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NASA NTRS2008

Developing Humanoid Robots for Real-World Environments

Humanoids are steadily improving in appearance and functionality demonstrated in controlled environments. To address the challenges of operation in the real-world, researchers have proposed the use of brain-inspired architectures for robot control, and the use of robot learning techniques that enable the robot to acquire and tune skills and behaviours. In the first part of the paper we introduce new concepts and results in these two areas. First, we present a cerebellum-inspired model that demonstrated efficiency in the sensory-motor control of anthropomorphic arms, and in gait control of dynamic walkers. Then, we present a set of new ideas related to robot learning, emphasizing the importance of developing teaching techniques that support learning. In the second part of the paper we propose the use in robotics of the iterative and incremental development methodologies, in the context of practical task-oriented applications. These methodologies promise to rapidly reach system-level integration, and to early identify system-level weaknesses to focus on. We apply this methodology in a task targeting the automated assembly of a modular structure using HOAP-2. We confirm this approach led to rapid development of a end-to-end capability, and offered guidance on which technologies to focus on for gradual improvement of a complete functional system. It is believed that providing Grand Challenge type milestones in practical task-oriented applications accelerates development. As a meaningful target in short-mid term we propose the 'IKEA Challenge', aimed at the demonstration of autonomous assembly of various pieces of furniture, from the box, following included written/drawn instructions.

Stoica, Adrian↗

NASA NTRS2018

Nasa's Launch Communications Ground Segment for the 21st Century Florida Spaceport

The National Aeronautics and Space Administration (NASA) Near Earth Network (NEN) Project is implementing a new launch communications ground segment to provide services for the next generation of human and robotic space exploration systems. It will deliver unique and advanced capabilities to accelerate the transformation of Kennedy Space Center into a multi-user spaceport in cooperation with the United States Air Force (USAF). The project has leveraged commercial technologies and remote operations concepts matured in NASAs orbiting satellite ground systems to achieve dramatic lifecycle cost efficiencies as compared to the space shuttle-era ground segment. The purpose of this paper is to discuss the development history, capabilities and anticipated use cases of the NEN Launch Communications Segment (NEN LCS).The NASA Kennedy Space Center is co-located with the USAF Eastern Launch Range at Cape Canaveral, Florida. The USAF operates two launch communications ground stations, but they are not designed to transmit voice, commands or other data to the launch vehicle or astronauts. The bi-directional uplink-downlink communications responsibility for human missions has historically resided with the Goddard Space Flight Center in Greenbelt, Maryland. Several market analyses and feasibility studies investigating concepts to provide NASAs next generation launch communications services were performed during the Constellation Program prior to its cancellation in 2009, and as part of the Kennedy Space Centers follow-on efforts to transform itself into a 21st century multi-user spaceport. In 2012, the Kennedy Space Center and the USAF 45th Space Wing jointly led a study to analyze the market needs of current and future launch systems and assess the operational deficiencies of the Eastern Range infrastructure. The study team issued several recommendations, two of which ultimately became driving operational capability requirements for the NEN LCS: increased telemetry data rates of at least 20 Mbps, and S-band uplink capability. Additional capabilities identified in the requirements development process include spread spectrum modulation support, LDPC 12 and 78 error correction codes, support for IRIG-106 and CCSDS data formats, automated best source selection, and Space Link Extension (SLE) services for data distribution. The NEN LCS is comprised of two permanent ground stations, the new Kennedy Uplink Station (KUS) and refurbished Ponce de Leon (PDL) station. Both stations are remotely operated from the Global Monitor and Control Center at Wallops Flight Facility. This core architecture is extensible through host-tenant arrangements with the U.S. Air Force and deployable assets, enabling agile, tailored and robust solutions to meet the needs of civil, commercial or military customers. The NEN LCS has three use cases:1.To provide agile, tailored and robust launch communications solutions to Florida spaceport customers2.To provide orbital communications services to near-earth customers 3.To provide an experimental proving ground for Space Mobile Network concepts and technologies The NEN LCS driving mission is to support the bi-directional link with the Orion crew capsule and two 20 Mbps telemetry links from the Space Launch System core stage on Exploration Mission-1, the first integrated flight of NASAs flagship human exploration systems.

