systems. To address the O&M challenges and to provide a means to maximize the rate-of-return of building-integrated CHP systems, the Building Technologies Office (BTO) within the U.S. Department of Energy’s (DOE’s) Office of Energy Efficiency and Renewable Energy (EERE) initiated a project to design, develop, and field test a VOLTTRON™-based supervisory controller and associated open-source algorithms. These algorithms will ensure real-time optimal operation of a building-integrated CHP system, support electric grid reliability, and lead to achieving the goal of clean, efficient, reliable, and affordable next-generation integrated energy system. Previous report listed the components for which PM, real-time CxV, and AFDD algorithms will be developed, how the algorithms will be tested, and the metrics that will be used to validate the algorithms and their ease of deployment. Deployment of these algorithms in the field will result in a reduction in energy consumption of between 10% and 20% (for both CHP and conventional building systems). This report builds upon the previous report by detailing the process by which PNNL will implement performance monitoring and real-time commissioning algorithms for CHP systems in conjunction with the use of the VOLTTRON CHP economic dispatch agent in host facilities.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2021

Energy Management Information Systems Technical Resources Report

Guide supports federal facility staff in understanding, designing, procuring, and implementing Energy Management Information Systems (EMIS) as a valuable component of their portfolio-level energy and water planning and management strategies. As a broad and rapidly evolving family of tools that monitor, analyze, and control building energy use and system performance, EMIS tools present significant opportunities for federal sector energy savings and improved operational performance. EMIS are at the forefront of transforming energy management best practices by providing building owners and operators with well-organized building performance and energy consumption data, enabling a host of analytic capabilities. These capabilities include portfolio-wide energy benchmarking, data visualization, and key performance indicator tracking; automated fault detection and diagnostics (AFDD); artificial intelligence for predictive analytics and control; automated measurement and verification of energy conservation measures; and supervisory control enabling automated system optimization and demand management.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2022

Machine-learning identification of the variability of mean velocity and turbulence intensity for wakes generated by onshore wind turbines: Cluster analysis of wind LiDAR measurements

Light detection and ranging (LiDAR) measurements of isolated wakes generated by wind turbines installed at an onshore wind farm are leveraged to characterize the variability of the wake mean velocity and turbulence intensity during typical operations, which encompass a breadth of atmospheric stability regimes and rotor thrust coefficients. The LiDAR measurements are clustered through the k-means algorithm, which enables identifying the most representative realizations of wind turbine wakes while avoiding the imposition of thresholds for the various wind and turbine parameters. Considering the large number of LiDAR samples collected to probe the wake velocity field, the dimensionality of the experimental dataset is reduced by projecting the LiDAR data on an intelligently truncated basis obtained with the proper orthogonal decomposition (POD). The coefficients of only five physics-informed POD modes are then injected in the k-means algorithm for clustering the LiDAR dataset. The analysis of the clustered LiDAR data and the associated supervisory control and data acquisition and meteorological data enables the study of the variability of the wake velocity deficit, wake extent, and wake-added turbulence intensity for different thrust coefficients of the turbine rotor and regimes of atmospheric stability. Furthermore, the cluster analysis of the LiDAR data allows for the identification of systematic off-design operations with a certain yaw misalignment of the turbine rotor with the mean wind direction.

17 WIND ENERGY↗

NASA NTRS2012

Forming Human-Robot Teams Across Time and Space

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

Hambuchen, Kimberly↗

NASA NTRS2014

Scalable Asset Discovery, Vulnerability Scanning, and Penetration Testing for Remote Sites and Wireless Spectrums Utilizing an Embedded Linux Plug - PwniPlug and the Raspberry Pi B+ as a Sample Pen Test

All devices attached to the NASA KSC network are subject to security vulnerability scanning and/or penetration testing. In today's changing environment, vulnerable and/or unprotected systems can easily be overlooked. Systems that are not properly managed can become a potential threat to the operational integrity of our systems and networks. This includes all NASA (internal and external) information systems within NASA KSC Internet Protocol (IP) address space, and NASA KSC facilities. The Office of the Chief Information Officer (OCIO) recommends that all NASA Centers and information systems be subject to penetration testing on a regular interval in accordance with the guidelines identified by the National Institute of Standards and Technology (NIST). (ITS-HBK-2810.04-02A) Protecting information and equipment at NASA is an area of increasing concern. In addition to the CPU's on the network; Supervisory, Control and Data Acquisition (SCADA) systems are especially vulnerable because these systems have lacked standards, use embedded controllers with little computational power and informal software, are connected to physical processes, have few operators, and are increasingly also being connected to corporate networks. The scope of work is comprised of several individual components which together build upon previous work by Drew Branch, NASA KSC Intern. The Pwn Plug is the selected COTS (Commercial-Off-The-Shelf) device chosen to test simplification of mandatory IT Security tasks. The device will be utilized to provide services to NASA KSC and enable an assessment of infrastructure soundness and regulatory compliance in an efficient, economical, and business responsive manner. The Pwn Plug is designed as a pen testing appliance which provides a hardware platform that can support commercial penetration testing efforts at significantly reduced costs. The expected outcomes are: 1) External Penetration Testing, 2) Social Engineering, 3) Procedural Documentation, 4) Recommended Remediation Action Plan, 5) System Retest & Remediation Attestation and 6) Final Reports, out briefing and Presentation. Due to physical and material constraints beyond intern and mentor control, the project was redefined as a working pen-test scenario. Limitations of lab availability and tools dictated an academic exercise. This report was developed within the scenario guidelines suggested by the project mentor. The guidelines were to be creative in developing a Pen Test program for a client.

