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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS2002

Brahms Mobile Agents: Architecture and Field Tests

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, rover/All-Terrain Vehicle (ATV), robotic assistant, other personnel in a local habitat, and a remote mission support team (with time delay). Software processes, called agents, implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system (e.g., return here later and bring this back to the habitat ). This combination of agents, rover, and model-based spoken dialogue interface constitutes a personal assistant. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a run-time system.

Clancey, William J.↗
DOE OSTI2024

ReLU, Sparseness, and the Encoding of Optic Flow in Neural Networks

Accurate self-motion estimation is critical for various navigational tasks in mobile robotics. Optic flow provides a means to estimate self-motion using a camera sensor and is particularly valuable in GPS- and radio-denied environments. The present study investigates the influence of different activation functions—ReLU, leaky ReLU, GELU, and Mish—on the accuracy, robustness, and encoding properties of convolutional neural networks (CNNs) and multi-layer perceptrons (MLPs) trained to estimate self-motion from optic flow. Our results demonstrate that networks with ReLU and leaky ReLU activation functions not only achieved superior accuracy in self-motion estimation from novel optic flow patterns but also exhibited greater robustness under challenging conditions. The advantages offered by ReLU and leaky ReLU may stem from their ability to induce sparser representations than GELU and Mish do. Our work characterizes the encoding of optic flow in neural networks and highlights how the sparseness induced by ReLU may enhance robust and accurate self-motion estimation from optic flow.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1994

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng↗
NASA NTRS2015

Human-Robot Interaction

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera frame of reference. The first study investigated the effects of inclusion and exclusion of the robot chassis along with superimposing a simple arrow overlay onto the video feed of operator task performance during teleoperation of a mobile robot in a driving task. In this study, the front half of the robot chassis was made visible through the use of three cameras, two side-facing and one forward-facing. The purpose of the second study was to compare operator performance when teleoperating a robot from an egocentric-only and combined (egocentric plus exocentric camera) view. Camera view parameters that are found to be beneficial in these laboratory experiments can be implemented on NASA rovers and tested in a real-world driving and navigation scenario on-site at the Johnson Space Center.

Sandor, Aniko↗
NASA NTRS2012

Regolith Depth, Mobility, and Variability on Vesta from Dawn's Low Altitude Mapping Orbit

Regolith, the fragmental debris layer formed from impact events of all sizes, covers the surface of all asteroids imaged by spacecraft to date. Here we use Framing Camera (FC) images [1] acquired by the Dawn spacecraft [2] from its low-altitude mapping orbit (LAMO) of 210 km (pixel scales of ~20 m) to characterize regolith depth, variability, and mobility on Vesta, and to locate areas of especially thin regolith and exposures of competent material. These results will help to evaluate how the surface of this differentiated asteroid has evolved over time, and provide key contextual information for understanding the origin and degree of mixing of the surficial materials for which compositions are estimated [3,4] and the causes of the relative spectral immaturity of the surface [5]. Vestan regolith samples, in the form of howardite meteorites, can be studied in the laboratory to provide complementary constraints on the regolith process [6].

Denevi, B. W.↗
NASA NTRS2004

Waves on Seas of Mars and Titan: Wind-Tunnel Experiments on Wind-Wave Generation in Extraterrestrial Atmospheres

The generation of waves by winds across Earth's water oceans is a topic of enduring fascination. However, the physics of the problem are rather forbidding and thus the relationships between real-world windspeed and sea state tend to be empirical. Such empirical relations are of limited utility in environments where the physical parameters are different, such as the surfaces of other planets. These environments have only recently come to oceanographers attention, with the discovery of ancient shorelines and lakes on Mars, and the prospects for and recent evidence of lakes and seas of liquid hydrocarbons on Saturn's moon Titan. We are aware of only one other published experimental wind-water tunnel study where the fluid parameters have been varied. This used artificially-generated mm-scale waves at 3.8-7.6 Hz in water, glycerol solutions (higher viscosity) and surfactant solutions (lower surface tension). Lower viscosity solutions had higher wave growth rates: surprisingly, higher surface tension led to more rapid wave growth. The liquid density was not appreciably varied, and 1 bar air was used throughout.We used the MARSWIT (Mars Wind Tunnel) operated by ASU at NASA Ames. A fiberglass tray (5 cm x 120 cm x 75 cm) was installed in the tunnel, with an approx. 1:5 ramp to prevent strong flow separation. The tray was filled to a depth of about 4 cm. Sensors were clamped to the tray itself or held by a steel and aluminium frame just above the water level. A towel was draped on the water surface at the downwind end of the tray to act as a damper to suppress wave reflection. Position-sensitive infrared (IR) reflection sensors (Sharp GP12D02) and ultrasonic rangers (Devantech DF-04) used in mobile robotics were used as water level sensors. The tray was observed with a video camera, whose output could be viewed on a monitor and recorded on VHS tape.

