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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 721 records · Page 40
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NASA NTRS2016

The NASA/AFRL Meter Class Autonomous Telescope

For the past decade, the NASA Orbital Debris Program Office (ODPO) has relied on using various ground-based telescopes in Chile to acquire statistical survey data as well as photometric and spectroscopic data of orbital debris in geosynchronous Earth orbit (GEO). The statistical survey data have been used to supply the Orbital Debris Engineering Model (ORDEM) v.3.0 with debris detections in GEO to better model the environment at altitudes where radar detections are limited. The data produced for the statistical survey ranged from 30 to 40 nights per year, which only accounted for ~10% of the possible observing time. Data collection was restricted by ODPO resources and weather conditions. In order to improve the statistical sampling in GEO, as well as observe and sample other orbits, NASA's ODPO with support from the Air Force Research Laboratory (AFRL), has constructed a new observatory dedicated to orbital debris - the Meter Class Autonomous Telescope (MCAT) on Ascension Island. This location provides MCAT with the unique ability to access targets orbiting at an altitude of less than 1,000 km and low inclinations (< 20 deg). This orbital regime currently has little to no coverage by the U.S. Space Surveillance Network. Unlike previous ODPO optical assets, the ability to operate autonomously will allow rapid response observations of break-up events, an observing mode that was only available via radar tasking prior to MCAT's deployment. The primary goal of MCAT is to statistically characterize GEO via daily tasking files uploaded from ODPO. These tasking files define which operating mode to follow, providing the field center, rates, and/or targets to observe over the entire observing period. The system is also capable of tracking fast-moving targets in low Earth orbit (LEO), middle Earth orbit (MEO), as well as highly eccentric orbits like geostationary transfer orbits. On 25 August 2015, MCAT successfully acquired scientific first light, imaging the Bug Nebula and tracked objects in LEO, MEO, and GEO. NASA is working towards characterizing the system and thoroughly testing the integrated hardware and software control to achieve fully autonomous operations by late 2016. This paper will review the history and current status of the MCAT project, the details of the telescope system, and its five currently manifested operating modes.

Cowardin, H.↗
NASA NTRS2011

Autorotation flight control system

The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height-velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft. The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.

Bachelder, Edward N.↗
NASA NTRS2020

Aerocapture as an Option for Ice Giants Mission

Aerocapture is an atmospheric maneuver where the aerodynamic forces of the vehicle (lift and drag) are used to provide the 𝞓V needed to slow down from the approach hyperbolic trajectory to achieve the desired captured orbit around the target planet. The aeroassist capture provides a large savings in propulsion needed to change the velocity of the vehicle, since aerodynamic forces rather than propulsive systems provide the change in velocity. Aerocapture requires an integrated system level design, including thermal protection systems, actuator systems for aerodynamic modulation, and guidance and control systems that can autonomously command the change in the aeroassist forces. Although aerocapture has been proposed for many situations in the past, including Mars, Venus, Titan, Saturn, Uranus, and Neptune orbiters as well as for Earth demonstration missions, it has not been attempted on any missions. However, many studies in the past three decades that have considered aerocapture as a design option have concluded that there are large mass savings that come from using aeroassist forces rather than propulsive forces to put a spacecraft into a captured orbit. The benefits are destination dependent, but some of the largest mass savings occur for the Ice Giants planets. Due to the large hyperbolic velocities of interplanetary trajectories approaching Uranus and Neptune, large amount of propulsion must be used to put a spacecraft in science orbits around these planets. Aerocapture can reduce the propulsion needs by dissipating energy in the sizable atmospheres of Uranus and Neptune. NASA commissioned a detailed study analysis to quantify the benefits, if any, for use at Neptune. The study found that even having to provide a heat shield aerocapture could deliver 40% more payload than an all-propulsive vehicle, and also provides for a 3–4-year reduction in trip time. Mass savings are expected also at Uranus with an aerocapture mission. Additionally, more recent advances in thermal protection systems and guidance and control systems show a path to increase capabilities beyond those results. This paper will discuss the merits of including aerocapture as an option for an Ice Giants mission. The discussion will focus on the cost and mass savings of using aerocapture instead of propulsive burns for Ice Giants orbiter mission scenarios while also detailing a potential concept of operations and entry vehicle design. Finally, the talk will discuss more recent work that shows aerocapture design is possible without the development of any novel entry vehicle. Thus, aerocapture can significantly improve science capabilities for an Ice Giants mission.

Soumyo Dutta↗
NASA NTRS1999

Metrics of a Paradigm for Intelligent Control

We present metrics for quantifying organizational structures of complex control systems intended for controlling long-lived robotic or other autonomous applications commonly found in space applications. Such advanced control systems are often called integration platforms or agent architectures. Reported metrics span concerns about time, resources, software engineering, and complexities in the world.

