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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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NASA NTRS2001

Micro-Power Sources Enabling Robotic Outpost Based Deep Space Exploration

Robotic outpost based exploration represents a fundamental shift in mission design from conventional, single spacecraft missions towards a distributed risk approach with many miniaturized semi-autonomous robots and sensors. This approach can facilitate wide-area sampling and exploration, and may consist of a web of orbiters, landers, or penetrators. To meet the mass and volume constraints of deep space missions such as the Europa Ocean Science Station, the distributed units must be fully miniaturized to fully leverage the wide-area exploration approach. However, presently there is a dearth of available options for powering these miniaturized sensors and robots. This group is currently examining miniaturized, solid state batteries as candidates to meet the demand of applications requiring low power, mass, and volume micro-power sources. These applications may include powering microsensors, battery-backing rad-hard CMOS memory and providing momentary chip back-up power. Additional information is contained in the original extended abstract.

West, W. C.↗

NASA NTRS2000

ScienceDesk Project Overview

NASA's ScienceDesk Project at the Ames Research Center is responsible for scientific knowledge management which includes ensuring the capture, preservation, and traceability of scientific knowledge. Other responsibilities include: 1) Maintaining uniform information access which is achieved through intelligent indexing and visualization, 2) Collaborating both asynchronous and synchronous science teamwork, 3) Monitoring and controlling semi-autonomous remote experimentation.

Keller, Richard M.↗

NASA NTRS2001

Multiagent Modeling and Simulation in Human-Robot Mission Operations Work System Design

This paper describes a collaborative multiagent modeling and simulation approach for designing work systems. The Brahms environment is used to model mission operations for a semi-autonomous robot mission to the Moon at the work practice level. It shows the impact of human-decision making on the activities and energy consumption of a robot. A collaborative work systems design methodology is described that allows informal models, created with users and stakeholders, to be used as input to the development of formal computational models.

Sierhuis, Maarten↗

NASA NTRS1999

An Integrated Vehicle Modeling Environment

This paper describes an Integrated Vehicle Modeling Environment for estimating aircraft geometric, inertial, and aerodynamic characteristics, and for interfacing with a high fidelity, workstation based flight simulation architecture. The goals in developing this environment are to aid in the design of next generation intelligent fight control technologies, conduct research in advanced vehicle interface concepts for autonomous and semi-autonomous applications, and provide a value-added capability to the conceptual design and aircraft synthesis process. Results are presented for three aircraft by comparing estimates generated by the Integrated Vehicle Modeling Environment with known characteristics of each vehicle under consideration. The three aircraft are a modified F-15 with moveable canards attached to the airframe, a mid-sized, twin-engine commercial transport concept, and a small, single-engine, uninhabited aerial vehicle. Estimated physical properties and dynamic characteristics are correlated with those known for each aircraft over a large portion of the flight envelope of interest. These results represent the completion of a critical step toward meeting the stated goals for developing this modeling environment.

Totah, Joseph J.↗

NASA NTRS2005

Lunar and Planetary Science XXXVI, Part 17

The following topics were discussed: A Model for the Formation of Paterae on Io; LIBS-based Detection of As, Br, C, Cl, P, and S in the VUV Spectral Region in a Mars Atmosphere; Mass Independent Sulfur in Achondrites: Possible Evidence of Photochemistry in the Solar Nebula; Grain Size-dependent Viscosity and Oceans in Icy Satellites; Claritas Paleolake Studied from the MEX HRSC Data; Mars Express HRSC Colors of White Rock, Arabia, Mars; Lava and Flows of the Arcadia Region of Mars; Isotopic Composition of Lunar Soils and the Early Differentiation of the Moon; Trace Element Analysis of Lunar Soils by ICP-MS; Highly Siderophile Elements and Osmium Isotope Systematics in Ureilites: Are the Carbonaceous Veins Primary Components?; Evaporative Evolution of Martian Brines Based on Halogens in Nakhlites and MER Samples; Io from High-Resolution Galileo PPR Data Taken Simultaneously with SSI or NIMS Observations; Loki, Io: Groundbased Observations and a Model for Periodic Overturn; Deconstructing a Few Myths in the Interpretation of Satellite-Altitude Crustal Magnetic Field: Examples from Mars Global Surveyor; Semi-Autonomous Rover Operations: A Mars Technology Program Demonstration; Rotational Studies of Asteroids with Small Telescopes; Mineralogy and Temperature-induced Spectral Investigations of A-type Asteroids 246 Asporina and 446 Aeternitas; and Thermal History Calculations Versus Full Convection Models: Application to the Thermal Evolution of Mercury. Recent Solar-Proton Fluxes

