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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 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
DOE OSTI2018

Adaptation of Commercially Available Robots for Conditioning and Packaging ILW at Sellafield - 18282

The Legacy Ponds and Silos at Sellafield site contain some of the most hazardous Intermediate Level Waste (ILW) in the UK. As part of a multi-billion pound decommissioning programme, this waste will be retrieved and transported across the site for conditioning and packaging in the Box Encapsulation Plant (BEP). Current plans are to commence plant active commissioning in 2022, which will represent a major milestone in the UK nuclear decommissioning programme. Within the plant, skips of waste will be transferred from the shielded transport package into standard 3 cubic metre ILW containers. Waste from the Pile Fuel Storage Pond and First Generation Magnox Storage Pond will be immobilised in cementitious grout before being transferred to an adjacent store. Waste from the Magnox Swarf Storage Silo will not be immobilised in grout, but will be packaged, providing multi-barrier containment. During the concept design, the project team selected commercially available robots as the most viable technology for carrying out the numerous dexterous and repetitive tasks involved in characterising, conditioning and packaging the waste within the shielded 'hot' cells. Significant technical challenges had to be overcome during the design to adapt a commercially available robot for use within a high radiation / high contamination environment, where human access is not safe even for short periods of time. These challenges included: - Designing robot assemblies that could be retrofitted into the existing cell structure that was constructed as part of an earlier project but never completed; - Designing robot assemblies that could be recovered to their 'transport' position without requiring manual intervention; - Designing robot assemblies that could be remotely removed and replaced with new ones if they failed part way through the plant operational life; - Designing through-wall service and power connections that allow maintenance and recovery; - Designing control systems and human-machine interfaces that enable both manual and automated operation of the robot, whilst avoiding collisions with the in-cell cranes and other in cell furniture; - Assessing the radiation tolerance of all items. Bespoke computer simulations and full-scale development trials have been carried out, using non-active test materials, in order to demonstrate the Technology Readiness Level (TRL) required by Sellafield Limited (SL) at each stage of the project [1]. The results of these trials have been recorded in both video and written form so that they can form part of the project's Knowledge Management database. Detailed designs and specifications for the robot assemblies have been updated to incorporate the recommendations from the development trials. Procurement and manufacture of robot assemblies has already commenced to deliver two waste handling robots, two waste container lidding / swabbing robots and associated critical spares. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1987

Collision-free motion of two robot arms in a common workspace

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

Basta, Robert A.↗
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

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

Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.

Prinz, F. B.↗
NASA NTRS2005

CCA Test Objectives

Three sources have been considered to provide information allowing the evaluation of the Collision Conflict Avoidance (CCA) functional requirements: existing data, simulation, and flight test. The existing data sources that have been evaluated have been found to be lacking in two areas: The actual data that was recorded and missing elements to the system architecture. Many previous tests addressing collision avoidance were conducted without a remote operator. As such, they are missing critical elements that are required to assess the CCA functional requirements. Tests such as ERAST were conducted with all of the UAS elements. However, ERAST tests were conducted as a demonstration and the data recorded was of end-to-end performance. Many contributing elements of the system were not individually recorded or were recorded at a data rate insufficient for the purposes of evaluating the CCA functional requirements.

Source record↗
DOE OSTI2018

Collision-free poisson motion planning in ultra high-dimensional molecular conformation spaces

The function of protein, RNA, and DNA is modulated by fast, dynamic exchanges between three-dimensional conformations. Conformational sampling of biomolecules with exact and nullspace inverse kinematics, using rotatable bonds as revolute joints and noncovalent interactions as holonomic constraints, can accurately characterize these native ensembles. However, sampling biomolecules remains challenging owing to their ultra-high dimensional configuration spaces, and the requirement to avoid (self-) collisions, which results in low acceptance rates. In this paper, we present two novel mechanisms to overcome these limitations. First, we introduce temporary constraints between near-colliding links. The resulting constraint varieties instantaneously redirect the search for collision-free conformations, and couple motions between distant parts of the linkage. Second, we adapt a randomized Poisson-disk motion planner, which prevents local oversampling and widens the search, to ultra-high dimensions. Tests on several model systems show that the sampling acceptance rate can increase from 16% to 70%, and that the conformational coverage in loop modeling measured as average closeness to existing loop conformations doubled. Finally, correlated protein motions identified with our algorithm agree with those from MD simulations.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS2018