Roberts, Christopher J.↗

NASA NTRSDate not supplied

HLPW-4/GMGW-3: Overview and Workshop Summary

The Fourth AIAA CFD High Lift Prediction Workshop and the Third Geometry and Mesh Generation Workshop were held collaboratively with the common goal of assessing the numerical prediction capability of current-generation computational fluid dynamics (CFD) technology for swept, medium/high-aspect-ratio wings in high-lift configurations. A key aspect of this joint endeavor was the use of Technology Focus Groups, an innovative new approach for workshops involving close collaboration between participants. These groups, which included both mesh generation and flow solver experts, worked to accelerate advancements for their particular methodologies by addressing key questions of importance {\em prior} to the workshop. The high-lift version of the NASA Common Research Model (CRM-HL) configuration was the focus of this workshop. Measured experimental wind tunnel data were available for comparison. The workshop also included a two-dimensional turbulence model verification exercise based on the CRM-HL wing shape. Altogether, 44 participants submitted a total of 184 data sets of CFD results. This paper provides a high-level summary of the results and conclusions from the workshop. Like at past workshops, fixed-grid Reynolds-averaged Navier-Stokes continued to be inaccurate and inconsistent for high lift. However, mesh adaptation definitively brought more consistency. Scale-resolving methods appeared most promising for predicting high-lift flow physics.

Christopher L Rumsey↗

NASA NTRS2002

Life-Extending Control for Aircraft Engines Studied

Current aircraft engine controllers are designed and operated to provide both performance and stability margins. However, the standard method of operation results in significant wear and tear on the engine and negatively affects the on-wing life--the time between cycles when the engine must be physically removed from the aircraft for maintenance. The NASA Glenn Research Center and its industrial and academic partners have been working together toward a new control concept that will include engine life usage as part of the control function. The resulting controller will be able to significantly extend the engine's on-wing life with little or no impact on engine performance and operability. The new controller design will utilize damage models to estimate and mitigate the rate and overall accumulation of damage to critical engine parts. The control methods will also provide a means to assess tradeoffs between performance and structural durability on the basis of mission requirements and remaining engine life. Two life-extending control methodologies were studied to reduce the overall life-cycle cost of aircraft engines. The first methodology is to modify the baseline control logic to reduce the thermomechanical fatigue (TMF) damage of cooled stators during acceleration. To accomplish this, an innovative algorithm limits the low-speed rotor acceleration command when the engine has reached a threshold close to the requested thrust. This algorithm allows a significant reduction in TMF damage with only a very small increase in the rise time to reach the commanded rotor speed. The second methodology is to reduce stress rupture/creep damage to turbine blades and uncooled stators by incorporating an engine damage model into the flight mission. Overall operation cost is reduced by an optimization among the flight time, fuel consumption, and component damages. Recent efforts have focused on applying life-extending control technology to an existing commercial turbine engine, and doing so without modifying the hardware or adding sensors. This approach makes it possible to retrofit existing engines with life-extending control technology by changing only the control software in the full-authority digital engine controller (FADEC). The significant results include demonstrating a 20- to 30-percent reduction in TMF damage to the hot section by developing and implementing smart acceleration logic during takeoff. The tradeoff is an increase, from 5.0 to 5.2 sec, in the time required to reach maximum power from ground idle. On a typical flight profile of a cruise at Mach 0.8 at an altitude of 41,000 ft, and cruise time of 104 min, the optimized system showed that a reduction in cruise speed from Mach 0.8 to 0.79 can achieve an estimated 25-to 35-percent creep/rupture damage reduction in the engine's hot section and a fuel savings of 2.1 percent. The tradeoff is an increase in flight time of 1.3 percent (1.4 min).