Penetration Testing↗

DOE OSTI2020

Experimental Test Bed to Enable Realistic Evaluations for Direct Transfer Trip Relaying via Private Wireless LTE Communications

Increasing penetration levels of inverter-based distributed energy resources (DERs) in distribution systems are creating challenges in system operation. Currently, wired or proprietary wireless communications are used by advanced distribution management systems (ADMS) to detect the state of the system and control the DERs for optimal operation. Wireless communications are an alternative solution that can enable connectivity between the dispersed assets used in distribution system applications. This paper demonstrates an experimental test bed to enable the realistic evaluation of communications system characteristics for direct transfer trip (DTT) relaying of a photovoltaic inverter system using a private 900-MHz spectrum wireless LTE network. Private LTE network communications can be deployed to many remote DERs and other grid-edge devices to prevent costly infrastructure upgrades across distribution systems. In addition, this paper provides a framework for evaluating the impact of signal strength and network traffic in communications systems. The results shown develop a better understanding of the best practices for using LTE communications systems across multiple utility applications, such as protective relaying, voltage regulation, and supervisory control and data acquisition system messages.

900-MHz LTE network↗

DOE OSTI2020

Experimental Test Bed to Enable Realistic Evaluations for Direct Transfer Trip Relaying via Private Wireless LTE Communications: Preprint

900 MHz LTE network↗

DOE OSTI2021

Experimental Test Bed to Enable Realistic Evaluations for Direct Transfer Trip Relaying via Private Wireless LTE Communications

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2022

Integration of Control Methods and Digital Twins for Advanced Nuclear Reactors

Advanced nuclear reactors offer a new set of features to energy generation, due to their ability to adapt to variable energy demand, operate autonomously, be deployed in rural locations and monitored remotely, afford compact size and lower power ratings, and rely on novel technologies to achieve safer operations. Thus, a requirement for the success of these reactors is the use of intelligent forms of control to track changing power demands, make autonomous decisions, and reduce the need for human involvement. Regulatory requirements pertaining to control of nuclear reactors could be met via historical means of control; however, these are not expected to enable the level of highly autonomous operations desired in advanced nuclear reactors. Historical control methods rely on both logical and high-performance (HP) control. These two types of control are usually used separately, with a human element being introduced whenever decisions are cascaded from one science to another. AI/ML control, on the other hand, can replace the human element in the current U.S. fleet of nuclear power plants (NPPs) by acting as a supervisory optimizer that understands the plant internal/external variables in order to make control decisions, and can easily handle non-linear and multi-input/multi out (MIMO) decisions—another requirement for advanced nuclear reactors that could be difficult to handle via logical and HP control. Because of the harsh operating environments produced in advanced reactors, resulting in the frequent failure of sensors and other types of equipment, and considering the lack of operating history for advanced nuclear reactors, control of advanced nuclear reactors would necessitate relying on a model that can track and adapt to the actual process (i.e., a digital twin). This digital twin can make approximations when knowledge and data are unavailable and would evolve as more knowledge is gained. The reactor control must also be risk-informed to account for the high-consequence nature of advanced reactors. This report introduces a high-level (i.e., not method- or process-specific) integration of the three different control and digital twinning methods able to meet the requirements for advanced nuclear reactors. These methods could be applied during both the operational and design stages of these reactors. The aim is to demonstrate how each method interfaces with and highlights enabling solutions necessitated by the unique features of advanced nuclear reactors.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS2000

Renewable Energy SCADA/Training Using NASA's Advanced Technology Communication Satellite

The lack of electrical energy in the rural communities of developing countries is well known, as is the economic unfeasibility of providing much needed energy to these regions via electric grids. Renewable energy (RE) can provide an economic advantage over conventional forms in meeting some of these energy needs. The use of a Supervisory Control and Data Acquisition (SCADA) arrangement via satellite could enable experts at remote locations to provide technical assistance to local trainees while they acquire a measure of proficiency with a newly installed RE system through hands-on training programs using the same communications link. Upon full mastery of the technologies, indigenous personnel could also employ similar SCADA arrangements to remotely monitor and control their constellation of RE systems. Two separate ACTS technology verification experiments (TVEs) have demonstrated that the portability of the Ultra Small Aperture Terminal (USAT) and the versatility of NASA's Advanced Communications Technology Satellite (ACTS), as well as the advantages of Ka band satellites, can be invaluable in providing energy training via distance education (DE), and for implementing renewable energy system SCADA. What has not been tested is the capabilities of these technologies for a simultaneous implementation of renewable energy DE and SCADA. Such concurrent implementations will be useful for preparing trainees in developing countries for their eventual SCADA operations. The project described in this correspondence is the first effort, to our knowledge, in this specific TVE. The setup for this experiment consists of a one-Watt USAT located at Florida Solar Energy Center (FSEC) connected to two satellite modems tuned to different frequencies to establish two duplex ACTS Ka-band communication channels. A short training program on operation and maintenance of the system will be delivered while simultaneously monitoring and controlling the hybrid using the same satellite communications link. The trainees will include faculty and students from Savannah State University, and staff from FSEC. An interactive internet link will be used to allow faculty from the University of West Indies to participate in the training session.

Kalu, A.↗