SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Liapunov method synthesis of time variable nonlinear multivariable systems, deriving simplified control law for tracking of linear noninteracting model
The Keck Interferometer is being developed by JPL and CARA as one of the ground-based components of NASA's Origins Program.
NASA’s planning and implementation of the Artemis missions and Moon to Mars efforts may set precedents in exploration for decades to come. In April 2023, NASA convened a workshop on how to assess the ethical and societal implications of Artemis. This workshop was NASA’s first structured foray into studying the ethical and societal implications of exploration since the Apollo program in the 1960s. This report documents the discussion and ideas feedback and suggestions from the 55 participants invited to the Artemis and Ethics workshop and focuses on the following key study questions: 1) How should NASA consider the ethical, legal, and societal implications (ELSI) of the Artemis and Moon to Mars efforts?; and 2) What are the key ethical and societal implications that need consideration? This initial exploratory study does not make formal recommendations but instead maps out options available for NASA and other actors to consider as humanity goes to the Moon, Mars and beyond.
The search for life (extinct or extant) and potentially habitable bodies in our solar system and beyond is one of the 12 priority science questions outlined in the National Acadamies’ 2022 decadal survey [5]. Extraterrestrial destinations containing liquid water present an opportunity to search for life as we know it, and in recent years an increasing number of such locations have been discovered within our solar system. Several Jovian moons—Europa, Ganymede, and Callisto [10]—and the Saturnian moons Enceladus [8] and Titan [9] are known or suspected to harbor massive subsurface oceans. Of these "ocean worlds", Europa is the focus of at least one planned NASA orbiter mission, Europa Clipper [4], and an early lander mission concept, the Europa Lander [2, 3]. Whereas most robotic missions to the Moon and Mars (e.g. orbiters, rovers, landers) to date have had ground controllers on Earth tightly involved in mission operations, missions to more distant worlds will require a high degree of onboard autonomy due to long communication lags and blackouts, harsh environments (radiation, cold), and more limited battery and hardware life. The past decade has seen great advances in both AI technologies and computing scalability and performance that offer promising solutions for spacecraft autonomy and motivate the software system and research programs described in this paper. The Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) [1], which has been in development at the NASA Ames Research Center since 2018, is a virtual environment for testing lander autonomy solutions. It is built on the Robot Operating System (ROS), runs on consumer-grade Linux workstations, and was released as open source in 2020. OceanWATERS provides a physical and visual simulation of a prototypical lander in a Europa-like environment (Figure 1). The lander was modeled after requirements and specifications made in JPL’s Europa Lander Study of 2016 [3]. Simulated lander systems include stereo cameras and spotlights mounted on an antenna mast that pans and tilts, a 6 degrees of freedom (DoF) robotic arm with a force-torque sensor and two interchangeable end effectors, and a battery pack power system. The environment consists of multiple terrain models including a highly detailed model sourced from the FROST dataset [11], simulation of surrounding planetary bodies based on an ephemeris model, and lighting from the sun with associated surface illumination, reflectance, and shadows. Operations supported by OceanWATERS include panoramic and directed imaging of the environment and lander workspace, Cartesian and joint-level arm commanding, grinding of the terrain surface (e.g. digging a trench), and scooping of ground material (Figure 2) which can be discarded or collected as science samples in a receptacle that can be emptied (science operations themselves are not simulated). These operations are realized as ROS Actions and are complimented by a wide selection of telemetry that is continually produced by each lander subsystem. The power system model is driven by the open-source Generic Software Architecture for Prognostics (GSAP) [11] that predicts the battery’s remaining useful life and other characteristics. As a testbed for high-level autonomy, OceanWATERS provides an execution framework based on PLEXIL [12], an open-source plan specification language and execution engine developed largely at Ames. NASA's initial development of OceanWATERS, as well the Ocean Worlds Lander Autonomy Testbed (OWLAT) [6], a complimentary physical testbed developed at JPL, was the first step in a plan for realizing candidate onboard autonomy solutions for such planetary landers. In 2020 NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program, and in 2021 the similar Concepts for Ocean worlds Life Detection Technology (COLDTech) program. Collectively six research teams, based in universities and companies across the United States, were awarded grants to develop and demonstrate autonomy solutions on OceanWATERS and OWLAT. These 1–2-year projects have now finished or are nearing completion, and a wide variety of autonomy challenges in ocean world surface missions were addressed. Prototyped and demonstrated solutions have included autonomous discovery, response and adaptation to system faults and unexpected environmental events, world model synthesis through perception, plan synthesis using learned models, methods to optimize sample target selection and prioritize science data transmission, extension of PLEXIL for stochastic