Hexmoor, Henry↗
NASA NTRS2004

Intelligent Control for the BEES Flyer

This paper describes the effort to provide a preliminary capability analysis and a neural network based adaptive flight control system for the JPL-led BEES aircraft project. The BEES flyer was envisioned to be a small, autonomous platform with sensing and control systems mimicking those of biological systems for the purpose of scientific exploration on the surface of Mars. The platform is physically tightly constrained by the necessity of efficient packing within rockets for the trip to Mars. Given the physical constraints, the system is not an ideal configuration for aerodynamics or stability and control. The objectives of this effort are to evaluate the aerodynamics characteristics of the existing design, to make recommendaaons as to potential improvements and to provide a control system that stabilizes the existing aircraft for nominal flight and damaged conditions. Towards this several questions are raised and analyses are presented to arrive at answers to some of the questions raised. CART3D, a high-fidelity inviscid analysis package for conceptual and preliminary aerodynamic design, was used to compute a parametric set of solutions over the expected flight domain. Stability and control derivatives were extracted from the database and integrated with the neural flight control system. The Integrated Vehicle Modeling Environment (IVME) was also used for estimating aircraft geometric, inertial, and aerodynamic characteristics. A generic neural flight control system is used to provide adaptive control without the requirement for extensive gain scheduling or explicit system identification. The neural flight control system uses reference models to specify desired handling qualities in the roll, pitch, and yaw axes, and incorporates both pre-trained and on-line learning neural networks in the inverse model portion of the controller. Results are presented for the BEES aircraft in the subsonic regime for terrestrial and Martian environments.

Krishnakumar, K.↗
NASA NTRSDate not supplied

MISTRAL: Concept and Analysis of Persistent Airborne Localization of GHG Emissions

In this study, we propose a concept for localizing and mitigating greenhouse gases and other emissions from areas of various sizes, using a multiscale, airborne localization fleet, supported by information from satellites. Our objective is a rapidly implementable capability for the reduction of atmospheric methane by empowering the communities in proximity to emissions to actively contribute to methane mitigation via fleet operations by local governments, first responders, and individuals . Fully autonomous operations are economically desirable and technically feasible now. However, the development of regulations for autonomous operations is in early stages. Since rapid impact is critical to reducing emissions, the concept starts with remotely controlled vehicles. As regulations for autonomous operations reach maturity, the concept can be easily transitioned from the remotely piloted to autonomous mode. We report on a preliminary system analysis of the concept. Localization of methane emissions from the Permian Basin oil and gas production site serves as the design reference mission; however, the airborne concept is applicable to a broad range of use cases, and we describe several in this analysis. We consider leveraging satellite and ground-based resources within the airborne concept of operations. The study analyses uninhabited aerial system localization operations under the most conservative assumptions on resources and available information. Even under these assumptions, the concept is shown to be viable for local community operations.

airborne methane localization↗
NASA NTRS1993

Knowledge-based control for robot self-localization

Autonomous robot systems are being proposed for a variety of missions including the Mars rover/sample return mission. Prior to any other mission objectives being met, an autonomous robot must be able to determine its own location. This will be especially challenging because location sensors like GPS, which are available on Earth, will not be useful, nor will INS sensors because their drift is too large. Another approach to self-localization is required. In this paper, we describe a novel approach to localization by applying a problem solving methodology. The term 'problem solving' implies a computational technique based on logical representational and control steps. In this research, these steps are derived from observing experts solving localization problems. The objective is not specifically to simulate human expertise but rather to apply its techniques where appropriate for computational systems. In doing this, we describe a model for solving the problem and a system built on that model, called localization control and logic expert (LOCALE), which is a demonstration of concept for the approach and the model. The results of this work represent the first successful solution to high-level control aspects of the localization problem.

Bennett, Bonnie Kathleen Holte↗
NASA NTRS1983

Control of robot manipulators for handling and assembly in space

Long-range NASA planning includes construction and erection of large systems in space requiring automatic handling equipment, teleoperators, or robots under supervisory control. This paper investigates and explores some of the requirements for the control of teleoperated and autonomous space manipulators. The critical technology development areas are identified and discussed in the context of the developments at the Jet Propulsion Laboratory (JPL), and other places.

Heer, E.↗
NASA NTRS1987

Integration of symbolic and algorithmic hardware and software for the automation of space station subsystems

Traditional expert systems, such as diagnostic and training systems, interact with users only through a keyboard and screen, and are usually symbolic in nature. Expert systems that require access to data bases, complex simulations and real-time instrumentation have both symbolic as well as algorithmic computing needs. These needs could both be met using a general purpose workstation running both symbolic and algorithmic code, or separate, specialized computers networked together. The latter approach was chosen to implement TEXSYS, the thermal expert system, developed by NASA Ames Research Center in conjunction with Johnson Space Center to demonstrate the ability of an expert system to autonomously monitor the thermal control system of the space station. TEXSYS has been implemented on a Symbolics workstation, and will be linked to a microVAX computer that will control a thermal test bed. This paper will explore the integration options, and present several possible solutions.

