SEARCH · Search NASA

Results for “Autonomous”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 613 records · Page 34

All sources NASA NTRS DOE OSTI

NASA NTRS2016

Capturing Safety Requirements to Enable Effective Task Allocation Between Humans and Automaton in Increasingly Autonomous Systems

There is a current drive towards enabling the deployment of increasingly autonomous systems in the National Airspace System (NAS). However, shifting the traditional roles and responsibilities between humans and automation for safety critical tasks must be managed carefully, otherwise the current emergent safety properties of the NAS may be disrupted. In this paper, a verification activity to assess the emergent safety properties of a clearly defined, safety critical, operational scenario that possesses tasks that can be fluidly allocated between human and automated agents is conducted. Task allocation role sets were proposed for a human-automation team performing a contingency maneuver in a reduced crew context. A safety critical contingency procedure (engine out on takeoff) was modeled in the Soar cognitive architecture, then translated into the Hybrid Input Output formalism. Verification activities were then performed to determine whether or not the safety properties held over the increasingly autonomous system. The verification activities lead to the development of several key insights regarding the implicit assumptions on agent capability. It subsequently illustrated the usefulness of task annotations associated with specialized requirements (e.g., communication, timing etc.), and demonstrated the feasibility of this approach.

Neogi, Natasha A.↗

NASA NTRS2016

Visual Odometry for Autonomous Deep-Space Navigation

Visual Odometry fills two critical needs shared by all future exploration architectures considered by NASA: Autonomous Rendezvous and Docking (AR&D), and autonomous navigation during loss of comm. To do this, a camera is combined with cutting-edge algorithms (called Visual Odometry) into a unit that provides accurate relative pose between the camera and the object in the imagery. Recent simulation analyses have demonstrated the ability of this new technology to reliably, accurately, and quickly compute a relative pose. This project advances this technology by both preparing the system to process flight imagery and creating an activity to capture said imagery. This technology can provide a pioneering optical navigation platform capable of supporting a wide variety of future missions scenarios: deep space rendezvous, asteroid exploration, loss-of-comm.

Robinson, Shane↗

NASA NTRS2016

Safe and Autonomous Drones for Urban Flight

Autonomous vehicles are no longer futuristic technology; in fact, there are already cars with self-driving features on the road. Over the next five years, the connected vehicles will disrupt the entire automotive and UAS ecosystems. The industry will undergo fundamental change as semi-autonomous driving and flying emerges, followed by an eventual shift to full autonomy.

Safety↗

NASA NTRS2017

Safe Autonomous Flight Environment (SAFE50) for the Notional Last 50 ft of Operation of 55 lb Class of UAS

The most difficult phase of small Unmanned Aerial System (sUAS) deployment is autonomous operations below the notional 50 ft in urban landscapes. Understanding the feasibility of safely flying sUAS autonomously below 50 ft is a game changer for many civilian applications. This paper outlines three areas of research currently underway which address key challenges for flight in the urban landscape. These are: (1) Off-line and On-board wind estimation and accommodation; (2) Real-time trajectory planning via characterization of obstacles using a LIDAR; (3) On-board information fusion for real-time decision-making and safe trajectory generation.

Autonomy↗

NASA NTRS2016

Workshop on Assurance for Autonomous Systems for Aviation

This report describes the workshop on Assurance for Autonomous Systems for Aviation that was held in January 2016 in conjunction with the SciTech 2016 conference held in San Diego, CA. The workshop explored issues related to assurance for autonomous systems and also the idea of trust in these systems. Specifically, we focused on discussing current practices for assurance of autonomy, identifying barriers specific to autonomy as related to assurance as well as operational scenarios demonstrating the need to address the barriers. Furthermore, attention was given to identifying verification techniques that may be applicable to autonomy, as well as discussing new research directions needed to address barriers, thereby involving potential shifts in current practices.

assurance↗

NASA NTRS2017

Ground Demonstration on the Autonomous Docking of Two 3U CubeSats Using a Novel Permanent-Magnet Docking Mechanism