Source record↗

NASA NTRS2005

Data Assimilation Technology Transfer from Planetary Exploration to Terrestrial Applications

Data assimilation can be a valuable tool for discovery and exploration. Planetary missions--principally polar orbiting spacecraft--are now capable of returning enough information to constrain global dynamical models. However, such missions operate under a number of severe constraints: there is no ground truth to calibrate and validate either the models or the data: and there are limited computational resources available, particularly onboard the spacecraft, for the near real-time processing that is required for aerobraking and other semi-autonomous maneuvers. A modified data assimilation approach, in which the prime analysis variable is the observed quantity (i.e., infrared radiances), has been found to be effective in deriving global meteorology from Mars Global Surveyor Thermal Emission Spectrometer data. It may also be useful in a number of terrestrial applications (e.g. aerosol assimilation).

Houben, Howard↗

NASA NTRS2005

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗

NASA NTRS2005

A unifying framework for systems modeling, control systems design, and system operation

Current engineering practice in the analysis and design of large-scale multi-disciplinary control systems is typified by some form of decomposition- whether functional or physical or discipline-based-that enables multiple teams to work in parallel and in relative isolation. Too often, the resulting system after integration is an awkward marriage of different control and data mechanisms with poor end-to-end accountability. System of systems engineering, which faces this problem on a large scale, cries out for a unifying framework to guide analysis, design, and operation. This paper describes such a framework based on a state-, model-, and goal-based architecture for semi-autonomous control systems that guides analysis and modeling, shapes control system software design, and directly specifies operational intent. This paper illustrates the key concepts in the context of a large-scale, concurrent, globally distributed system of systems: NASA's proposed Array-based Deep Space Network.

systems modeling↗

NASA NTRS2003

Automating planetary mission operations

In this paper, we describe the elements of a semi-autonomous system designed to provide instrument health, pointing, and data in a cost effective fashion.

automation parallel processing↗

NASA NTRS2008

SDO Onboard Ephemeris Generation

The Solar Dynamics Observatory (SDO) spacecraft is a sun-pointing, semi-autonomous satellite that will allow nearly continuous observations of the Sun with a continuous science data downlink. The science requirements for this mission necessitate very strict sun-pointing requirements, as well as continuous ground station connectivity through high gain antennas (HGAs). For SDO s onboard attitude control system to successfully point the satellite at the Sun and the HGAs at the ground stations with the desired accuracy, in addition to the need for accurate sensors it must have good onboard knowledge of the ephemerides of the Sun, the spacecraft, and the ground station. This paper describes the minimum force models necessary for onboard ephemeris generation in support of an attitude control system. The forces that were considered include the Sun s point mass, Moon s point mass, solar radiation pressure (SRP), and the Earth s gravity with varying degree and order of terms of the geopotential.