Guo, Te-Huei↗

NASA NTRS2012

Hydrostatic Hyperbaric Chamber Ventilation System

The hydrostatic hyperbaric chamber (HHC) represents the merger of several technologies in development for NASA aerospace applications, harnessed to directly benefit global health. NASA has significant experience developing composite hyperbaric chambers for a variety of applications. NASA also has researched the application of water-filled vessels to increase tolerance of acceleration forces. The combination of these two applications has resulted in the hydrostatic chamber, which has been conceived as a safe, affordable means of making hyperbaric oxygen therapy (HBOT) available in the developing world for the treatment of a variety of medical conditions. Specifically, HBOT is highly-desired as a possibly curative treatment for Buruli Ulcer, an infectious condition that afflicts children in sub-Saharan Africa. HBOT is simply too expensive and too dangerous to implement in the developing world using standard equipment. The HHC technology changes the paradigm. The HHC differs from standard hyperbaric chambers in that the majority of its volume is filled with water which is pressurized by oxygen being supplied in the portion of the chamber containing the patient s head. This greatly reduces the amount of oxygen required to sustain a hyperbaric atmosphere, thereby making the system more safe and economical to operate. An effort was taken to develop an HHC system to apply HBOT to children that is simple and robust enough to support transport, assembly, maintenance and operation in developing countries. This paper details the concept for an HHC ventilation and pressurization system to provide controlled pressurization and adequate washout of carbon dioxide while the subject is enclosed in the confined space during the administration of the medical treatment. The concept took into consideration operational complexity, safety to the patient and operating personnel, and physiological considerations. The simple schematic, comprised of easily acquired commercial hardware, supports sustainability.

Sarguisingh, Miriam J.↗

NASA NTRS1986

Empirical modeling of Single-Event Upset (SEU) in NMOS depletion-mode-load static RAM (SRAM) chips

A detailed experimental investigation of single-event upset (SEU) in static RAM (SRAM) chips fabricated using a family of high-performance NMOS (HMOS) depletion-mode-load process technologies, has been done. Empirical SEU models have been developed with the aid of heavy-ion data obtained with a three-stage tandem van de Graaff accelerator. The results of this work demonstrate a method by which SEU may be empirically modeled in NMOS integrated circuits.

Zoutendyk, J. A.↗

NASA NTRS1990

Future automotive materials: Evolution or revolution

An exciting era is evolving in the application of new materials technologies to automotive applications. The desire on the part of the automobile industry to completely satisfy the customers while concurrently meeting increasing demands and regulations for stringent emission control and fuel efficiency is opening a plethora of opportunities for new materials. In many cases, materials solutions are the only mechanisms for resolving some of the upcoming issues. The materials scientist and engineer will therefore have a primary role to play and will assume a position of significance hithertofore unseen in the automobile industry. The nature of the industry dictates that changes are primarily evolutionary with respect to chronology but nevertheless some of the future material changes will be revolutionary in nature. This presentation will treat three primary systems of the vehicle separately, based on the different materials approaches which will be adopted. These areas are: (1) skin panels, (2) structures, and (3) powertrains. The competition between a variety of new materials in these 3 systems will be discussed in detail with the various tradeoffs being outlined. Amongst the more prominent of the new breed of materials will be new steel technologies, structural plastics (FRP), aluminum alloys (conventional and rapidly solidified), titanium alloys, metal matrix composites and smart materials (electrorheological fluids, etc.). The pace of development and application is accelerating rapidly and the impetus is likely to increase.

Beardmore, P.↗

NASA NTRS1992

Design and utilization of a Flight Test Engineering Database Management System at the NASA Dryden Flight Research Facility

A Flight Test Engineering Database Management System (FTE DBMS) was designed and implemented at the NASA Dryden Flight Research Facility. The X-29 Forward Swept Wing Advanced Technology Demonstrator flight research program was chosen for the initial system development and implementation. The FTE DBMS greatly assisted in planning and 'mass production' card preparation for an accelerated X-29 research program. Improved Test Plan tracking and maneuver management for a high flight-rate program were proven, and flight rates of up to three flights per day, two times per week were maintained.

Knighton, Donna L.↗

NASA NTRS2002

Hypersonic Propulsion at Pratt and Whitney: Overview

Pratt & Whitney (P&W) is developing the technology for hypersonic components and engines. A supersonic combustion ramjet (scramjet) database was developed during the National Aero Space Plane (NASP) program using hydrogen fueled propulsion systems for space access vehicles and serves as a point of departure for the current emphasis on hydrocarbon scramjets. The Air Force Hypersonic Technology (HyTech) Office has put programs in place to develop the technologies necessary to demonstrate the operability, performance and structural durability of a liquid hydrocarbon fueled scramjet system that operates from Mach 4 to 8. Fuel-cooled superalloys and lightweight structures are being developed to improve thermal protection and durability and to reduce propulsion system weight. The application of scramjet engine technology as part of combined cycle propulsion systems is also being pursued under NASA and U.S. Air Force sponsorship. The combination of scramjet power and solid rocket booster acceleration is applicable to hypersonic cruise missiles. Scramjets that use gas turbines for low speed acceleration and scramjets using rocket power for low speed acceleration are being studied for application to reusable launch systems and hypersonic cruise vehicles. P&W's recent activities and future plans for hypersonic propulsion will be described.