decision-making, and an integration of a model of JPL’s mission-ready COLDArm [7]. Technologies used in these projects include many forms of machine learning, causal reasoning, automated planning, Markov decision processes, formal methods, and other advanced techniques. A more detailed summary of the ARROW and COLDTech projects is given herein. OceanWATERS has had significant enhancements since its open-source release in 2020. Many of its new features were driven or shaped by feedback from the ARROW and COLDTech teams and requirements of their projects. In support of enabling autonomous adaptation to spacecraft faults (a specific capability solicited by both programs), a fault injection and detection framework was developed that supports a wide and growing range of fault types such as locked joints, image loss, and battery failures. The power system model was completed and integrated into the simulator, starting as a single-cell battery model and later upgraded to a multi-cell model with associated faults such as cell disconnection. Arm/terrain interaction was improved by adding a force-torque sensor and associated faults, and an analytic dig force model based on the Balovnev bucket force equations. Environment fidelity was increased by modeling terrain deformation resulting from digging and scooping; visual improvements were made in textures, lighting, and shadows. To facilitate interoperation with OWLAT, a unified command and telemetry interface between the testbeds was developed at the ROS level, along with a PLEXIL interface. The number of lander operations was greatly expanded (e.g. with Cartesian-based arm and antenna movement), and a framework was designed for users to build their own lander actions. A GUI for PLEXIL plan selection was created (Figure 3), and an expansive set of plans were added, such as those that illustrate patterns for fault handling. This paper provides a self-contained high-level description of OceanWATERS, focusing on more detailed coverage of the aforementioned enhancements. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed, as likely informed by the recent planetary science decadal survey [5].
Current knowledge of Mercury, Venus, Mars, the Moon, asteroids, comets, and the Galilean satellites were reviewed along with related NASA programs and available mission concepts. Exploration plans for the 1980 to 1990 period are outlined and recommendations made. Topics discussed include: scientific objectives and goals, exploration strategy and recommended mission plans, supporting research and technology, Earth-based and Earth-orbital investigations, data analysis and synthesis, analysis of extraterrestrial materials, broadening the science support base, and international cooperation.
An advisory report to be used by NASA in developing a program plan for a Pilot Land Data System (PLDS) was developed. The purpose of the PLDS is to improve the ability of NASA and NASA sponsored researchers to conduct land-related research. The goal of the planning workshops was to provide and coordinate planning and concept development between the land related science and computer science disciplines, to discuss the architecture of the PLDs, requirements for information science technology, and system evaluation. The findings and recommendations of the Working Group are presented. The pilot program establishes a limited scale distributed information system to explore scientific, technical, and management approaches to satisfying the needs of the land science community. The PLDS paves the way for a land data system to improve data access, processing, transfer, and analysis, which land sciences information synthesis occurs on a scale not previously permitted because of limits to data assembly and access.
The theoretical development of the forced steady state analysis of the structural dynamic response of a turbine engine having nonlinear connecting elements is discussed. Based on modal synthesis, and the principle of harmonic balance, the governing relations are the compatibility of displacements at the nonlinear connecting elements. There are four displacement compatibility equations at each nonlinear connection, which are solved by iteration for the principle harmonic of the excitation frequency. The resulting computer program, TETRA 2, combines the original TETRA transient analysis (with flexible bladed disk) with the steady state capability. A more versatile nonlinear rub or bearing element which contains a hardening (or softening) spring, with or without deadband, is also incorporated.
This paper compares two previously published design procedures for two different multivariable control design techniques for application to a linear engine model of a jet engine. The two multivariable control design techniques compared were the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) and the H-Infinity synthesis. The two control design techniques were used with specific previously published design procedures to synthesize controls which would provide equivalent closed loop frequency response for the primary control loops while assuring adequate loop decoupling. The resulting controllers were then reduced in order to minimize the programming and data storage requirements for a typical implementation. The reduced order linear controllers designed by each method were combined with the linear model of an advanced turbofan engine and the system performance was evaluated for the continuous linear system. Included in the performance analysis are the resulting frequency and transient responses as well as actuator usage and rate capability for each design method. The controls were also analyzed for robustness with respect to structured uncertainties in the unmodeled system dynamics. The two controls were then compared for performance capability and hardware implementation issues.