Lorenz, R. D.↗
NASA NTRS2005

Automation of Vapor-Diffusion Growth of Protein Crystals

Some improvements have been made in a system of laboratory equipment developed previously for studying the crystallization of proteins from solution by use of dynamically controlled flows of dry gas. The improvements involve mainly (1) automation of dispensing of liquids for starting experiments, (2) automatic control of drying of protein solutions during the experiments, and (3) provision for automated acquisition of video images for monitoring experiments in progress and for post-experiment analysis. The automation of dispensing of liquids was effected by adding an automated liquid-handling robot that can aspirate source solutions and dispense them in either a hanging-drop or a sitting-drop configuration, whichever is specified, in each of 48 experiment chambers. A video camera of approximately the size and shape of a lipstick dispenser was added to a mobile stage that is part of the robot, in order to enable automated acquisition of images in each experiment chamber. The experiment chambers were redesigned to enable the use of sitting drops, enable backlighting of each specimen, and facilitate automation.

Hamrick, David T.↗
NASA NTRS2021

Acoustic Sensor Network for Planetary Exploration

This paper investigates the concept of an acoustic sensor network that can monitor a variety of geophysical processes occurring on other planetary bodies. In many cases sound is naturally omnidirectional and travels at known speeds which depend on the composition and density of the atmosphere. The differences in the time of flight of signals received by a distributed microphone network can be used to locate the source of the sound. We suggest this property is ideal for mobile planetary robots and can be used to expand the exploration envelope considerably by directing camera pointing or rover path planning thus extending beyond line-of-sight exploration. Acoustic signatures have been used in a variety of fields (e.g., sonar, heavy machinery) to identify and catalog sounds associated with a specific vessels and malfunctioning machinery. Our ears have cataloged hundreds of sounds and we continuously use these sounds both consciously and subconsciously to extract information about our surroundings. This paper investigates the use acoustic measurements on other planetary bodies that could be used to characterize specific environmental parameters such as rain droplet size, wind speed, thunder, or dust devil vortex diameter. The paper identified other important sound sources that are thought to occur on other bodies in our solar system include; booming or singing dunes, waves, rivers, streams, fluidfalls, geysers, hurricanes, tornados, ice flow, volcanoes, planetary quakes, avalanche, rock slides and ice cracking. In addition, this paper focused on issues associated with the development of appropriate sensors for the network including the specification of the sensitivity, frequency response, and directional response of each of the microphones in the network in order to aid in localization of sound sources. We also presented our initial development of the transducers for potential mission targets including Mars and Titan and investigated the use of signal processing techniques including windowing, time frequency plots and correlation techniques to resolve phase differences between sensors in the network to aid in localization. We also identified additional benefits of these sensor networks in that they could used as engineering sensors to diagnose mechanical malfunctions on a rover or lander actuators or mechanisms. We also noted that they could also enhance public outreach by adding sound to videos.

