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NASA NTRS2014

Simulation and Control Lab Development for Power and Energy Management for NASA Manned Deep Space Missions

The development of distributed hierarchical and agent-based control systems will allow for reliable autonomous energy management and power distribution for on-orbit missions. Power is one of the most critical systems on board a space vehicle, requiring quick response time when a fault or emergency is identified. As NASAs missions with human presence extend beyond low earth orbit autonomous control of vehicle power systems will be necessary and will need to reliably function for long periods of time. In the design of autonomous electrical power control systems there is a need to dynamically simulate and verify the EPS controller functionality prior to use on-orbit. This paper presents the work at NASA Glenn Research Center in Cleveland, Ohio where the development of a controls laboratory is being completed that will be utilized to demonstrate advanced prototype EPS controllers for space, aeronautical and terrestrial applications. The control laboratory hardware, software and application of an autonomous controller for demonstration with the ISS electrical power system is the subject of this paper.

Space Flight↗

NASA NTRSDate not supplied

Optimization-Based Parametric Design via High-Fidelity Simulation: Overview + Examples

Design-Build-Test approaches for developing spaceflight hardware are prohibitively time and cost intensive and often lead to suboptimal mechanism designs. Approaches that couple machine learning and high-fidelity physics simulation could eliminate the need for hardware prototyping and dramatically accelerate the engineering design cycle, ultimately reducing cost. This talk presents a modular NASA-developed toolchain to optimize hardware mechanisms in a virtual environment using numerical optimization and multi-body physics simulation and includes example applications related to rigid wheel design for autonomous rovers and computational fluid dynamics.

optimization↗

NASA NTRS2009

Proceedings of the First NASA Formal Methods Symposium

Topics covered include: Model Checking - My 27-Year Quest to Overcome the State Explosion Problem; Applying Formal Methods to NASA Projects: Transition from Research to Practice; TLA+: Whence, Wherefore, and Whither; Formal Methods Applications in Air Transportation; Theorem Proving in Intel Hardware Design; Building a Formal Model of a Human-Interactive System: Insights into the Integration of Formal Methods and Human Factors Engineering; Model Checking for Autonomic Systems Specified with ASSL; A Game-Theoretic Approach to Branching Time Abstract-Check-Refine Process; Software Model Checking Without Source Code; Generalized Abstract Symbolic Summaries; A Comparative Study of Randomized Constraint Solvers for Random-Symbolic Testing; Component-Oriented Behavior Extraction for Autonomic System Design; Automated Verification of Design Patterns with LePUS3; A Module Language for Typing by Contracts; From Goal-Oriented Requirements to Event-B Specifications; Introduction of Virtualization Technology to Multi-Process Model Checking; Comparing Techniques for Certified Static Analysis; Towards a Framework for Generating Tests to Satisfy Complex Code Coverage in Java Pathfinder; jFuzz: A Concolic Whitebox Fuzzer for Java; Machine-Checkable Timed CSP; Stochastic Formal Correctness of Numerical Algorithms; Deductive Verification of Cryptographic Software; Coloured Petri Net Refinement Specification and Correctness Proof with Coq; Modeling Guidelines for Code Generation in the Railway Signaling Context; Tactical Synthesis Of Efficient Global Search Algorithms; Towards Co-Engineering Communicating Autonomous Cyber-Physical Systems; and Formal Methods for Automated Diagnosis of Autosub 6000.

Denney, Ewen↗

NASA NTRS1984

Considerations on command and response language features for a network of heterogeneous autonomous computers

The design of a uniform command language to be used in a local area network of heterogeneous, autonomous nodes is considered. After examining the major characteristics of such a network, and after considering the profile of a scientist using the computers on the net as an investigative aid, a set of reasonable requirements for the command language are derived. Taking into account the possible inefficiencies in implementing a guest-layered network operating system and command language on a heterogeneous net, the authors examine command language naming, process/procedure invocation, parameter acquisition, help and response facilities, and other features found in single-node command languages, and conclude that some features may extend simply to the network case, others extend after some restrictions are imposed, and still others require modifications. In addition, it is noted that some requirements considered reasonable (user accounting reports, for example) demand further study before they can be efficiently implemented on a network of the sort described.

Engelberg, N.↗

NASA NTRS2004

Lunar Contour Crafting: A Novel Technique for ISRU-Based Habitat Development

As the nation prepares to return to the Moon, it is apparent that the viability of long duration visits with appropriate radiation shielding/crew protection, hinges on the development of Lunar structures, preferably in advance of a manned landing, and preferably utilizing in-situ resources. Contour Crafting is a USC-patented technique for automated development of terrestrial concrete-based structures. The process is relatively fast, completely automated, and supports the incorporation of various infrastructure elements such as plumbing and electrical wiring. This paper will present a conceptual design of a Lunar Contour Crafting system designed to autonomously fabricate integrated structures on the Lunar surface using high-strength concrete based on Lunar regolith, including glass reinforcement rods or fibers fabricated from melted regolith. Design concepts will be presented, as well as results of initial tests aimed at concrete and glass production using Lunar regolith simulant. Key issues and concerns will be presented, along with design concepts for an LCC testbed to be developed at MSFC's Prototype Development Laboratory (PDL).

