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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

Vehicle path-planning in three dimensions using optics analogs for optimizing visibility and energy cost

Path planning is an important issue for space robotics. Finding safe and energy-efficient paths in the presence of obstacles and other constraints can be complex although important. High-level (large-scale) path planning for robotic vehicles was investigated in three-dimensional space with obstacles, accounting for: (1) energy costs proportional to path length; (2) turn costs where paths change trajectory abruptly; and (3) safety costs for the danger associated with traversing a particular path due to visibility or invisibility from a fixed set of observers. Paths optimal with respect to these cost factors are found. Autonomous or semi-autonomous vehicles were considered operating either in a space environment around satellites and space platforms, or aircraft, spacecraft, or smart missiles operating just above lunar and planetary surfaces. One class of applications concerns minimizing detection, as for example determining the best way to make complex modifications to a satellite without being observed by hostile sensors; another example is verifying there are no paths (holes) through a space defense system. Another class of applications concerns maximizing detection, as finding a good trajectory between mountain ranges of a planet while staying reasonably close to the surface, or finding paths for a flight between two locations that maximize the average number of triangulation points available at any time along the path.

Rowe, Neil C.↗
NASA NTRS1989

Using multiple sensors for printed circuit board insertion

As more and more activities are performed in space, there will be a greater demand placed on the information handling capacity of people who are to direct and accomplish these tasks. A promising alternative to full-time human involvement is the use of semi-autonomous, intelligent robot systems. To automate tasks such as assembly, disassembly, repair and maintenance, the issues presented by environmental uncertainties need to be addressed. These uncertainties are introduced by variations in the computed position of the robot at different locations in its work envelope, variations in part positioning, and tolerances of part dimensions. As a result, the robot system may not be able to accomplish the desired task without the help of sensor feedback. Measurements on the environment allow real time corrections to be made to the process. A design and implementation of an intelligent robot system which inserts printed circuit boards into a card cage are presented. Intelligent behavior is accomplished by coupling the task execution sequence with information derived from three different sensors: an overhead three-dimensional vision system, a fingertip infrared sensor, and a six degree of freedom wrist-mounted force/torque sensor.

Sood, Deepak↗
NASA NTRS1990

Statistical mechanics models for motion and force planning

The models of statistical mechanics provide an alternative to the methods of classical mechanics more traditionally used in robotics. They have a potential to: improve analysis of object collisions; handle kinematic and dynamic contact interactions within the same frmework; and reduce the need for perfect deterministic world model information. The statistical mechanics models characterize the state of the system as a probability density function (p.d.f.) whose time evolution is governed by a partial differential equation subject to boundary and initial conditions. The boundary conditions when rigid objects collide reflect the conservation of momentum. The models are being developed to embedd in remote semi-autonomous systems with a need to reason and interact with a multiobject environment.

Rodriguez, G.↗
NASA NTRS1991

Automated site characterization for robotic sample acquisition systems

A mobile, semi-autonomous vehicle with multiple sensors and on-board intelligence is proposed for performing preliminary scientific investigations on extraterrestrial bodies prior to human exploration. Two technologies, a hybrid optical-digital computer system based on optical correlator technology and an image and instrument data analysis system, provide complementary capabilities which might be part of an instrument package for an intelligent robotic vehicle. The hybrid digital-optical vision system could perform real-time image classification tasks using an optical correlator with programmable matched filters under control of a digital microcomputer. The data analysis system would analyze visible and multiband imagery to extract mineral composition and textural information for geologic characterization. Together these technologies would support the site characterization needs of a robotic vehicle for both navigational and scientific purposes.

Scholl, Marija S.↗
NASA NTRS1993

A parallel implementation of a multisensor feature-based range-estimation method

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer.

Suorsa, Raymond E.↗
NASA NTRS1993

Fuzzy control of an unmanned helicopter

This paper discusses an application of fuzzy control to an unmanned helicopter. The authors design a fuzzy controller to achieve semi-autonomous flight of a helicopter by giving macroscopic flight commands from the ground. The fuzzy controller proposed in this study consists of two layers: the upper layer for navigation supervising the lower layer and the lower layer for ordinary rule based control. The performance of the fuzzy controller is evaluated in experiments where an industrial helicopter Yamaha R-50 is used. At present an operator can wirelessly control the helicopter through a flight computer with eight commands such as 'hover', 'fly forward', 'turn left', 'stop', etc.

Sugeno, M.↗
NASA NTRS1990

NASA Center for Intelligent Robotic Systems for Space Exploration

NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE.