Part 121 Taxi/Parked Ground Conflict Related Incidents

This presentation reviews voluntary safety reports received by NASA's Aviation Safety Reporting System pertaining to Part 121 Taxi/Parked Ground Conflicts. Ground Conflict, Critical • Two or more aircraft (one may be airborne) in conflict, or an aircraft in conflict with a vehicle/person/object in which the reporter or other involved party took evasive action to avoid a collision, or a collision that almost occurred in cases where evasive action was not taken or possible. The evasive action can include an emergency go-around, veering on a taxiway/runway, rejected takeoff/abort, emergency braking, or an aircraft overflying another aircraft 50 feet or less.  Ground Conflict, Less Severe • Two or more aircraft (one may be airborne) in conflict, or an aircraft in conflict with a vehicle/person/object in which the reporter or other involved party may, or may not have taken precautionary avoidance action, and in which a collision hazard was not imminent.  Ground Event / Encounter – Aircraft • Actual physical contact with another aircraft when aircraft is on the ground. All Aircraft Involved in Incidents Conflicting Aircraft by Weight Classification Flight Conditions and Time (Quarter of Day) Contributing Factors and Human Factors (Event)

taxi↗
NASA NTRS2017

DANTi: Detect and Avoid iN The Cockpit

Mid-air collision risk continues to be a concern for manned aircraft operations, especially near busy non-towered airports. The use of Detect and Avoid (DAA) technologies and draft standards developed for unmanned aircraft systems (UAS), either alone or in combination with other collision avoidance technologies, may be useful in mitigating this collision risk for manned aircraft. This paper describes a NASA research effort known as DANTi (DAA iN The Cockpit), including the initial development of the concept of use, a software prototype, and results from initial flight tests conducted with this prototype. The prototype used a single Automatic Dependent Surveillance - Broadcast (ADS-B) traffic sensor and the own aircraft's position, track, heading and air data information, along with NASA-developed DAA software to display traffic alerts and maneuver guidance to manned aircraft pilots on a portable tablet device. Initial flight tests with the prototype showed a successful DANTi proof-of-concept, but also demonstrated that the traffic separation parameter set specified in the RTCA SC-228 Phase I DAA MOPS may generate excessive false alerts during traffic pattern operations. Several parameter sets with smaller separation values were also tested in flight, one of which yielded more timely alerts for the maneuvers tested. Results from this study may further inform future DANTi efforts as well as Phase II DAA MOPS development.

Chamberlain, James↗
NASA NTRS2018

To Maneuver or Not to Maneuver that Is the Question

The Earth Observing System (EOS) missions, Terra, Aqua, and Aura, are NASA's flagship Earth Science missions and are part of the International Earth Science Constellation (ESC). The ESC is composed of satellites that fly in the Afternoon Constellation (also known as the A-Train) and the Morning Constellation. All missions fly in 705-kilometer altitude, polar sun-synchronous orbits that are inclined 98.2 degrees. NASA's key operational priorities are to keep the satellites safe and maintain open and cooperative communications between all member missions. As the NASA Mission Director for the EOS Aqua and Aura satellites since their respective launches in 2002 and 2004, Mr. Guit has been responsible for the safety and operations of the satellites as they have successfully operated in the A-Train. Mr. Guit will present a recent EOS Aqua debris avoidance maneuver planning and execution challenge, how it was overcome, and how it affected the other member missions of the A-Train constellation.