Kazmar, Richard R.↗

NASA NTRS2003

An overview of the Nuclear Electric Xenon Ion System (NEXIS) program

NASA is investigating high power, high specific impulse propulsion technologies that could enable ambitious flights such as multi-body rendezvous missions, outer planet orbiters and interstellar precursor missions. The requirements for these missions are much more demanding than those for state-of-the-art solar-powered ion propulsion applications. The purpose of the NEXIS program is to develop advanced ion thruster technologies that satisfy the requirements for high power, high specific impulse operation, high efficiency and long thruster life. The nominal design point for the NEXIS thruster is 20 kWe at a specific impulse of 7500 s with an efficiency over 78% and a xenon throughput capability of greater than 2000 kg. These performance and throughput goals will be achieved by applying a combination of advanced technologies including a large discharge chamber, erosion resistant carbon-carbon grids, an advanced reservoir hollow cathode and techniques for increasing propellant efficiency such as grid masking and accelerator grid aperture diameter tailoring. This paper provides an overview of the challenges associated with these requirements and how they are being addressed in the NEXIS program.

carbon-carbon grids↗

NASA NTRS2009

Production of Solar Cells in Space from Non Specific Ores by Utilization of Electronically Enhanced Sputtering

An ideal method of construction in space would utilize some form of the Universal Differentiator and Universal Constructor as described by Von Neumann (1). The Universal Differentiator is an idealized non ore specific extractive device which is capable of breaking any ore into its constituent elements, and the Universal Constructor can utilize these elements to build any device with controllability to the nanometer scale. During the Human Exploration Initiative program in the early 1990s a conceptual study was done (2) to understand whether such devices were feasible with near term technology for the utilization of space resources and energy. A candidate system was proposed which would utilize electronically enhanced sputtering as the differentiator. Highly ionized ions would be accelerated to a kinetic energy at which the interaction between them and the lattice elections in the ore would be at a maximum. Experiments have shown that the maximum disintegration of raw material occurs at an ion kinetic energy of about 5 MeV, regardless of the composition and structure of the raw material. Devices that could produce charged ion beams in this energy range in space were being tested in the early 1990s. At this energy, for example an ion in a beam of fluorine ions yields about 8 uranium ions from uranium fluoride, 1,400 hydrogen and oxygen atoms from ice, or 7,000 atoms from sulfur dioxide ice. The ions from the disintegrated ore would then be driven by an electrical field into a discriminator in the form of a mass spectrometer, where the magnetic field would divert the ions into collectors for future use or used directly in molecular beam construction techniques. The process would require 10-7 Torr vacuum which would be available in space or on the moon. If the process were used to make thin film silicon solar cells (ignoring any energy inefficiency for beam production), then energy break even for solar cells in space would occur after 14 days.

Curreri, Peter A.↗

NASA NTRS1976

Single stage, low noise, advanced technology fan. Volume 5: Fan acoustics. Section 2: One-third octave data tabulations and selected narrowband traces

The raw-acoustic data corrected to standard day, from acoustic tests performed on a 0.508-scale fan vehicle of a 111,300 newton thrust, full-size engine, which has application on an advanced transport aircraft, are presented. The single-stage advanced technology fan was designed to a pressure ratio of 1.8 at a tip speed of 503 m/sec to achieve the desired pressure ratio in a single-stage fan with low radius ratio, and to maintain adequate stall margin. The two basic approaches taken in the acoustic design were: (1) minimization of noise at the source, and (2) suppression of the generated noise in the inlet and bypass exhaust duct. Suppression of the generated noise was accomplished in the inlet through use of the hybrid concept (wall acoustic treatment plus airflow acceleration suppression) and in the exhaust duct with extensive acoustic treatment including a splitter. The goal of the design was attainment of twenty effective perceived noise decibels. The suppression goal of FAR 36-20 was not reached, but improvements in the technology of both front and aft fan-noise suppression were realized.