Ecdysteroid growth promotion of the dorsolongitudinal flight muscle of Manduca sexta was studied by measuring in vivo protein metabolism using both "flooding-dose" and "non-carrier" techniques. These procedures differ in that the former method includes injection of non-labelled phenylalanine (30 micromoles/insect) together with the [3H]amino acid. Injected radioactivity plateaued in the haemolymph within 7 min. With the flooding-dose method, haemolymph and intramuscular specific radioactivities were similar between 15 min and 2 h. Incorporation of [3H]phenylalanine into muscle protein was linear with either method between 30 and 120 min. Fractional rates (%/12 h) of synthesis with the flooding-dose technique were best measured after 1 h because of the initial delay in radioactivity equilibration. Estimation of body phenylalanine turnover with the non-carrier method showed 24-53%/h which was negligible with the flooding-dose method. Since the two methods yielded similar rates of protein synthesis, the large injection of non-labelled amino acid did not alter the rate of synthesis. Because the flooding-dose technique requires only a single time point measurement, it is the preferred method. The decline and eventual cessation of flight-muscle growth was mostly a consequence of declining protein synthesis though degradation increased between 76-86 h before eclosion and was relatively rapid. This decline in muscle growth could be prevented by treating pupae with 20-hydroxyecdysone (10 micrograms/insect). Protein accretion was promoted by a decline of up to 80% in protein breakdown, which was offset in part by a concurrent though much smaller decrease in protein synthesis. Therefore, ecdysteroids may increase flight-muscle growth by inhibiting proteolysis.
This project consists of designing and implementing a real-time graphical interface for a workstation-based flight simulator. It is capable of creating a three-dimensional out-the-window scene of the aircraft's flying environment, with extensive information about the aircraft's state displayed in the form of a heads-up-display (HUD) overlay. The code, written in the C programming language, makes calls to Silicon Graphics' Graphics Library (GL) to draw the graphics primitives. Included in this report is a detailed description of the capabilities of the code, including graphical examples, as well as a printout of the code itself
The computer programming efforts were directed primarily to beam pattern analysis. The computer programs used for simulation provide: verification of the reference design; definition of feasible departures such as quantized distributions; the study of far-out sidelobe roll-off characteristics; the analysis of errors and failures; illumination function analysis to develop beam patterns for efficient collection; and beam shaping synthesis to meet environmental constraints.
An advanced design methodology is proposed for the face-milled spiral bevel gears with modified tooth surface geometry that provides a reduced level of noise and has a stabilized bearing contact. The approach is based on the local synthesis of the gear drive that provides the 'best' machine-tool settings. The theoretical aspects of the local synthesis approach are based on the application of a predesigned parabolic function for absorption of undesirable transmission errors caused by misalignment and the direct relations between principal curvatures and directions for mating surfaces. The meshing and contact of the gear drive is synthesized and analyzed by a computer program. The generation of gears with the proposed geometry design can be accomplished by application of existing equipment. A numerical example that illustrates the proposed theory is presented.
The plan net formalism presented in this paper is a language for expressing possible actions independent of any particular plan. Plan nets encode non-deterministic control programs which specify the local conditions under which actions may be taken. A two stage analysis synthesizes situated control rules which act to reduce this non-deterministic choice such that all remaining alternatives for action necessarily satisfy any given goals. Action execution can precede situated control rule synthesis: situated control rules simply help ensure that actions are first steps on the way to eventual goal satisfaction. Situated control rules inform action; they do not define it.
The Methanol from Integrated Direct Air Capture and Ceramic Electrolysis (MIDACE) project advanced a novel system concept for integrating pressurized co-electrolysis of steam and crude carbon dioxide captured directly from ambient air using a sorbent technology. The co-electrolysis produced syngas provides feedstock for a gas-to-liquid methanol synthesis reactor. The system recovers waste heat from the reactor and electrolyzer into regenerating the direct air capture sorbent. The purpose of the project was to demonstrate critical integration elements of the design and perform a technical study illustrating how a large-scale installation could achieve the $800/ton program target for green methanol production. The concept addresses the program objective to consolidate operations by combining crude CO 2 cleanup, hydrogen production, and partial CO 2 reduction steps within a carbon tolerant high temperature electrolyzer. The design lowers costs by simplifying the methanol recovery cycle, reducing carbon losses from venting, reducing sensitivity to catalyst selectivity, and avoiding syngas compression.