Small spacecraft autonomous rendezvous and docking is an essential technology for future space structure assembly missions. A novel magnetic capture and latching mechanism is analyzed that allows for docking of two CubeSats without precise sensors and actuators. The proposed magnetic docking hardware not only provides the means to latch the CubeSats but it also significantly increases the likelihood of successful docking in the presence of relative attitude and position errors. The simplicity of the design allows it to be implemented on many CubeSat rendezvous missions. A CubeSat 3-DOF ground demonstration effort is on-going at NASA Langley Research Center that enables hardware-in-the loop testing of the autonomous approach and docking of a follower CubeSat to an identical leader CubeSat. The test setup consists of a 3 meter by 4 meter granite table and two nearly frictionless air bearing systems that support the two CubeSats. Four cold-gas on-off thrusters are used to translate the follower towards the leader, while a single reaction wheel is used to control the attitude of each CubeSat. An innovative modified pseudo inverse control allocation scheme was developed to address interactions between control effectors. The docking procedure requires relatively high actuator precision, a novel minimal impulse bit mitigation algorithm was developed to minimize the undesirable deadzone effects of the thrusters. Simulation of the ground demonstration shows that the Guidance, Navigation, and Control system along with the docking subsystem leads to successful docking under 3-sigma dispersions for all key system parameters. Extensive simulation and ground testing will provide sufficient confidence that the proposed docking mechanism along with the choosen suite of sensors and actuators will perform successful docking in the space environment.

Pei, Jing↗

NASA NTRS2017

EcAMSat and BioSentinel: Autonomous Bio Nanosatellites Addressing Strategic Knowledge Gaps for Manned Spaceflight Beyond LEO

Manned missions beyond low Earth orbit (LEO) require that several strategic knowledge gaps about the effects of space travel on the human body be addressed. NASA Ames Research Center has been the leader in developing autonomous bio nanosatellites, including past successful missions for GeneSat, PharmaSat, and O/OREOS, that tackled some of these issues. These nanosatellites provide in situ measurements, which deliver insight into the dynamic changes in cell behavior in microgravity. In this talk, two upcoming bio nanosatellites developed at Ames, the E. coli Antimicrobial Satellite (EcAMSat) and BioSentinel, will be discussed. Both satellites contain microfluidic systems that precisely deliver nutrients to the microorganisms stored within wells of fluidic cards. Each well, in turn, has its own 3-color LED and detector system which is used to monitor changes in metabolic activity with alamarBlue, a redox indicator, and the optical density of the cells. EcAMSat investigates the effects of microgravity on bacterial resistance to antimicrobial drugs, vital knowledge for understanding how to maintain the health of astronauts in long-term and beyond LEO spaceflight. The behavior of wild type and mutant uropathic E. coli will be compared in microgravity and with ground data to help understand the molecular mechanisms behind antibiotic resistance and how these phenotypes might change in space. BioSentinel seeks to directly measure the effects of space radiation on budding yeast S. cerevisiae, particularly double strand breaks (DSB). While hitching a ride on the SLS EM-1 mission (Orion's first unmanned mission to the moon) in 2018, BioSentinel will be kicked off and enter into a heliocentric orbit, becoming the first study of the effects of radiation on living organisms outside LEO since the Apollo program. The yeast are stored in eighteen independent 16-well microfluidic cards, which will be individually activated over the 12 month mission duration. In addition to the wild type and radiation-sensitive mutant strains, a BioSentinel strain of yeast has been developed, which requires a DSB to reactivate growth, thereby allowing for a direct measurement of DSBs caused by radiation. These two missions demonstrate the utility of using autonomous nanosatellites to address strategic knowledge gaps in the push to once again extend manned spaceflight beyond LEO.

Padgen, Michael R.↗

NASA NTRS2017

Formal Assurance for Cognitive Architecture Based Autonomous Agent

Autonomous systems are designed and deployed in different modeling paradigms. These environments focus on specific concepts in designing the system. We focus our effort in the use of cognitive architectures to design autonomous agents to collaborate with humans to accomplish tasks in a mission. Our research focuses on introducing formal assurance methods to verify the behavior of agents designed in Soar, by translating the agent to the formal verification environment Uppaal.

Bhattacharyya, Siddhartha↗

NASA NTRS2017

Autonomous System Technologies for Resilient Airspace Operations

Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

Houston, Vincent E.↗

NASA NTRS2017

EcAMSat and BioSentinel: Autonomous Bio Nanosatellites Addressing Strategic Knowledge Gaps for Manned Spaceflight Beyond LEO