Gregg, Hugh↗
NASA NTRS1988

Integration of symbolic and algorithmic hardware and software for the automation of space station subsystems

Expert systems that require access to data bases, complex simulations and real time instrumentation have both symbolic and algorithmic needs. Both of these needs could be met using a general purpose workstation running both symbolic and algorithmic codes, or separate, specialized computers networked together. The later approach was chosen to implement TEXSYS, the thermal expert system, developed by the NASA Ames Research Center in conjunction with the Johnson Space Center to demonstrate the ability of an expert system to autonomously monitor the thermal control system of the space station. TEXSYS has been implemented on a Symbolics workstation, and will be linked to a microVAX computer that will control a thermal test bed. The integration options and several possible solutions are presented.

Gregg, Hugh↗
NASA NTRS1989

Exploiting map plans as resources for action

When plans are used as programs for controlling the action of autonomous or teleoperated robots, their abstract representation can easily obscure a great deal of the critical knowledge that originally led to the planned course of action. An autonomous vehicle experiment is highlighted which illustrates how the information barriers created by abstraction can result in undesirable action. It is then shown how the same task can be performed correctly using plans as a resource for action. As a result of this simple change in outlook, problems requiring opportunistic reaction to unexpected changes in the environment can be solved.

Payton, David↗
NASA NTRS1990

Remote mission specialist - A study in real-time, adaptive planning

A high-level planning architecture for robotic operations is presented. The remote mission specialist integrates high-level directives with low-level primitives executable by a run-time controller for command of autonomous servicing activities. The planner has been designed to address such issues as adaptive plan generation, real-time performance, and operator intervention.

Rokey, Mark J.↗
NASA NTRS1991

Experiences With The JPL Telerobot Testbed

Report identifies problems and technological gaps existing in robotic systems integration. Focuses upon problems experienced during development of Telerobot Testbed System at NASA's Jet Propulsion Laboratory (JPL): integrated robotic testbed used to develop, implement, and evaluate performance of advanced concepts in autonomous, teleautonomous, and teleoperated control of robotic manipulators. Report provides information used to guide and expedite development of future integrated robotic systems.

Stone, Henry W.↗
NASA NTRS1992

Autonomous reconfigurable GPS/INS navigation and pointing system for rendezvous and docking

This paper describes the development of an autonomous integrated spacecraft navigation system which provides multiple modes of navigation, including relative and absolute navigation. The system provides attitude information from GPS or INS, or by tightly integrating the two systems. Interferometric GPS techniques are used when multiple antennas and integrated Doppler measurements are available. An important aspect of this research is the autonomously reconfigurable Kalman filter, controlled by an embedded knowledge base, designed to respond to component degradation and changes in mission goals.

Upadhyay, T. N.↗
NASA NTRS1989

Preliminary design of a lunar construction utility vehicle

Construction of a lunar base, prior to manned occupancy, is one of the most demanding technological challenges facing space system designers today. A flexible lunar construction machine is needed that can be operated remotely and that can perform a variety of construction tasks over a wide range of lunar conditions. A preliminary lunar construction utility vehicle (LCUV) design has been developed as part of a capstone design course at Old Dominion University and is described in this summary report. The design requirements are taken from a 1988 USRA Summer Design Report entitled The Lunar Split Mission: A Robotic Constructed Lunar Base Scenario, and from the proceedings of a workshop hosted by United Technologies Corporation entitled Report of the In Situ Resources Utilization Workshop. The first report describes a bootstrap base concept in which a minimum of essential surface elements are delivered and configured such that minimum EVA is required to bring the initial base on-line. The base is to be built in three phases, the first of which will be unmanned, while the second and third will be manned. The key to these concepts is the development of a semiautonomous, telerobotic lunar construction utility vehicle (LCUV). The tasks required of this robotic vehicle during the phase 1 build-up are as follows: (1) surface element transportation, handling, and assembly; (2) soil excavation and movement for site preparation; (3) radiation protection and materials processing; and (4) repair and maintenance of surface elements. In order to meet the stated requirements, the LCUV must be: (1) transformable to perform a wide variety of tasks; (2) self supporting; (3) designed to allow for telerobotic control as well as autonomous operation; (4) able to transport one fully configured space station common module (SSCM); (5) upgradable to allow for future growth; and (6) easy to maintain.

Bryant, C. A.↗
NASA NTRS1994

A smart telerobotic system driven by monocular vision

A robotic system that accepts autonomously generated motion and control commands is described. The system provides images from the monocular vision of a camera mounted on a robot's end effector, eliminating the need for traditional guidance targets that must be predetermined and specifically identified. The telerobotic vision system presents different views of the targeted object relative to the camera, based on a single camera image and knowledge of the target's solid geometry.

Defigueiredo, R. J. P.↗
NASA NTRS1994

A nonlinear strategy for sensor based vehicle path control

A method of transverse control which makes use of nonlinear formulations is presented. The strategy is utilized to stabilize a vehicle. The vehicle is autonomously guided and takes its control inputs from an optical sensing system. Additionally, the velocity of the vehicle is dictated by a longitudinal controller, which is also discussed.

Mayr, R.↗