Source record↗
NASA NTRS1992

The use of automation and robotic systems to establish and maintain lunar base operations

Robotic systems provide a means of performing many of the operations required to establish and maintain a lunar base. They form a synergistic system when properly used in concert with human activities. This paper discusses the various areas where robotics and automation may be used to enhance lunar base operations. Robots are particularly well suited for surface operations (exterior to the base habitat modules) because they can be designed to operate in the extreme temperatures and vacuum conditions of the Moon (or Mars). In this environment, the capabilities of semi-autonomous robots would surpass that of humans in all but the most complex tasks. Robotic surface operations include such activities as long range geological and mineralogical surveys with sample return, materials movement in and around the base, construction of radiation barriers around habitats, transfer of materials over large distances, and construction of outposts. Most of the above operations could be performed with minor modifications to a single basic robotic rover. Within the lunar base habitats there are a few areas where robotic operations would be preferable to human operations. Such areas include routine inspections for leakage in the habitat and its systems, underground transfer of materials between habitats, and replacement of consumables. In these and many other activities, robotic systems will greatly enhance lunar base operations. The robotic systems described in this paper are based on what is realistically achievable with relatively near term technology. A lunar base can be built and maintained if we are willing.

Petrosky, Lyman J.↗
NASA NTRS1991

Automation of closed environments in space for human comfort and safety

The development of Environmental Control and Life Support Systems (ECLSS) for Space Station Freedom, future colonization of the Moon, and Mars missions presents new challenges for present technologies. ECLSS that operate during long-duration missions must be semi-autonomous to allow crew members environmental control without constant supervision. A control system for the ECLSS must address these issues as well as being reliable. The Kansas State University Advanced Design Team is in the process of researching and designing controls for the automation of the ECLSS for Space Station Freedom and beyond. The ECLSS for Freedom is composed of six subsystems. The temperature and humidity control (THC) subsystem maintains the cabin temperature and humidity at a comfortable level. The atmosphere control and supply (ACS) subsystem insures proper cabin pressure and partial pressures of oxygen and nitrogen. To protect the space station from fire damage, the fire detection and suppression (FDS) subsystem provides fire-sensing alarms and extinguishers. The waste management (WM) subsystem compacts solid wastes for return to Earth, and collects urine for water recovery. The atmosphere revitalization (AR) subsystem removes CO2 and other dangerous contaminants from the air. The water recovery and management (WRM) subsystem collects and filters condensate from the cabin to replenish potable water supplies, and processes urine and other waste waters to replenish hygiene water supplies. These subsystems are not fully automated at this time. Furthermore, the control of these subsystems is not presently integrated; they are largely independent of one another. A fully integrated and automated ECLSS would increase astronauts' productivity and contribute to their safety and comfort.

Source record↗
NASA NTRS1993

Stanford Aerospace Research Laboratory research overview

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Ballhaus, W. L.↗
NASA NTRS1993

An overview of the Kennedy Space Center robotics program

The KSC program has the ability to prove the soundness of a particular robotic concept on the ground before it is used in space. In this context, three (3) robotic systems are discussed: the tile robot (Tessellator); HFIR (High Efficiency Particulate Air (HEPA) Filter Inspection Robot); and ARID (Automatic Radiator Inspection Project). The Tessellator is a semi-autonomous robotic system used to rewaterproof and inspect thermal protection system tiles on the underside of the orbiter. The HFIR is used for autonomous inspection of HEPA filters located at the top of the LC 39 payload changeout rooms. The ARID is designed for autonomous inspection of orbiter radiators for damage while in the orbiter processing facility.

Rhodes, Eric L.↗
NASA NTRS1992

Optical processing for range and attitude determination

A rugged, miniaturized, optical cross-correlator that recognizes a single object is particularly suitable for performing a single-vision function, such as pattern recognition for semi-autonomous navigation, landing, and docking of vehicles to a pre-designated landing mark. The optical cross-correlator, with a video input from a simple imaging system and the output of the optical correlation plane processed using the standard star tracker software, produces sufficient information for a spacecraft's terminal homing navigation system to complete a docking maneuver.

Scholl, M. S.↗
NASA NTRS1993

A parallel implementation of a multisensor feature-based range-estimation method

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer.

Suorsa, Raymond E.↗
NASA NTRS1994

Ground vehicle control at NIST: From teleoperation to autonomy

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

Murphy, Karl N.↗
NASA NTRS1994

The ground vehicle manager's associate

An overview of MAX, a software framework for manager's associate systems, is presented. MAX is used to develop and execute a problem-solving strategy for the task planning of semi-autonomous agents with the assistance of human performance. This paper describes the use of MAX in the supervisory management of robotic vehicles as they explore a planetary surface.

