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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 631 records · Page 35

Small-scale noise tests of a slot nozzle with V-gutter target thrust reverser

The noise generated by a 2.26- by 11.43-cm slot nozzle with a V-gutter reverser, as well as some aerodynamic data on flow, thrust-reversal efficiency, and nozzle jet velocity decay were studied. The experimental data are scaled up to sizes suitable for reversing the wing flow of a 45/400-kg augmentor-wing-type STOL airplane, yielding perceived noise levels well above the 95-PNdb design goal on the 152-m sideline. The reverser, in addition to being noisier than the nozzle alone, also had a more uniform directional distribution and more high frequency noise. The maximum overall sound pressure level and the effective sound power level both varied with the sixth power of nozzle jet velocity. Preliminary experiments indicated possible sideline noise reduction by shielding.

Stone, J. R.↗

Installation aerodynamics of wing-mounted, single-rotation propfans

The installation of advanced (M = 0.8) turboprop propulsion systems on transport aircraft represents a challenging task to design engineers. The installation aerodynamics of wing-mounted, single-rotation, tractor turboprop systems have been extensively investigated by NASA Ames using a large powered semispan wind tunnel model. Two configurations have been studied: a straight under-the-wing (UTW) nacelle and a contoured over-the-wing (OTW) configuration. The installation characteristics of these two configurations are presented in terms of installed drag, wing pressure distributions, and surface oil flows. Through the use of wing leading-edge modifications, the installed drag of the UTW nacelle was reduced to less than isolated nacelle drag at the cruise condition of M = 0.8 with a wing C(L) of 0.5. At this condition, the favorable interference is attributed to the recovery of a portion of the swirl in the slipstream generated by the single rotation propeller. The OTW installation represented a much more difficult task. For the configuration tested, the installed drag was unacceptably high and demonstrated the sensitive nature of installing a nacelle/slipstream combination in the transonic flow regime.

Bencze, Daniel P.↗

Overview of Multi-kilowatt Free-Piston Stirling Power Conversion Research at GRC

As a step towards development of Stirling power conversion for potential use in Fission Surface Power (FSP) systems, a pair of commercially available 1 kW class free-piston Stirling convertors and a pair of commercially available pressure wave generators (which will be plumbed together to create a high power Stirling linear alternator test rig) have been procured for in-house testing at Glenn Research Center. Delivery of both the Stirling convertors and the linear alternator test rig is expected by October, 2007. The 1 kW class free-piston Stirling convertors will be tested at GRC to map and verify performance. The convertors will later be modified to operate with a NaK liquid metal pumped loop for thermal energy input. The high power linear alternator test rig will be used to map and verify high power Stirling linear alternator performance and to develop power management and distribution (PMAD) methods and techniques. This paper provides an overview of the multi-kilowatt free-piston Stirling power conversion work being performed at GRC.

Geng, Steven M.↗

Nanoionics-Based Switches for Radio-Frequency Applications

Nanoionics-based devices have shown promise as alternatives to microelectromechanical systems (MEMS) and semiconductor diode devices for switching radio-frequency (RF) signals in diverse systems. Examples of systems that utilize RF switches include phase shifters for electronically steerable phased-array antennas, multiplexers, cellular telephones and other radio transceivers, and other portable electronic devices. Semiconductor diode switches can operate at low potentials (about 1 to 3 V) and high speeds (switching times of the order of nanoseconds) but are characterized by significant insertion loss, high DC power consumption, low isolation, and generation of third-order harmonics and intermodulation distortion (IMD). MEMS-based switches feature low insertion loss (of the order of 0.2 dB), low DC power consumption (picowatts), high isolation (>30 dB), and low IMD, but contain moving parts, are not highly reliable, and must be operated at high actuation potentials (20 to 60 V) generated and applied by use of complex circuitry. In addition, fabrication of MEMS is complex, involving many processing steps. Nanoionics-based switches offer the superior RF performance and low power consumption of MEMS switches, without need for the high potentials and complex circuitry necessary for operation of MEMS switches. At the same time, nanoionics-based switches offer the high switching speed of semiconductor devices. Also, like semiconductor devices, nanoionics-based switches can be fabricated relatively inexpensively by use of conventional integrated-circuit fabrication techniques. More over, nanoionics-based switches have simple planar structures that can easily be integrated into RF power-distribution circuits.