Khoshnevis, Behrokh↗

NASA NTRSDate not supplied

AMO-EXPRESS-2.5: Crew Autonomy Onboard the International Space Station

NASA is committed to landing American astronauts, including the first woman and the next man, on the Moon by 2024. Currently, the crew cannot take on all functions performed by the ground today, so the future crews will need more automation to reduce the crew workload for future missions. Of significant importance for these missions is the balance between crew autonomy and vehicle automation. The Advanced Exploration Systems (AES) Autonomous Systems and Operations (ASO) Project has been investigating the ability to evaluate crew self-scheduling and activity monitoring for future space missions. The ASO project designed the Autonomous Mission and Operations- EXpedite the PRocessing of Experiments to Space Station Rack-2.5 (AMO-EXPRESS-2.5) payload to evaluate crew self-scheduling and activity monitoring. The AMO-EXPRESS-2.5 builds on the previous AMO-EXPRESS and AMO-EXPRESS-2.0 demonstrations on ISS. The AMO-EXPRESS-2.5 demonstration goals are to prove crew self-scheduling by planning through diagnosing systems expertise, failure detection, procedure recommendation and situational awareness. This paper will describe the development, test and execution results of the AMO-EXPRESS-2.5 demonstration, and will also outline the future planned development and operational efforts to enable autonomy for future deep space manned missions.

Brooke C. Allen↗

NASA NTRS1982

Stress analysis and design considerations for Shuttle pointed autonomous research tool for astronomy /SPARTAN/

The Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN) family of spacecraft are intended to operate with minimum interfaces with the U.S. Space Shuttle in order to increase flight opportunities. The SPARTAN I Spacecraft was designed to enhance structural capabilities and increase reliability. The approach followed results from work experience which evolved from sounding rocket projects. Structural models were developed to do the analyses necessary to satisfy safety requirements for Shuttle hardware. A loads analysis must also be performed. Stress analysis calculations will be performed on the main structural elements and subcomponents. Attention is given to design considerations and program definition, the schematic representation of a finite element model used for SPARTAN I spacecraft, details of loads analysis, the stress analysis, and fracture mechanics plan implications.

Ferragut, N. J.↗

NASA NTRS1998

The Spacecraft Emergency Response System (SERS) for Autonomous Mission Operations

Today, most mission operations are geared toward lowering cost through unmanned operations. 7-day/24-hour operations are reduced to either 5-day/8-hour operations or become totally autonomous, especially for deep-space missions. Proper and effective notification during a spacecraft emergency could mean success or failure for an entire mission. The Spacecraft Emergency Response System (SERS) is a tool designed for autonomous mission operations. The SERS automatically contacts on-call personnel as needed when crises occur, either on-board the spacecraft or within the automated ground systems. Plus, the SERS provides a group-ware solution to facilitate the work of the person(s) contacted. The SERS is independent of the spacecraft's automated ground system. It receives and catalogues reports for various ground system components in near real-time. Then, based on easily configurable parameters, the SERS determines whom, if anyone, should be alerted. Alerts may be issued via Sky-Tel 2-way pager, Telehony, or e-mail. The alerted personnel can then review and respond to the spacecraft anomalies through the Netscape Internet Web Browser, or directly review and respond from the Sky-Tel 2-way pager.

Breed, Julia↗

NASA NTRS1994

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly.

Klarer, P.↗

NASA NTRS1986

Mars Rover

The system integration issues associated with the design of Rovers for Mars ground surface operations are addressed in this paper. Requirements are established for both long distance traverse between geology sites and for geologic survey operations. To satisfy these mission requirements, a semi-autonomous vehicle design has been proposed and its performance capabilities are assessed. Furthermore, the mobility, power consumption, coordination and control (maneuverability), and reliability issues associated with the design of mobility systems to permit vehicle traverse over rugged terrain are examined and the direction of future work required to address these issues is outlined.

Klein, G.↗

NASA NTRS1986

Current status of mission/system design for a Mars rover

The system integration issues associated with the design of Rovers for Mars ground surface operations are addressed in this article. Requirements are established for both long distance traverse between geology sites and for geologic survey operations. To satisfy these mission requirements, a semi-autonomous vehicle design has been proposed and its performance capabilities are assessed. Furthermore, the mobility, power consumption, coordination and control (maneuverability), and reliability issues associated with the design of mobility systems to permit vehicle traverse over rugged terrain are examined and the direction of future work required to address these issues is outlined.

Klein, Gail↗

NASA NTRS2011

Development and Deployment of Robonaut 2 to the International Space Station

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

Ambrose, Robert O.↗

NASA NTRS1994

Integration for navigation on the UMASS mobile perception lab

Integration of real-time visual procedures for use on the Mobile Perception Lab (MPL) was presented. The MPL is an autonomous vehicle designed for testing visually guided behavior. Two critical areas of focus in the system design were data storage/exchange and process control. The Intermediate Symbolic Representation (ISR3) supported data storage and exchange, and the MPL script monitor provided process control. Resource allocation, inter-process communication, and real-time control are difficult problems which must be solved in order to construct strong autonomous systems.