Manned missions beyond low Earth orbit (LEO) require that several strategic knowledge gaps about the effects of space travel on the human body be addressed. NASA Ames Research Center has been the leader in developing autonomous bio nanosatellites, including past successful missions for GeneSat, PharmaSat, and OOREOS, that tackled some of these issues. These nanosatellites provide in situ measurements, which deliver insight into the dynamic changes in cell behavior in microgravity. In this talk, two upcoming bio nanosatellites developed at Ames, the E. coli Antimicrobial Satellite (EcAMSat) and BioSentinel, will be discussed. Both satellites contain microfluidic systems that precisely deliver nutrients to the microorganisms stored within wells of fluidic cards. Each well, in turn, has its own 3-color LED and detector system which is used to monitor changes in metabolic activity with alamarBlue, a redox indicator, and the optical density of the cells. EcAMSat investigates the effects of microgravity on bacterial resistance to antimicrobial drugs, vital knowledge for understanding how to maintain the health of astronauts in long-term and beyond LEO spaceflight. The behavior of wild type and mutant uropathic E. coli will be compared in microgravity and with ground data to help understand the molecular mechanisms behind antibiotic resistance and how these phenotypes might change in space. BioSentinel seeks to directly measure the effects of space radiation on budding yeast S. cerevisiae, particularly double strand breaks (DSB). While hitching a ride on the SLS EM-1 mission (Orions first unmanned mission to the moon) in 2018, BioSentinel will be kicked off and enter into a heliocentric orbit, becoming the first study of the effects of radiation on living organisms outside LEO since the Apollo program. The yeast are stored in eighteen independent 16-well microfluidic cards, which will be individually activated over the 12 month mission duration. In addition to the wild type and radiation-sensitive mutant strains, a BioSentinel strain of yeast has been developed, which requires a DSB to reactivate growth, thereby allowing for a direct measurement of DSBs caused by radiation. These two missions demonstrate the utility of using autonomous nanosatellites to address strategic knowledge gaps in the push to once again extend manned spaceflight beyond LEO.

Padgen, Mike↗

NASA NTRS2017

Using Bio-Optics to Reveal Phytoplankton Physiology from a Wirewalker Autonomous Platform

Rapid, wave-powered profiling of bio-optical properties from an autonomous Wirewalker platform provides useful insights into phytoplankton physiology, including the patterns of diel growth, phytoplankton mortality, nonphotochemical quenching of chlorophyll a fluorescence, and natural (sun-induced) fluorescence of mixed communities. Methods are proposed to quantify each of these processes. Such autonomous measurements of phytoplankton physiological rates and responses open up new possibilities for studying phytoplankton in situ, over longer periods, and under a broader range of environmental conditions.

Omand, M. M.↗

NASA NTRS2012

Autonomous RPOD Technology Challenges for the Coming Decade

Rendezvous Proximity Operations and Docking (RPOD) technologies are important to a wide range of future space endeavors. This paper will review some of the recent and ongoing activities related to autonomous RPOD capabilities and summarize the current state of the art. Gaps are identified where future investments are necessary to successfully execute some of the missions likely to be conducted within the next ten years. A proposed RPOD technology roadmap that meets the broad needs of NASA's future missions will be outlined, and ongoing activities at OSFC in support of a future satellite servicing mission are presented. The case presented shows that an evolutionary, stair-step technology development program. including a robust campaign of coordinated ground tests and space-based system-level technology demonstration missions, will ultimately yield a multi-use main-stream autonomous RPOD capability suite with cross-cutting benefits across a wide range of future applications.

Naasz, Bo J.↗

NASA NTRS2018

Semi-Autonomous Rodent Habitat for Deep Space Exploration

NASA has flown animals to space as part of trailblazing missions and to understand the biological responses to spaceflight. Mice traveled in the Lunar Module with the Apollo 17 astronauts and now mice are frequent research subjects in LEO on the ISS. The ISS rodent missions have focused on unravelling biological mechanisms, better understanding risks to astronaut health, and testing candidate countermeasures. A critical barrier for longer-duration animal missions is the need for humans-in-the-loop to perform animal husbandry and perform routine tasks during a mission. Using autonomous or telerobotic systems to alleviate some of these tasks would enable longer-duration missions to be performed at the Deep Space Gateway. Rodent missions performed using the Gateway as a platform could address a number of critical risks identified by the Human Research Program (HRP), as well as Space Biology Program questions identified by NRC Decadal Survey on Biological and Physical Sciences in Space, (2011). HRP risk areas of potentially greatest relevance that the Gateway rodent missions can address include those related to visual impairment (VIIP) and radiation risks to central nervous system, cardiovascular disease, as well as countermeasure testing. Space Biology focus areas addressed by the Gateway rodent missions include mechanisms and combinatorial effects of microgravity and radiation. The objectives of the work proposed here are to 1) develop capability for semi-autonomous rodent research in cis-lunar orbit, 2) conduct key experiments for testing countermeasures against low gravity and space radiation. The hardware and operations system developed will enable experiments at least one month in duration, which potentially could be extended to one year in duration. To gain novel insights into the health risks to crew of deep space travel (i.e., exposure to space radiation), results obtained from Gateway flight rodents can be compared to ground control groups and separate groups of mice exposed to simulated Galactic Cosmic Radiation (at the NASA Space Radiation Lab). Results can then be compared to identical experiments conducted on the ISS. Together results from Gateway, ground-based, and ISS rodent experiments will provide novel insight into the effects of space radiation.