Orbital debris↗
DOE OSTI2021

Anisotropic fluid dynamical simulations of heavy-ion collisions

We present VAH, a (3+1)–dimensional simulation that evolves the far-from-equilibrium quark-gluon plasma produced in ultrarelativistic heavy-ion collisions with anisotropic fluid dynamics. We solve the hydrodynamic equations on an Eulerian grid using the Kurganov–Tadmor algorithm in combination with a new adaptive Runge–Kutta method. Our numerical scheme allows us to start the simulation soon after the nuclear collision, largely avoiding the need to integrate it with a separate pre-equilibrium dynamics module. We test the code's performance by simulating on the Eulerian grid conformal and non-conformal Bjorken flow as well as conformal Gubser flow, whose (0+1)–dimensional solutions are precisely known. Finally, we compare non-conformal anisotropic hydrodynamics to second-order viscous hydrodynamics in central Pb+Pb collisions and find that the former's longitudinal flow profile responds more consistently to the fluid's gradients along the spacetime rapidity direction.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRSDate not supplied

Clutter Assessment for an Autonomous Multi-Agent Search Mission

This paper presents a method for evaluating the amount of clutter in a region where autonomous vehicles in a multi-agent system must operate based on LIDAR point cloud measurements. The point cloud is used to generate an occupancy grid which is then projected onto a 2D plane of vehicle motion, constituting an image. A series of Gaussian radial basis functions (GRBFs) is created, each centered at an occupied pixel in a 2D image, and summed together to form the clutter field. The clutter field is a representation of the density and permeability of the space at each coordinate. The clutter field is then approximated such that iso-clutter contours are simple geometric objects so that intelligent machine assets can easily query the distance between them and any given point in an environment. In this way, agents are able to determine whether to enter into or steer away from areas of interest. Each vehicle has a clutter threshold representing the clutter value of the space in which it can safely maneuver. The iso-clutter contour corresponding to a vehicle’s clutter threshold is treated as the boundary of an obstacle to be avoided. A simulation is presented where a multi-agent system is tasked with persistent observation of a cluttered area. Each vehicle in the simulation has a different clutter threshold. The vehicles use a potential field-based guidance algorithm, and an allocation of vehicles to specific regions of the space emerges.

multi-agent↗
NASA NTRSDate not supplied

Hazard Perception and Avoidance (HPA): Technical Work Overview

This short presentation provides an overview of the technical work that has been performed, and is planned, under the Advanced Air Mobility project's Hazard Perception and Avoidance (HPA) technical area. The presentation starts with a brief overview of the HPA technical area. The brief then covers a recently-completed part task human-in-the-loop simulation and outlines a follow-on simulation that is planned for August. The next portion of the brief outlines HPA's flight test plans, including some details on the Integration of Automated Systems (IAS) flights planned for 2023. The presentation ends with a high level overview of the activies planned in the out years of the HPA project.

advance air mobility↗
NASA NTRSDate not supplied

Hazard Perception and Avoidance (HPA) Technical Work Overview

This short presentation provides an overview of the technical work that has been performed, and is planned, under the Advanced Air Mobility project's Hazard Perception and Avoidance (HPA) technical area. The presentation starts with a brief overview of the HPA technical area. The brief then covers a recently-completed part task human-in-the-loop simulation and outlines a follow-on simulation that is planned for August. The next portion of the brief outlines HPA's flight test plans, including some details on the Integration of Automated Systems (IAS) flights planned for 2023. The presentation ends with a high level overview of the activies planned in the out years of the HPA project.

advanced air mobility↗
DOE OSTI2022

Can we use antipredator behavior theory to predict wildlife responses to high-speed vehicles?