Jutras, R. R.↗

NASA NTRS1972

A north-south stationkeeping ion thruster system for ATS-F.

An ion thruster system is being developed for the ATS-F satellite to demonstrate the application of ion thruster technology to the synchronous satellite north-south stationkeeping mission. The cesium bombardment ion thruster develops one millipound thrust at 2600 seconds specific impulse and provides thrust vectoring by accelerator electrode displacement. The propellant system is sized for two years operation at 25 percent duty cycle. Power conditioning circuitry is based on transistor inverters switching at 10 kHz. Thirteen command channels allow flexibility in operation; 12 telemetry channels provide information on system performance. Input power is less than 150 watts.

Worlock, R.↗

NASA NTRS1994

Multifrequency studies of bright radio supernova remnants. 2: W49B

We report radio observations of the supernova remnant W49B using the Very Large Array (VLA) of the NRAO at 90, 20, and 6 cm. This work continues the study of the properties of young, bright supernova remnants (SNRs) begun with 3C 391 (Moffett & Reynolds 1994). Here we present high-resolution images of total intensity, polarization, and spectral index of W49B. In large-scale morphology it is basically a box-shaped remnant expanding into an apparently inhomogeneous medium, but we also find small-scale structures, arcs and filaments, which lie interior to the outer shell in projection. The actual spatial position of the filaments is unknown, though we suspect that they are in the remnant interior rather than on the front or back face of the blast wave. In addition, their distribution in two dimensions suggests the projection of a helical structure. The shell edge, sharply rising in brightness for at least 3/4 of its circumference, still remains unresolved at our highest resolution (4 sec). This for our assumed distance of 8 kpc, the width of the region in which the emission appears is less than 0.16 pc, indicating short mean free paths for shock-accelerated electrons and high levels of MHD turbulence presumably causing the scattering. We find no polarized flux at 90 or 20 cm, with 3 sigma upper limits in polarized intensity of 36 mJy at 90 cm (45 sec resolution) and 7.2 mJy at 20 cm (5 sec resolution), or 22 micro-Jy/sq arcsec and 370 micro-jy/sq arcsec, respectively, for any emission extended on those scales. Polarized flux is present at 6 cm, but at a very low mean polarized fraction (total polarized flux divided by total flux) of 0.44% +/- 0.06%, which, as for 3C 391, is much lower than typical for bright SNRs at this frequency. The morphology in polarized intensity is poorly correlated with that in total intensity. We see excursions in the polarized fraction up to at least 10% in a few locations, but even where polarization is seen, typical levels are a few percent. Tangled or disordered magnetic fields in the emitting region of the radio shell may be responsible for depolarizing the radio synchrotron radiation, but some form of internal Faraday depolarization may also occur. We estimate the foreground Faraday rotation measure to be about -450 rad/sq m, similar to that found for 3C 391, which is also the Galactic plane and just about as distant. Spectral index images created from the total intensity images show that the spectral index across W49B is constant to within about Delta alpha approximately 0.1 in bright regions. This result weakly supports a common origin of the radio-emitting electrons, as in the blast wave, rather than in inhomogeneous turbulent regions of differing properties due to the stochastic (second-order Fermi) acceleration process. Variations at the level of Delta alpha approximately 0.1 are seen, but their significance is doubtful. New observations at 90 cm, using experimental three-dimensional imaging technology, may improve on this limit.

Moffett, David A.↗

NASA NTRS2000

Gust Alleviation Using Direct Gust Measurement

The increasing competition in the market of civil aircraft leads to operating efficiency and passenger comfort being very important sales arguments. Continuous developments in jet propulsion technology helped to reduce energy consumption, as well as noise and vibrations due to the engines. The main problem with respect to ride comfort is, however, the transmittance of accelerations and jerkiness imposed by atmospheric turbulence from the wings to the fuselage. This 'gust' is also a design constraint: Light airplane structures help to save, energy, but are more critical to resist the loads imposed by turbulence. For both reasons, efficient gust alleviation is necessary to improve the performance of modern aircraft. Gust can be seen as a change in the angle of attack or as an additional varying vertical component of the headwind. The effect of gust can be very strong, since the same aerodynamic forces that keep the airplane flying are involved. Event though the frequency range of those changes is quite low, it is impossible for the pilot to alleviate gust manually. Besides, most of the time during the flight, the, autopilot maintains course and the attitude of flight. Certainly, most autopilots should be capable of damping the roughest parts of turbulence, but they are unable to provide satisfactory results in that field. A promising extension should be the application of subsidiary, control, where the inner (faster) control loop alleviates turbulence and the outer (slower) loop controls the attitude of flight. Besides the mentioned ride comfort, another reason for gust alleviation with respect to the fuselage is the sensibility of electrical devices to vibration and high values of acceleration. Many modern airplane designs--especially inherently instable military aircraft--are highly dependent on avionics. The lifetime and the reliability of these systems is thus essential.