Nessel, James↗

Impact of Future Low-Emissions Combustor Technology on Acoustic Scaling Laws

A first-of-its-kind examination of broadband noise associated with a far-term advanced low-emission aero-combustor concept is presented. Due to design trends and expected cycle changes for future aircraft propulsion systems, noise generated by sources in the combustor are expected to become of increasing significance for airport-community noise. The paper assesses the impact on legacy semi-empirical noise-prediction methods from the expected radical departures from current combustor operating conditions and designs, such as fuel-air distribution and flame anchoring techniques. Such methods are essential in system-level noise assessments at the preliminary design stage for advanced air transports to assure that overall environmental goals are met. Detailed unsteady pressure measurements, obtained in a fundamental combustion noise experiment utilizing a combustor rig at relevant pressures and temperatures, are analyzed. In addition to an advanced far-term low-emissions concept, a reference configuration with the test section arranged to model a modern combustor sector was also studied. For the test rig in the current-generation configuration, the measured broadband acoustic data are reasonably well described by the acoustic-power scaling laws used in legacy semi-empirical noise-prediction methods. For the future-advanced configuration, the legacy scaling laws, with some notable exceptions, provide correct trends, but with much less accuracy

aeroacoustics↗

Overview of Multi-Kilowatt Free-Piston Stirling Power Conversion Research at Glenn Research Center

As a step towards development of Stirling power conversion for potential use in Fission Surface Power (FSP) systems, a pair of commercially available 1 kW class free-piston Stirling convertors and a pair of commercially available pressure wave generators (which will be plumbed together to create a high power Stirling linear alternator test rig) have been procured for in-house testing at Glenn Research Center (GRC). Delivery of both the Stirling convertors and the linear alternator test rig is expected by October 2007. The 1 kW class free-piston Stirling convertors will be tested at GRC to map and verify performance. The convertors will later be modified to operate with a NaK liquid metal pumped loop for thermal energy input. The high power linear alternator test rig will be used to map and verify high power Stirling linear alternator performance and to develop power management and distribution (PMAD) methods and techniques. This paper provides an overview of the multi-kilowatt free-piston Stirling power conversion work being performed at GRC.

Geng, Steven M.↗

Health Management Applications for International Space Station

Traditional mission and vehicle management involves teams of highly trained specialists monitoring vehicle status and crew activities, responding rapidly to any anomalies encountered during operations. These teams work from the Mission Control Center and have access to engineering support teams with specialized expertise in International Space Station (ISS) subsystems. Integrated System Health Management (ISHM) applications can significantly augment these capabilities by providing enhanced monitoring, prognostic and diagnostic tools for critical decision support and mission management. The Intelligent Systems Division of NASA Ames Research Center is developing many prototype applications using model-based reasoning, data mining and simulation, working with Mission Control through the ISHM Testbed and Prototypes Project. This paper will briefly describe information technology that supports current mission management practice, and will extend this to a vision for future mission control workflow incorporating new ISHM applications. It will describe ISHM applications currently under development at NASA and will define technical approaches for implementing our vision of future human exploration mission management incorporating artificial intelligence and distributed web service architectures using specific examples. Several prototypes are under development, each highlighting a different computational approach. The ISStrider application allows in-depth analysis of Caution and Warning (C&W) events by correlating real-time telemetry with the logical fault trees used to define off-nominal events. The application uses live telemetry data and the Livingstone diagnostic inference engine to display the specific parameters and fault trees that generated the C&W event, allowing a flight controller to identify the root cause of the event from thousands of possibilities by simply navigating animated fault tree models on their workstation. SimStation models the functional power flow for the ISS Electrical Power System and can predict power balance for nominal and off-nominal conditions. SimStation uses realtime telemetry data to keep detailed computational physics models synchronized with actual ISS power system state. In the event of failure, the application can then rapidly diagnose root cause, predict future resource levels and even correlate technical documents relevant to the specific failure. These advanced computational models will allow better insight and more precise control of ISS subsystems, increasing safety margins by speeding up anomaly resolution and reducing,engineering team effort and cost. This technology will make operating ISS more efficient and is directly applicable to next-generation exploration missions and Crew Exploration Vehicles.