Malaska, Mike↗
NASA NTRS1991

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Marzwell, Neville I.↗
DOE OSTI2020

Integrating Overhead Camera Imagery with Reinforcement Learning to Improve Fuel Economy Through Adaptive Traffic Control

Overhead cameras have been deployed for some time as a sensor for traffic control, with many advantages over conventional inductive loop sensors in terms of robustness, ease of installation, and simplicity with respect to maintenance. We explore the utility of such imagery (in particular, fisheye lens cameras) for intelligent traffic control in real-time using reinforcement learning, with a goal of improving fuel economy for the overall intersection and grid of intersections. We summarize our initial work in data collection and approach to ascertain the ability to visually sense vehicular fuel consumption using real-world data. We then describe our deep reinforcement learning topology to test adaptive control informed by the camera capabilities. Next, we tested the proof-of-concept through a variety of simulation scenarios using the Simulation of Urban Mobility (SUMO) traffic simulator, which included different estimates on vehicle classifications, different traffic distributions, and different traffic densities. Six different control policies were tested ranging from simple timing, to heuristic visual-based methods, to actual policies learned via the reinforcement learning approach. Our results demonstrate the feasibility of the approach for controlling traffic lights for better fuel efficiency based on visual vehicle estimates from commercial, fisheye lens cameras.

Karnowski, Thomas↗
NASA NTRS2003

Mobile Agents: A Distributed Voice-Commanded Sensory and Robotic System for Surface EVA Assistance

A model-based, distributed architecture integrates diverse components in a system designed for lunar and planetary surface operations: spacesuit biosensors, cameras, GPS, and a robotic assistant. The system transmits data and assists communication between the extra-vehicular activity (EVA) astronauts, the crew in a local habitat, and a remote mission support team. Software processes ("agents"), implemented in a system called Brahms, run on multiple, mobile platforms, including the spacesuit backpacks, all-terrain vehicles, and robot. These "mobile agents" interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. Different types of agents relate platforms to each other ("proxy agents"), devices to software ("comm agents"), and people to the system ("personal agents"). A state-of-the-art spoken dialogue interface enables people to communicate with their personal agents, supporting a speech-driven navigation and scheduling tool, field observation record, and rover command system. An important aspect of the engineering methodology involves first simulating the entire hardware and software system in Brahms, and then configuring the agents into a runtime system. Design of mobile agent functionality has been based on ethnographic observation of scientists working in Mars analog settings in the High Canadian Arctic on Devon Island and the southeast Utah desert. The Mobile Agents system is developed iteratively in the context of use, with people doing authentic work. This paper provides a brief introduction to the architecture and emphasizes the method of empirical requirements analysis, through which observation, modeling, design, and testing are integrated in simulated EVA operations.

Clancey, William J.↗
NASA NTRS2002

STS-110 Flight Day 7 Highlights

On the seventh day of STS-110, Mission Specialists Steven Smith and Rex Walheim are shown preparing for their second extravehicular activity (EVA) and the third of the mission, with the assistance of Mission Specialist Jerry Ross. Following this mission, Ross and Smith will be the first and second most experienced spacewalkers, respectively, in history. A camera mounted on the Space Shuttle Atlantis shows footage of the International Space Station. While Smith and Walheim are on EVA, Mission Specialists Ross and Lee Morin will provide choreography from inside the Atlantis crew cabin, Pilot Stephen Frick will operate the robotic arm, and Commander Mike Bloom will control the cameras on the robotic arm. Smith and Walheim are shown exiting the airlock hatch and then installing an PFR (Portable Foot Restraint) on the end of the robotic arm, from which much of the work will be done. Following the switching off of a circuit breaker, the main EVA task of rewiring umbilical cables that provide power, commands, and video is begun. These cables will be connected to the Mobile Transporter's (MT) robotic arm. The MT, an external transportation system which runs on rails, is seen with a helmet mounted camera as the astronauts work to release bolts that had served to secure the MT during launch. After a final check of the umbilical connections mated, the Umbilical Reconfiguration Panel is fitted over the cables, and the astronauts make their way to the airlock hatch.

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DOE OSTI2024

Solar mirror soiling and heliostat inspection from a mobile imaging system and mobile platform

A system or method for an imaging system is provided for inspecting a heliostat. The imaging system includes a platform and a camera mounted on the platform and a heliostat having a plurality of mirrored facets. The camera is positioned to acquire a first image that serves as a reference image and a second image that is a reflected image from at least one facet. The camera stores image data associated with the first image and the second image, and wirelessly transmits the stored image data to a computing apparatus. The computing apparatus compares the first image with the second image and determines a performance parameter associated with the heliostat.