Hoppe, Sven Marco↗

NASA NTRS2019

Usability Evaluation of Indicators of Energy-Related Problems in Commercial Airline Flight Decks

A series of pilot-in-the-loop flight simulation studies were conducted at NASA Langley Research Center to evaluate indicators aimed at supporting the flight crew’s awareness of problems related to energy states. Indicators were evaluated utilizing state-of-the-art flight deck systems such as on commercial air transport aircraft. This paper presents results for four technologies: (1) conventional primary flight display speed cues, (2) an enhanced airspeed control indicator, (3) a synthetic vision baseline that provides a flight path vector, speed error, and an acceleration cue, and (4) an aural airspeed alert that triggers when current airspeed deviates beyond a specified threshold from the selected airspeed. Full-mission high-fidelity flight simulation studies were conducted using commercial airline crews. Crews were paired by airline for common crew resource management procedures and protocols. Scenarios spanned a range of complex conditions while emulating several causal factors reported in recent accidents involving loss of energy state awareness by pilots. Data collection included questionnaires administered at the completion of flight scenarios, aircraft state data, audio/video recordings of flight crew, eye tracking, pilot control inputs, and researcher observations. Questionnaire response data included subjective measures of workload, situation awareness, complexity, usability, and acceptability. This paper reports relevant findings derived from subjective measures as well as quantitative measures.

Evans, Emory T.↗

NASA NTRS2023

High-Rate Delay Tolerant Networking (HDTN) User Guide Version 1.0

Delay Tolerant Networking (DTN) has been identified as a key technology to enable and facilitate the development and growth of future space networks. Classically, space communications networks are collections of disparate links that are manually managed either point-to-point or use space relays. The accelerating accessibility of space enables a new scaling of space nodes, yet both the manual management of configurations and scheduling and the lack of structure connecting links precisely prohibit scaling. This challenge gives rise to newer and larger classes of communications needs that are met by DTN, which must overcome the disconnection, disruption, latency, and mobility featured in space communications systems. DTN joins the underlying links as an overlay, and can be made to communicate over any protocol stack. The core actions of DTN are store, carry, and forward, where data are stored instead of dropped if there is no immediately available outduct. It does this by taking the DTN unit of data, bundles, and providing necessary layers to adapt these bundles to the underlying transport protocols of choice; these are called convergence layers. DTN's Bundle Protocol (BP) can then be used on top of terrestrial protocol stacks, such as TCP/IP, as well as protocols for space, such as LTP/AOS, all in the same network. For emphasis it is noted that bundles can be of essentially any size, and hence this convergence to lower layers of choice is necessary. Existing DTN implementations have operated in constrained environments with limited resources, resulting in low data speeds. However, as various technologies have advanced, data transfer rates and efficiency have advanced, which has pushed the need for a DTN implementation for ground systems and for spacecraft that is performance-oriented in order to not impose an unnecessary bottleneck. High-rate Delay Tolerant Networking (HDTN) takes advantage of modern hardware platforms to substantially reduce latency and improve throughput compared to today’s DTN operations. The HDTN implementation maintains interoperability with existing deployments of DTN that conform to IETF RFCs 4838, 5050, and 9171. At the same time, HDTN defines a new data format better suited to higher-rate operation. It defines and adopts a massively parallel pipelined and message-oriented architecture, allowing the system to scale gracefully as its resources increase. HDTN’s architecture also supports hooks to replace various processing pipeline elements with specialized hardware accelerators. This offers improved Size, Weight, and Power (SWaP) characteristics while reducing development complexity and cost.

Delay Tolerant Networking↗

NASA NTRS2024

High-Rate Delay Tolerant Networking (HDTN) User Guide Version 1.3.0

Delay Tolerant Networking↗