Berry, Kevin E.↗

NASA NTRS2009

Damage Detection and Self-Repair in Inflatable/Deployable Structures

Inflatable/deployable structures are under consideration for applications as varied as expansion modules for the International Space Station to destinations for space tourism to habitats for the lunar surface. Monitoring and maintaining the integrity of the physical structure is critical, particularly since these structures rely on non-traditional engineering materials such as fabrics, foams, and elastomeric polymers to provide the primary protection for the human crew. The closely related prior concept of monitoring structural integrity by use of built-in or permanently attached sensors has been applied to structures made of such standard engineering materials as metals, alloys, and rigid composites. To effect monitoring of flexible structures comprised mainly of soft goods, however, it will be necessary to solve a different set of problems - especially those of integrating power and data-transfer cabling that can withstand, and not unduly interfere with, stowage and subsequent deployment of the structures. By incorporating capabilities for self-repair along with capabilities for structural health monitoring, successful implementation of these technologies would be a significant step toward semi-autonomous structures, which need little human intervention to maintain. This would not only increase the safety of these structures, but also reduce the inspection and maintenance costs associated with more conventional structures.

Brandon, Erik↗

NASA NTRS2009

Adaptive Behavior for Mobile Robots

The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

Huntsberger, Terrance↗

NASA NTRS2009

Using Thermal Radiation in Detection of Negative Obstacles

A method of automated detection of negative obstacles (potholes, ditches, and the like) ahead of ground vehicles at night involves processing of imagery from thermal-infrared cameras aimed at the terrain ahead of the vehicles. The method is being developed as part of an overall obstacle-avoidance scheme for autonomous and semi-autonomous offroad robotic vehicles. The method could also be applied to help human drivers of cars and trucks avoid negative obstacles -- a development that may entail only modest additional cost inasmuch as some commercially available passenger cars are already equipped with infrared cameras as aids for nighttime operation.

Rankin, Arturo L.↗

NASA NTRS2007

Multiple-Agent Air/Ground Autonomous Exploration Systems

Autonomous systems of multiple-agent air/ground robotic units for exploration of the surfaces of remote planets are undergoing development. Modified versions of these systems could be used on Earth to perform tasks in environments dangerous or inaccessible to humans: examples of tasks could include scientific exploration of remote regions of Antarctica, removal of land mines, cleanup of hazardous chemicals, and military reconnaissance. A basic system according to this concept (see figure) would include a unit, suspended by a balloon or a blimp, that would be in radio communication with multiple robotic ground vehicles (rovers) equipped with video cameras and possibly other sensors for scientific exploration. The airborne unit would be free-floating, controlled by thrusters, or tethered either to one of the rovers or to a stationary object in or on the ground. Each rover would contain a semi-autonomous control system for maneuvering and would function under the supervision of a control system in the airborne unit. The rover maneuvering control system would utilize imagery from the onboard camera to navigate around obstacles. Avoidance of obstacles would also be aided by readout from an onboard (e.g., ultrasonic) sensor. Together, the rover and airborne control systems would constitute an overarching closed-loop control system to coordinate scientific exploration by the rovers.

Fink, Wolfgang↗

NASA NTRS2010

The Emergence of Agent-Based Technology as an Architectural Component of Serious Games

The evolution of games as an alternative to traditional simulations in the military context has been gathering momentum over the past five years, even though the exploration of their use in the serious sense has been ongoing since the mid-nineties. Much of the focus has been on the aesthetics of the visuals provided by the core game engine as well as the artistry provided by talented development teams to produce not only breathtaking artwork, but highly immersive game play. Consideration of game technology is now so much a part of the modeling and simulation landscape that it is becoming difficult to distinguish traditional simulation solutions from game-based approaches. But games have yet to provide the much needed interactive free play that has been the domain of semi-autonomous forces (SAF). The component-based middleware architecture that game engines provide promises a great deal in terms of options for the integration of agent solutions to support the development of non-player characters that engage the human player without the deterministic nature of scripted behaviors. However, there are a number of hard-learned lessons on the modeling and simulation side of the equation that game developers have yet to learn, such as: correlation of heterogeneous systems, scalability of both terrain and numbers of non-player entities, and the bi-directional nature of simulation to game interaction provided by Distributed Interactive Simulation (DIS) and High Level Architecture (HLA).