Animals seem to rely on antipredator behavior to avoid vehicle collisions. There is an extensive body of antipredator behavior theory that have been used to predict the distance/time animals should escape from predators. These models have also been used to guide empirical research on escape behavior from vehicles. However, little is known as to whether antipredator behavior models are appropriate to apply to an approaching high-speed vehicle scenario. We addressed this gap by (a) providing an overview of the main hypotheses and predictions of different antipredator behavior models via a literature review, (b) exploring whether these models can generate quantitative predictions on escape distance when parameterized with empirical data from the literature, and (c) evaluating their sensitivity to vehicle approach speed using a simulation approach wherein we assessed model performance based on changes in effect size with variations in the slope of the flight initiation distance (FID) vs. approach speed relationship. The slope of the FID vs. approach speed relationship was then related back to three different behavioral rules animals may rely on to avoid approaching threats: the spatial, temporal, or delayed margin of safety. We used literature on birds for goals (b) and (c). Our review considered the following eight models: the economic escape model, Blumstein’s economic escape model, the optimal escape model, the perceptual limit hypothesis, the visual cue model, the flush early and avoid the rush (FEAR) hypothesis, the looming stimulus hypothesis, and the Bayesian model of escape behavior. We were able to generate quantitative predictions about escape distance with the last five models. However, we were only able to assess sensitivity to vehicle approach speed for the last three models. The FEAR hypothesis is most sensitive to high-speed vehicles when the species follows the spatial (FID remains constant as speed increases) and the temporal margin of safety (FID increases with an increase in speed) rules of escape. The looming stimulus effect hypothesis reached small to intermediate levels of sensitivity to high-speed vehicles when a species follows the delayed margin of safety (FID decreases with an increase in speed). The Bayesian optimal escape model reached intermediate levels of sensitivity to approach speed across all escape rules (spatial, temporal, delayed margins of safety) but only for larger (> 1 kg) species, but was not sensitive to speed for smaller species. Overall, no single antipredator behavior model could characterize all different types of escape responses relative to vehicle approach speed but some models showed some levels of sensitivity for certain rules of escape behavior. We derive some applied applications of our findings by suggesting the estimation of critical vehicle approach speeds for managing populations that are especially susceptible to road mortality. Overall, we recommend that new escape behavior models specifically tailored to high-speeds vehicles should be developed to better predict quantitatively the responses of animals to an increase in the frequency of cars, airplanes, drones, etc. they will face in the next decade.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2019

Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project

Phase 1 of the UAS-NAS (Unmanned Aircraft Systems-National Airspace System) project focused on MOPS (Minimum Operational Performance Standards) development for large UAS transitioning through Class D, E, and G airspace. Phase 2 activities are currently focused on extended UAS operations in Class D, E, and G airspace, as well as sensors and architectures that will enable DAA (Detect and Avoid) equipment to be installed on a wider range of UAS. Encounters with non-cooperative intruders in low altitude airspace under 10,000 feet will be explored for UAS with a low Size, Weight, and Power (SWaP) radar. New sensors for detecting non-cooperative intruder aircraft will have a more limited detection range and field of regard; therefore, the analysis of non-cooperative encounter geometries may help in developing the requirements for an onboard low SWaP radar (and electro-optical sensor). The current simulation, led by HSI (Human Systems Integration Division at NASA Ames Research Center) as part of the DAA subproject, will support efforts toward developing a modified DAA Well Clear (DWC) definition that would be more appropriate for UAS equipped with limited surveillance and aircraft performance capabilities compared to the Phase 1 DAA system. The findings will inform Phase 2 display requirements for alternative surveillance use cases.

Collision Avoidance↗
DOE OSTI2023

Perception Testing in Fog for Autonomous Flight

As the path towards Urban Air Mobility (UAM) continues to take shape, there are outstanding technical challenges to achieving safe and effective air transportation operations under this new paradigm. To inform and guide technology development for UAM, NASA is investigating the current state-of-the-art in key technology areas including traffic management, detect-and-avoid, and autonomy. In support of this effort, a new perception testbed was developed at NASA Ames Research Center to collect data from an array of sensing systems representative of those that could be found on a future UAM vehicle. This testbed, featuring a Light-Detection-and-Ranging (LIDAR) instrument, a long-wave infrared sensor, and a visible spectrum camera was deployed for a multiday test campaign in the Fog Chamber at Sandia National Laboratories (SNL), in Albuquerque, New Mexico. During the test campaign, fog conditions were created for tests with targets including a human, a resolution chart, and a small unmanned aerial vehicle (sUAV). Here, this paper describes in detail, the developed perception testbed, the experimental setup in the fog chamber, the resulting data, and presents an initial result from analysis of the data with the evaluation of methods to increase contrast through filtering techniques.

aeronautics↗