deep space gateway↗

NASA NTRS2017

Autonomous Laser-Powered Vehicle

An autonomous laser-powered vehicle designed to autonomously penetrate through ice caps of substantial (e.g., kilometers) thickness by melting a path ahead of the vehicle as it descends. A high powered laser beam is transmitted to the vehicle via an onboard bare fiber spooler. After the beam enters through the dispersion optics, the beam expands into a cavity. A radiation shield limits backscatter radiation from heating the optics. The expanded beam enters the heat exchanger and is reflected by a dispersion mirror. Forward-facing beveled circular grooves absorb the reflected radiant energy preventing the energy from being reflected back towards the optics. Microchannels along the inner circumference of the beam dump heat exchanger maximize heat transfer. Sufficient amount of fiber is wound on the fiber spooler to permit not only a descent but also to permit a sample return mission by inverting the vehicle and melting its way back to the surface.

Stone, William C.↗

NASA NTRS2018

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Stone, William C.↗

NASA NTRS2018

Autonomous Systems Taxonomy

The purpose of this taxonomy is to provide common definitions and a functional decomposition of the technology that is required for NASA's autonomous systems. The taxonomy serves as a framework for: (1) assessing the state of NASA's autonomous systems capability (workforce, technology, etc.) and (2) assessing the state of the art in autonomy technology.

Fong, Terrence W.↗

NASA NTRS2018

Simulation Evaluations of an Autonomous Urban Air Mobility Network Management and Separation Service

This paper presents an initial implementation of an autonomous Urban Air Mobility network management and aircraft separation service for urban airspace that does 1) departure and arrival scheduling across the network, 2) continuous trajectory management to ensure safe separation between aircraft, and 3) seamless integration with traditional operations. The highly-autonomous AutoResolver algorithm developed for traditional aviation was extended to provide these capabilities. An evaluation of this initial implementation was conducted in fast-time simulations using a dense, two-hour traffic scenario with Urban Air Mobility aircraft flying between a network of 20 vertiports in the Dallas-Fort Worth metroplex. When the spatial separation was reduced from 0:3nmi to 0:1nmi, the total de- lay decreased by 7:3%; when the temporal separation was reduced from 60s to 45s, the total delay decreased by 28:4%. The total number of conflict resolutions decreased by 26% and 17%, respectively. Furthermore, when a scheduling horizon greater than the duration of UAM flights was used (50min), most conflicts were resolved pre-departure producing ground delay. By comparison, when a shorter scheduling horizon was used (8min), most conflicts were resolved post-departure generating airborne delay. For all scheduling and separation constraints tested, AutoResolver prevented loss of separation from occurring. Urban Air Mobility operations have the ability to revolutionize how people and goods are transported and this paper presents initial research focusing on the high levels of autonomy required for an airspace system capable of scaling to handle significantly higher densities of aircraft.

Bosson, Christabelle S.↗

NASA NTRS2018

Safe2Ditch Autonomous Crash Management System for Small Unmanned Aerial Systems: Concept Definition and Flight Test Results

Small unmanned aerial systems (sUAS) have the potential for a large array of highly-beneficial applications. These applications are too numerous to comprehensively list, but include search and rescue, fire spotting, precision agriculture, etc. to name a few. Typically sUAS vehicles weigh less than 55 lbs and will be performing flight operations in the National Air Space (NAS). Certain sUAS applications, such as package delivery, will include operations in the close proximity of the general public. The full benefit from sUAS is contingent upon the resolution of several technological areas in order to provide an acceptable level of risk for widespread sUAS operations. Operations of sUAS vehicles pose risks to people and property on the ground as well as manned aviation. Several of the more significant sUAS technological areas include, but are not limited to: autonomous sense and avoid and deconfliction of sUAS from other sUAS and manned aircraft, communications and interfaces between the vehicle and human operators, and the overall reliability of the sUAS and constituent subsystems. While all of the technological areas listed contribute significantly to the safe execution of the sUAS flight operations, contingency or emergency systems can greatly contribute to sUAS risk mitigations to manage situations where the vehicle is in distress. The Safe2Ditch (S2D) system is an autonomous crash management system for sUAS. Its function is to enable sUAS to execute emergency landings and avoid injuring people on the ground, damaging property, and lastly preserving the sUAS and payload. A sUAS flight test effort was performed to test the integration of sub-elements of the S2D system with a representative sUAS multi-rotor.

Glaab, Louis J.↗