Alena, Richard↗

The Pursuit of K: Reflections on the Current State-of-the-Art in Stress Intensity Factor Solutions for Practical Aerospace Applications

The elastic stress intensity factor (SIF, commonly denoted as K) is the foundation of practical fracture mechanics (FM) analysis for aircraft structures. This single parameter describes the first-order effects of stress magnitude and distribution as well as the geometry of both structure/component and crack. Hence, the calculation of K is often the most significant step in fatigue analysis based on FM. This presentation will provide several reflections on the current state-of-the-art in SIF solution methods used for practical aerospace applications, including a brief historical perspective, descriptions of some recent and ongoing advances, and comments on some remaining challenges. Newman and Raju made significant early contributions to practical structural analysis by developing closed-form SIF equations for surface and corner cracks in simplified geometries, often based on empirical fits of finite element (FE) solutions. Those solutions (and others like them) were sometimes revised as new analyses were conducted or limitations discovered. The foundational solutions have exhibited striking longevity, despite the relatively "coarse" FE models employed many decades ago. However, in recent years, the accumulation of different generations of solutions for the same nominal geometry has led to some confusion (which solution is correct?), and steady increases in computational capabilities have facilitated the discovery of inaccuracies in some (not all!) of the legacy solutions. Some examples of problems and solutions are presented and discussed, including the challenge of maintaining consistency with legacy design applications. As computational power has increased, the prospect of calculating large numbers of SIF solutions for specific complex geometries with advanced numerical methods has grown more attractive. Fawaz and Andersson, for example, have been generating literally millions of new SIF solutions for different combinations of multiple cracks under simplified loading schemes using p-version FE methods. These data are invaluable, but questions remain about their practical use, because the tabular databases of key results needed to support practical life analysis can occupy gigabytes of storage for only a few classes of geometries. The prospect of using such advanced numerical methods to calculate in real time only those K solutions actually needed to support a specific crack growth analysis is also tempting, but the stark reality is that the computational cost is still so high that the approach is not practical except for specific, critical application problems. Some thoughts are offered about alternative paradigms. Compounding approaches are some of the earliest building blocks of SIF development for more complex geometries. These approaches are especially attractive because of their very low computational cost and their conceptual robustness; they are, in some ways, an intriguing contrast and complement to the brute-force numerical methods. In recent years, researchers at NRC-Canada have published remarkable results showing how compounding approaches can be used to generate accurate solutions for very difficult problems. Examples are provided of some successes--and some limitations--using this approach. These closed-form, tabulated numerical, and compounding approaches have typically been used for simple remote loading with simple load paths to the crack. However, many significant cracks occur in complex stress gradient fields. This is a job for weight function (WF) methods, where the arbitrary stress distribution on the crack plane in the corresponding uncracked body (typically determined using FE methods) is used to determine K. Several significant recent advances in WF methods and solutions are highlighted here. Fueled by advanced 3D numerical methods, many new solutions have been generated for classic geometries such as surface and corner cracks with wide ranges of geometrical validity. A new WF formulation has also be developed for part-through cracks considering the arbitrary stress gradients in all directions in the crack plane (so-called bivariant solutions). Basic WF methods have recently been combined with analytical expressions for crack plane stresses to develop a large family of accurate SIF solutions for corner, surface, and through cracks at internal or external notches with very wide ranges of shapes, sizes, acuities, and offsets. Finally, WF solutions are much faster than FE or boundary element solutions, but can still be much slower than simple closed-form solutions, especially for bivariant solutions that can require 2D numerical integration. Novel pre-integration and dynamic tabular methods have been developed that substantially increase the speed of these advanced WF solutions. The practical utility of advanced SIF methods, including both WF and direct numerical methods, is greatly enhanced if the FM life analysis can be directly and efficiently linked with digital models of the actual structure or component (e.g., FE models for stress analysis). Two recent advances of this type will be described. One approach directly interfaces the FM life analysis with the FE model of the uncracked component (including stress results). Through a powerful graphical user interface, simplified FM life models can be constructed (and visualized) directly on the component model, with the computer collecting the geometry and stress gradient information needed for the life calculation. An even more powerful paradigm uses expert logic to automatically build an optimum simple fracture model at any and every desired location in the component model, perform the life calculation, and even generate fatigue crack growth life contour maps, all with minimal user intervention. This paradigm has also been extended to the automatic calculation of fracture risk, considering uncertainty or variability in key input parameters such as initial crack size or location. Another new integrated approach links the engineering life analysis, the component model, and a 3D numerical fracture analysis built with the same component model to generate a table of SIF values at a specific location that can then be employed efficiently to perform the life calculation. Some attention must be given to verification and validation (V&V) issues and challenges: how good are these SIF solutions, how good is good enough, and does anyone believe the life answer? It is important to think critically about the different sources of error or uncertainty and to perform V&V in a hierarchal, building-block manner. Some accuracy issues for SIF solutions, for example, may actually involve independent material behavior issues, such as constraint loss effects for crack fronts near component surfaces, and can be a source of confusion. Recommendations are proposed for improved V&V approaches. This presentation will briefly but critically survey the range of issues and advances mentioned above, with a particular view towards assembling an integrated approach that combines different methods to create practical tools for real-world design and analysis problems. Examples will be selectively drawn from the recent literature, from recent enhancements in the NASGRO and DARWIN computer codes, and from previously unpublished research