Methanol is a strategic energy vector for the storage and delivery of energy and is a widely used precursor for the synthesis of many high-value chemicals. The hydrogenation of carbon dioxide (CO 2 ) into methanol is a key process in industrial operations. Here, in this study, we show that an oxide-oxide interface generated by a low loading (0.15 ML) of In 2 O 3-x on a TiO 2 (110) substrate has a high activity and selectivity as a catalyst for the CO 2 + 3H 2 → CH 3 OH + H 2 O process. The properties of the In 2 O 3-x -TiO 2 interface under reaction conditions were investigated using a combination of synchrotron-based ambient pressure X-ray photoelectron spectroscopy (AP-XPS), temperature programmed desorption (TPD), and catalytic testing. The In 2 O 3-x overlayer spread out on top of the titania and was rich in defects and O vacancies that activated CO 2 and H 2 as reactants, without destroying CH 3 O and CH 3 OH as reaction products. The In 2 O 3-x /TiO 2 (110) catalyst is at least one order of magnitude more active than bulk indium oxide while maintaining a very high selectivity (~80%) towards methanol production. Under the rich hydrogen environment of methanol synthesis, the oxide-oxide interactions allowed only a partial reduction of the In cations, preventing the formation of metal alloys as seen in the case of catalysts with metal-indium oxide interfaces. Thus, the dispersion of low loadings of In 2 O 3-x on a stable oxide substrate is a valid and low-cost approach for generating efficient catalysts for CO 2 valorization.
The static gravitational field of the earth has been an important selective pressure that has shaped the evolution of biological organisms. This is illustrated by the evolution of tetrapods from a water environment where gravitational force was partially negated to a terrestrial environment where gravity is of greater consequence. Terrestrial invasion resulted in a series of new structural, physiological, and behavioral features. Therefore, it is not surprising that alterations in the gravitational field can cause widespread effects in many physiological systems and behaviors. Our previous studies have demonstrated that both exposure to hyperdynamic fields and the microgravity condition of space flight have significant effects on body temperature, heartrate, activity, feeding, drinking, and circadian rhythms. However, it has not been determined whether these physiological adaptations are associated with changes in neural activity within the hypothalamic nuclei that regulate these functions. This study examined the changes in body temperature, activity, body weight and food and water intake in rats caused by exposure to a hyperdynamic field. In addition, the immediate early gene activation marker, c-Fos, was used to examine potential protein synthesis changes in the hypothalamic nuclei that regulate these functions.
A technique for calculating the effects of on-orbit loads on the structural dynamics of the International Space Station is developed on the basis of MSC/NASTRAN superelement solution sequences. The complexity of the Space Station program with its multiple configurations, international partners, and contractors is stressed, and the impact of this complexity on the dynamic-load analysis process is indicated. The MSC/NASTRAN-based approach is outlined, and its application to two versions of the Permanent Manned Capability configuration is described in detail, including component mode synthesis, GFSC/FLAME coupled-loads analysis (with components from the system FEM model or from the Work Package), and ISI/MATRIX-X generation of closed-loop forcing functions. The results of these sample analyses are presented in extensive tables and graphs and briefly characterized.
Data obtained from the electric field induced second harmonic generation (EFISH) and Kurtz Powder Methods will be provided to MSFC for further refinement of their method. A theoretical model for predicting the second-order nonlinearities of organic salts is being worked on. Another task is the synthesis of a number of salts with various counterions. Several salts with promising SHG activities and new salts will be tested for the presence of two crystalline forms. The materials will be recrystallized from dry and wet solvents and compared for SHG efficiency. Salts that have a high SHG efficiency and no tendency to form hydrates will be documented. The synthesis of these materials are included in this report. A third task involves method to aid in the growth of large, high quality single crystals by solution processes. These crystals will be characterized for their applicability in the fabrication of devices that will be incorporated into optical computers in future programs. Single crystals of optimum quality may be obtained by crystal growth in low-gravity. The final task is the design of a temperature lowering single crystal growth apparatus for ground based work. At least one prototype will be built.