Edwards, Gary R.↗
NASA NTRS1990

Cryogenic On-Orbit Liquid Depot Storage, Acquisition, and Transfer Satellite (COLD-SAT)

The Cryogenic On-Orbit Liquid Depot Storage, Acquisition, and Transfer Satellite (COLD-SAT) will perform subcritical liquid hydrogen handling experiments under low gravity conditions to provide engineering data for future space transportation missions. Comprising the four Class 1 enabling experiments are tank press control, tank chilldown, tank no-vent fill, and liquid acquisition device fill/refill. The nine Class 2 enhancing experiments are tanker thermal performance, pressurization, low-gravity setting and outflow, liquid acquisition device performance, transfer line chilldown, outflow subcooling, low-gravity vented fill, fluid dumping, and advanced instrumentation. Consisting of an experiment module mated to a spacecraft bus, COLD-SAT will be placed in an initial 1300 km circular orbit by an Atlas commercial launch vehicle, and will perform experiments in a semi-autonomous mode for a period of up to six months. The three-axis controlled spacecraft bus provides electric power, control and data management, communications, and attitude control along with propulsive acceleration levels ranging from 10(exp -6) to 10(exp -4) g. It is desired to understand the effects that low acceleration levels might have on the heat and mass transfer processes involved in some of the experiments. The experiment module contains the three liquid hydrogen tanks, valves, pressurization and pumping equipment, and instrumentation. Within the highly insulated tanks are specialized fluid management equipment that might be used in future space transportation systems. At launch all the liquid hydrogen for the experiments is contained in the largest tank, which has helium-purged insulation to prevent cryo-pumping of air on the launch pad. The tank is loaded by the hydrogen tanking system used for the Centaur upper stage of the Atlas. After reaching orbit the two smaller tanks become receivers for fluid transfers, and when tanked, become the vessels for performing many of the experiments.

Schuster, John R.↗
NASA NTRS1990

Building distributed rule-based systems using the AI Bus

The AI Bus software architecture was designed to support the construction of large-scale, production-quality applications in areas of high technology flux, running heterogeneous distributed environments, utilizing a mix of knowledge-based and conventional components. These goals led to its current development as a layered, object-oriented library for cooperative systems. This paper describes the concepts and design of the AI Bus and its implementation status as a library of reusable and customizable objects, structured by layers from operating system interfaces up to high-level knowledge-based agents. Each agent is a semi-autonomous process with specialized expertise, and consists of a number of knowledge sources (a knowledge base and inference engine). Inter-agent communication mechanisms are based on blackboards and Actors-style acquaintances. As a conservative first implementation, we used C++ on top of Unix, and wrapped an embedded Clips with methods for the knowledge source class. This involved designing standard protocols for communication and functions which use these protocols in rules. Embedding several CLIPS objects within a single process was an unexpected problem because of global variables, whose solution involved constructing and recompiling a C++ version of CLIPS. We are currently working on a more radical approach to incorporating CLIPS, by separating out its pattern matcher, rule and fact representations and other components as true object oriented modules.

Schultz, Roger D.↗
DOE OSTI2025

Knowledge Transfer Program for International Nuclear Safeguards

Nuclear safeguards were first announced in 1945 by the U.S., Canadian and British governments as a means to exchange scientific information about peaceful uses of atomic energy and prevent the use of nuclear material for weapons. International nuclear safeguards, now under the provision of the International Atomic Energy Agency (IAEA), serves to hold accountable the 140 member countries (States) that have entered into treaties and agreements against the spread of nuclear weapons. Most notably, the IAEA acts as a nuclear materials inspectorate under the global Nuclear Non-Proliferation Treaty, brought about in 1968, that specifies commitments member States make to the world?s non-proliferation regime. The Office of International Nuclear Safeguards (OINS) is part of the National Nuclear Security Administration, a semi-autonomous agency within the U.S. Department of Energy. Within OINS, the Human Capital Development program recognizes the need to build workforce capacity and safeguards expertise. This includes supporting the education and training of younger generations working in international nuclear safeguards. One of the program?s main concerns is core competencies being lost to retirement or attrition and building knowledge retention pipelines from senior to new professionals. One identified core competency is knowledge gained by individuals who have completed IAEA assignments such as missions to member States to conduct safeguards inspections. Such individuals possess unique knowledge, and efforts are being put forth to effectively capture this knowledge within the national laboratories complex. To this end, we report findings from a one-year mentor-mentee knowledge retention program in which an international safeguards subject matter expert imparted knowledge and skills to a willing professional mentee. The knowledge and skills stem from the mentor?s multi-year assignment at the IAEA in Vienna, Austria.

98 - NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL↗