CraigMcClung, R.↗

Status of Pulsed Inductive Thruster Research

The TRW Pulsed Inductive Thruster (PIT) is an electromagnetic propulsion system that can provide high thrust efficiency over a wide range of specific impulse values. In its basic form, the PIT consists of a flat spiral coil covered by a thin dielectric plate. A pulsed gas injection nozzle distributes a thin layer of gas propellant across the plate surface at the same time that a pulsed high current discharge is sent through the coil. The rising current creates a time varying magnetic field, which in turn induces a strong azimuthal electric field above the coil. The electric field ionizes the gas propellant and generates an azimuthal current flow in the resulting plasma. The current in the plasma and the current in the coil flow in opposite directions, providing a mutual repulsion that rapidly blows the ionized propellant away from the plate to provide thrust. The thrust and specific impulse can be tailored by adjusting the discharge power, pulse repetition rate, and propellant mass flow, and there is minimal if any erosion due to the electrodeless nature of the discharge. Prior single-shot experiments performed with a 1-meter diameter version of the PIT at TRW demonstrated specific impulse values between 2,000 seconds and 8,000 seconds, with thruster efficiencies exceeding 55% for ammonia and hydrazine propellants. This paper outlines current and planned activities to transition the single shot device into a multiple repetition rate thruster capable of supporting future DOD and NASA strategic enterprise missions.

Hrbud, Ivana↗

Status of Pulsed Inductive Thruster Research

The TRW Pulsed Inductive Thruster (PIT) is an electromagnetic propulsion system that can provide high thrust efficiency over a wide range of specific impulse values. In its basic form, the PIT consists of a flat spiral coil covered by a thin dielectric plate. A pulsed gas injection nozzle distributes a thin layer of gas propellant across the plate surface at the same time that a pulsed high current discharge is sent through the coil. The rising current creates a time varying magnetic field, which in turn induces a strong azimuthal electric field above the coil. The electric field ionizes the gas propellant and generates an azimuthal current flow in the resulting plasma. The current in the plasma and the current in the coil flow in opposite directions, providing a mutual repulsion that rapidly blows the ionized propellant away from the plate to provide thrust. The thrust and specific impulse can be tailored by adjusting the discharge power, pulse repetition rate, and propellant mass flow, and there is minimal if any erosion due to the electrodeless nature of the discharge. Prior single-shot experiment,; performed with a Diameter diameter version of the PIT at TRW demonstrated specific impulse values between 2,000 seconds and 8,000 seconds, with thruster efficiencies of about 52% for ammonia. This paper outlines current and planned activities to transition the single shot device into a multiple repetition rate thruster capable of supporting NASA strategic enterprise missions.

Hrbud, Ivana↗

Developments in fiber optics for distribution automation

An optical fiber based communications system of unusual design is described. The system consists of a network of optical fibers overlaid on the distribution system. It is configured as a large number of interconnected rings, with some spurs. Protocols for access to and control of the network are described. Because of the way they function, the protocols are collectively called AbNET, in commemoration of the microbiologists' abbreviation Ab for antibody. Optical data links that could be optically powered are described. There are two versions, each of which has a good frequency response and minimal filtering requirements. In one, a conventional FM pulse train is used at the transmitter, and a novel form of phase-locked loop is used as demodulator. In the other, the FM transmitter is replaced with a pulse generator arranged so that the period between pulses represents the modulating signal. Transmitter and receiver designs, including temperature compensation methods, are presented. Experimental results are given.