Draper, Bruce↗

NASA NTRS1991

Design and fabrication of an autonomous rendezvous and docking sensor using off-the-shelf hardware

NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).

Grimm, Gary E.↗

NASA NTRS2011

Orion Handling Qualities During ISS Proximity Operations and Docking

NASA's Orion spacecraft is designed to autonomously rendezvous and dock with many vehicles including the International Space Station. However, the crew is able to assume manual control of the vehicle s attitude and flight path. In these instances, Orion must meet handling qualities requirements established by NASA. Two handling qualities assessments were conducted at the Johnson Space Center to evaluate preliminary designs of the vehicle using a six degree of freedom, high-fidelity guidance, navigation, and control simulation. The first assessed Orion s handling qualities during the last 20 ft before docking, and included both steady and oscillatory motions of the docking target. The second focused on manual acquisition of the docking axis during the proximity operations phase and subsequent station-keeping. Cooper-Harper handling qualities ratings, workload ratings and comments were provided by 10 evaluation pilots for the docking study and 5 evaluation pilots for the proximity operations study. For the docking task, both cases received 90% Level 1 (satisfactory) handling qualities ratings, exceeding NASA s requirement. All ratings for the ProxOps task were Level 1. These evaluations indicate that Orion is on course to meet NASA's handling quality requirements for ProxOps and docking.

Stephens, John-Paul↗

NASA NTRS2024

Vertiport Management from Simulation to Flight: Continued Human Factors Assessment of Vertiport Operations

The Urban Air Mobility concept envisions a new future for transportation in urban environments, primarily focused around vertiport operations. A vertiport refers to an identifiable ground or elevated area used for the vertical takeoff and landing of an aircraft. One critical role within vertiport operations that has been proposed but is under-researched is the vertiport manager. The vertiport manager is expected to manage the ground-to-air operations at the vertiport, but their precise responsibilities, tasks, and challenges are currently undefined. The High Density Vertiplex Subproject at NASA is responsible for developing and testing technologies, concepts, and architectures that will support the infrastructure needed for terminal environments around vertiports. Our previous work investigated ground control station operators performing simulated and live flight operations within a remote operations environment. In the current study, we extended from our previous work to explore the role of a vertiport manager. Specifically, we investigated five participants serving as a vertiport manager across both simulated and live flight operations. We performed multiple knowledge elicitation techniques, a thematic content analysis of qualitative data, and naturalistic observations to create a list of insights, design and training recommendations, and a simplified cognitive task diagram of the vertiport manager’s primary task. Findings from this study are discussed within the context of the current debate on the degree to which this role should be automated. A third alternative is suggested to allow a human vertiport manager to be successful by teaming with increasingly autonomous systems, designing the role to improve safety and efficiency of Urban Air Mobility operations.

AAM↗

NASA NTRS2024

Vertiport Management from Simulation to Flight: Continued Human Factors Assessment of Vertiport Operations

AAM↗

NASA NTRSDate not supplied

Detecting Volcanic Co2 Emissions Hidden in Tropical Volcanic Forests Using Fixed-Wing sUAS

CO2 emissions are among the earliest indicators of subsurface state change and reactivation of volcanic systems and these deep signals reflect in faint diffuse emissions variations on volcanic flanks. Monitoring vast areas of rainforests covering tropical volcanoes is challenging, and space-borne sensors like OCO-2 are not sensitive enough. Fortunately, trees exposed to mild enhancements of CO2 may experience fertilization and build excess CO2 into excess biomass (Cawse-Nicholson, et al. 2018, Biogeosciences). They also process excess CO2 through photosynthesis, measurable by fluorescence (Bogue et al., 2019, Biogeosciences). Furthermore, spaceborne remote sensing instruments have demonstrated increasing NDVI months to years before eruptions, unexplained by other factors (e.g., Houlie et al. 2006, EPSL; Seiler et al. 2017, PLoS One). By providing a means to map large areas of above-canopy CO2 variations over tropical rainforest on the flanks of actively degassing volcanoes, we enable to interpret the signals plants provide in response to excess CO2 with airborne and spaceborne hyperspectral remote sensing methods, including a possible future Surface Biology and Geology (SBG) NASA satellite mission.As a critical step to mature and test this concept, we deployed small unmanned aerial systems (sUAS) using a fixed-wing sUAS designed for autonomous operations and long endurance in extreme environments, without causing significant disturbance of the sampled air. We integrated an in-situ sensor to record the CO2 enhancement field above the forest canopy. Test flight results on the flanks of Turrialba volcano in Costa Rica above forest canopies covering known moderate gas seeps demonstrate the sUAS-borne detection and mapping capabilities of above-canopy elevated CO2 gradients. The strong detection capabilities and high detector signal stability resulted from key system design elements including RF shielding, mechanical stabilization, and calibration procedures. This highly robust system is readily applied for diffuse volcanic CO2 emission studies on active volcanoes covered by dense vegetation.

Volcanic↗