Phillips, Mark↗

NASA NTRS2008

MER Surface Phase; Blurring the Line Between Fault Protection and What is Supposed to Happen

An assessment on the limitations of communication with MER rovers and how such constraints drove the system design, flight software and fault protection architecture, blurring the line between traditional fault protection and expected nominal behavior, and requiring the most novel autonomous and semi-autonomous elements of the vehicle software including communication, surface mobility, attitude knowledge acquisition, fault protection, and the activity arbitration service.

surface operations↗

NASA NTRS2010

Establishing a Robotic, LEO-to-GEO Satellite Servicing Infrastructure as an Economic Foundation for Exploration

The strategy for accomplishing civilian exploration goals and objectives is in the process of a fundamental shift towards a potential new approach called Flexible Path. This paper suggests that a government-industry or public-private partnership in the commercial development of low Earth orbit to geostationary orbit (LEO-to-GEO (LTG)) space, following or in parallel with the commercialization of Earth-to-LEO and International Space Station (ISS) operations, could serve as a necessary, logical step that can be incorporated into the flexible path approach. A LTG satellite-servicing infrastructure and architecture concept is discussed within this new strategic context. The concept consists of a space harbor that serves as a transport facility for a fleet of specialized, fully- or semi-autonomous robotic servicing spacecraft. The baseline, conceptual system architecture is composed of a space harbor equipped with specialized servicer spacecraft; a satellite command, communication, and control system; a parts station; a fuel station or depot; and a fuel/parts replenishment transport. The commercial servicer fleet would consist of several types of spacecraft, each designed with specialized robotic manipulation subsystems to provide services such as refueling, upgrade, repair, inspection, relocation, and removal. The space harbor is conceptualized as an ISS-type, octagonal truss structure equipped with radiation tolerant subsystems. This space harbor would be primarily capable of serving as an operational platform for various commercially owned and operated servicer spacecraft positioned and docked symmetrically on four of the eight sides. Several aspects of this concept are discussed, such as: system-level feasibility in terms of ISS-truss-type infrastructure and subsystems emplacement and maintenance between LEO and GEO; infrastructure components assembly in LEO, derived from ISS assembly experience, and transfer to various higher orbital locations; the evolving Earth-to-orbit (ETO) capability to deliver humans and cargo to LEO for assembly purposes; system architectural definition, optimal orbital parameters, mass estimations, delta velocity ( V) estimations, power and propulsion options, and assessments of various critical technologies. Large-scale, robotic, LTG satellite servicing is considered as an essential economic pre-condition and next parallel or sequential step on the road toward exploration beyond LEO. Such a step might produce the necessary pre-requisite economic value that can be used by future decision makers to justify further investment in exploration beyond LEO.

Horsham, Gary A. P.↗

NASA NTRS2005

Construction and Resource Utilization Explorer: Regolith Characterization Using a Modular Instrument Suite and Analysis Tools

The Construction Resource Utilization Explorer (CRUX) is a technology maturation project for the U.S. National Aeronautics and Space Administration to provide enabling technology for lunar and planetary surface operations (LPSO). The CRUX will have 10 instruments, a data handling function (Mapper - with features of data subscription, fusion, interpretation, and publication through geographical information system [GIs] displays), and a decision support system DSS) to provide information needed to plan and conduct LPSO. Six CRUX instruments are associated with an instrumented drill to directly measure regolith properties (thermal, electrical, mechanical, and textural) and to determine the presence of water and other hydrogen sources to a depth of about 2 m (Prospector). CRUX surface and geophysical instruments (Surveyor) are designed to determine the presence of hydrogen, delineate near subsurface properties, stratigraphy, and buried objects over a broad area through the use of neutron and seismic probes, and ground penetrating radar. Techniques to receive data from existing space qualified stereo pair cameras to determine surface topography will also be part of the CRUX. The Mapper will ingest information from CRUX instruments and other lunar and planetary data sources, and provide data handling and display features for DSS output. CRUX operation will be semi-autonomous and near real-time to allow its use for either planning or operations purposes.

Moon↗