Kirkham, H.↗

StarView: The object oriented design of the ST DADS user interface

StarView is the user interface being developed for the Hubble Space Telescope Data Archive and Distribution Service (ST DADS). ST DADS is the data archive for HST observations and a relational database catalog describing the archived data. Users will use StarView to query the catalog and select appropriate datasets for study. StarView sends requests for archived datasets to ST DADS which processes the requests and returns the database to the user. StarView is designed to be a powerful and extensible user interface. Unique features include an internal relational database to navigate query results, a form definition language that will work with both CRT and X interfaces, a data definition language that will allow StarView to work with any relational database, and the ability to generate adhoc queries without requiring the user to understand the structure of the ST DADS catalog. Ultimately, StarView will allow the user to refine queries in the local database for improved performance and merge in data from external sources for correlation with other query results. The user will be able to create a query from single or multiple forms, merging the selected attributes into a single query. Arbitrary selection of attributes for querying is supported. The user will be able to select how query results are viewed. A standard form or table-row format may be used. Navigation capabilities are provided to aid the user in viewing query results. Object oriented analysis and design techniques were used in the design of StarView to support the mechanisms and concepts required to implement these features. One such mechanism is the Model-View-Controller (MVC) paradigm. The MVC allows the user to have multiple views of the underlying database, while providing a consistent mechanism for interaction regardless of the view. This approach supports both CRT and X interfaces while providing a common mode of user interaction. Another powerful abstraction is the concept of a Query Model. This concept allows a single query to be built form a single or multiple forms before it is submitted to ST DADS. Supporting this concept is the adhoc query generator which allows the user to select and qualify an indeterminate number attributes from the database. The user does not need any knowledge of how the joins across various tables are to be resolved. The adhoc generator calculates the joins automatically and generates the correct SQL query.

Williams, J. D.↗

High voltage distribution and grounding in high power spacecraft

Many space missions proposed for the time period from 1985 to 2000 will require large spacecraft to support the onboard loads. In some cases, large electrical power systems will be needed to supply the electrical/electronic equipment loads. These electronic systems will be used for communications, radar, and experimental equipment for aid to earth's overcrowded communication systems, exploration of new energy resources, space exploration, and eventually to supplement terrestrial electric power utilities. For the near term (1985-1990), some of these systems have power levels to 50 kW. The long-term programs, 1990 to post-2000, could possibly have demands in the order of multimegawatts. The problems which have to be solved to construct the required high-voltage power supply systems are considered. Data and conceptual designs generated are found to indicate that grounding and bonding for high power systems can be accomplished in spacecraft by using either manual or automatic joining of the structural members.

Dunbar, W. G.↗

Magnetically switched power supply system for lasers

A laser power supply system is described in which separate pulses are utilized to avalanche ionize the gas within the laser and then produce a sustained discharge to cause the gas to emit light energy. A pulsed voltage source is used to charge a storage device such as a distributed capacitance. A transmission line or other suitable electrical conductor connects the storage device to the laser. A saturable inductor switch is coupled in the transmission line for containing the energy within the storage device until the voltage level across the storage device reaches a predetermined level, which level is less than that required to avalanche ionize the gas. An avalanche ionization pulse generating circuit is coupled to the laser for generating a high voltage pulse of sufficient amplitude to avalanche ionize the laser gas. Once the laser gas is avalanche ionized, the energy within the storage device is discharged through the saturable inductor switch into the laser to provide the sustained discharge. The avalanche ionization generating circuit may include a separate voltage source which is connected across the laser or may be in the form of a voltage multiplier circuit connected between the storage device and the laser.

Pacala, Thomas J.↗

Monte Carlo simulations of the diurnal variation in seismic detection rate of sporadic meteoroid impacts on the moon

The rate of detection of meteoroid impacts on the moon by the lunar seismic network shows a characteristic diurnal variation. Assuming that these meteoroids have a flux and a preimpact orbital distribution similar to that of fireballs observed by terrestrial camera networks, one can compute the expected diurnal variation for a given set of parameters that describe the seismic wave generation and transmission on the moon. An iterative process to match the theoretical variation with the observed one has led us to the following results: (1) the majority of the detected impact events occur within a closer range of the network than was believed earlier. This results in higher meteoroid flux estimates from lunar seismic data that agree with the terrestrially measured flux. (2) For meteoroid masses smaller than 1000 g, seismic amplitude is approximately proportional to the one-fifth power of the impact speed; for larger masses it is approximately proportional to the eight-fifth power, provided that the terrestrial meteor data used for analysis are not biased. (3) Seismic efficiency of meteoroids smaller than 1000 g is significantly less than that of large meteoroids. (4) Using orbits of fireballs that represent meteorites, we predict that the share of meteorites among the detected impacts is approximately 15 percent assuming that seismic efficiency of the high-density meteorites is the same as that of average meteoroids. A greatly increased seismic efficiency for these high-density objects is not likely.

Oberst, J.↗

Surface and Atmospheric Shortwave Radiative Fluxes From ISCCP Data and Fu-Liou Algorithm at Higher Spatial and Vertical Resolution

NASA/GEWEX Surface Radiation Budget (SRB) has provided surface and TOA shortwave and longwave radiative fluxes using International Satellite Cloud Climatology data as the primary input. Release 4.0 came out in 2019, with data from July 1983 through June 2017, and improved validation stats relative to Release 3.0 (Stackhouse et al., 2012). Release 4.0 used the newly reprocessed ISCCP H data set. The shortwave algorithm for versions 3 and 4 has been based on the Pinker and Laszlo (1992) algorithm, which relies on the satellite-measured shortwave radiance to produce a TOA albedo. This background TOA albedo is made utilizing the background clear-sky visible radiance (called clear-sky composite radiance in the ISCCP data) and applying narrowband-to-broadband angular distribution models. Using a climatological aerosol assumption, the surface albedo is estimated using radiative transfer based (i.e., Fu/Liou radiative transfer model; Fu and Liou, 1993) look-up tables. Using this surface albedo and an instantaneous TOA albedo, the look-up tables are used to adjust both the aerosol optical depth (for clear sky) and cloud optical depth (for cloudy sky) for each scene. These properties and look up tables are then used to generate surface fluxes. While this has worked well to provide useful fluxes, it has occasionally resulted in inaccurate direct and diffuse surface SW fluxes due to the overreliance on aerosol optical depth. With increased computational power and storage now available, a more direct approach is now possible. Here we present a different approach for a future high resolution SRB Release 5.0. We replace the Pinker-Laszlo lookup table approach with a forward call to the Fu-Liou radiative transfer model as modified by the CERES team (Rose et al., 2006). In addition to being a proven radiation code, Fu-Liou allows the calculation of fluxes at different atmospheric levels and spectral bands, which will provide more insight into the surface radiation budget, its variability and attribution. It is expected that horizontal resolution will increase to at least 0.5°x0.5° from the current 1°x1°. Here we demonstrate a preliminary look at the next SRB, and show comparisons with the current release.

Earth Radiation Budget↗

Analysis of satellite measurements of terrestrial radio noise

Worldwide distributions of terrestrial radio noise as monitored by Radio Astronomy Explorer 1 (RAE 1) generated and compared with CCIR predictions. These contour maps show the global morphology of radio noise at 6.55 and 9.18 MHz for fall, winter, spring and summer during the local time blocks of 00-08 LT and 16-24 LT. These computer produced maps show general agreement with CCIR predictions over large land masses. The RAE and CCIR maps diverge at high latitudes over Asia and frequently over ocean regions. Higher noise levels observed by RAE at high latitudes are attributed to magnetospheric emission while higher noise levels observed by RAE over Asia are attributable to high power transmitters. Analysis of RAE noise observations in conjunction with various geophysical phenomena showed no obvious correlation.

Bakalyar, G.↗

Contingency Planning for Planetary Rovers

There has been considerable work in AI on planning under uncertainty. But this work generally assumes an extremely simple model of action that does not consider continuous time and resources. These assumptions are not reasonable for a Mars rover, which must cope with uncertainty about the duration of tasks, the power required, the data storage necessary, along with its position and orientation. In this paper, we outline an approach to generating contingency plans when the sources of uncertainty involve continuous quantities such as time and resources. The approach involves first constructing a "seed" plan, and then incrementally adding contingent branches to this plan in order to improve utility. The challenge is to figure out the best places to insert contingency branches. This requires an estimate of how much utility could be gained by building a contingent branch at any given place in the seed plan. Computing this utility exactly is intractable, but we outline an approximation method that back propagates utility distributions through a graph structure similar to that of a plan graph.

Dearden, Richard↗