Yellowhair, Julius↗
NASA NTRS2010

Evaluating the Performance of Unmanned Ground Vehicle Water Detection

Water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation over cross-country terrain. During the Robotics Collaborative Technology Alliances (RCTA) program, the Jet Propulsion Laboratory (JPL) developed a set of water detection algorithms that are used to detect, localize, and avoid water bodies large enough to be a hazard to a UGV. The JPL water detection software performs the detection and localization stages using a forward-looking stereo pair of color cameras. The 3D coordinates of water body surface points are then output to a UGV's autonomous mobility system, which is responsible for planning and executing safe paths. There are three primary methods for evaluating the performance of the water detection software. Evaluations can be performed in image space on the intermediate detection product, in map space on the final localized product, or during autonomous navigation to characterize the avoidance of a variety of water bodies. This paper describes a methodology for performing the first two types of water detection performance evaluations.

stereo vision↗
NASA NTRS1995

More About Hazard-Response Robot For Combustible Atmospheres

Report presents additional information about design and capabilities of mobile hazard-response robot called "Hazbot III." Designed to operate safely in combustible and/or toxic atmosphere. Includes cameras and chemical sensors helping human technicians determine location and nature of hazard so human emergency team can decide how to eliminate hazard without approaching themselves.

Stone, Henry W.↗
NASA NTRS1989

A photoelectric technique for measuring lightning-channel propagation velocities from a mobile laboratory

The present device for lightning channel propagation-velocity determination employs eight photodetectors mounted behind precision horizontal slits in the focal plane of a photographic camera lens. The eight photodetector pulses, IRIG-B time, and slow and fast electric field-change waveforms are recorded on a 14-track analog tape recorder. A comparison of the present results with those obtained by a streaking camera shows no significant differences between the velocities obtained from the same strokes with the two systems; neither is there any difference in pulse characteristics or in the velocities calculated from them.

Mach, Douglas M.↗
NASA NTRS2009

Robots Save Soldiers' Lives Overseas (MarcBot)

Marshall Space Flight Center mobile communications platform designs for future lunar missions led to improvements to fleets of tactical robots now being deployed by U.S. Army. The Multi-function Agile Remote Control Robot (MARCbot) helps soldiers search out and identify improvised explosive devices. NASA used the MARCbots to test its mobile communications platform, and in working with it, made the robot faster while adding capabilities -- upgrading to a digital camera, encrypting the controllers and video transmission, as well as increasing the range and adding communications abilities. They also simplified the design, providing more plug-and-play sensors and replacing some of the complex electronics with more trouble-free, low-cost components. Applied Geo Technology, a tribally-owned corporation in Choctaw, Mississippi, was given the task of manufacturing the modified robots. The company is now producing 40 units per month, 300 of which have already been deployed overseas.

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NASA NTRS2014

NASA Tech Briefs, March 2014

Topics include: Data Fusion for Global Estimation of Forest Characteristics From Sparse Lidar Data; Debris and Ice Mapping Analysis Tool - Database; Data Acquisition and Processing Software - DAPS; Metal-Assisted Fabrication of Biodegradable Porous Silicon Nanostructures; Post-Growth, In Situ Adhesion of Carbon Nanotubes to a Substrate for Robust CNT Cathodes; Integrated PEMFC Flow Field Design for Gravity-Independent Passive Water Removal; Thermal Mechanical Preparation of Glass Spheres; Mechanistic-Based Multiaxial-Stochastic-Strength Model for Transversely-Isotropic Brittle Materials; Methods for Mitigating Space Radiation Effects, Fault Detection and Correction, and Processing Sensor Data; Compact Ka-Band Antenna Feed with Double Circularly Polarized Capability; Dual-Leadframe Transient Liquid Phase Bonded Power Semiconductor Module Assembly and Bonding Process; Quad First Stage Processor: A Four-Channel Digitizer and Digital Beam-Forming Processor; Protective Sleeve for a Pyrotechnic Reefing Line Cutter; Metabolic Heat Regenerated Temperature Swing Adsorption; CubeSat Deployable Log Periodic Dipole Array; Re-entry Vehicle Shape for Enhanced Performance; NanoRacks-Scale MEMS Gas Chromatograph System; Variable Camber Aerodynamic Control Surfaces and Active Wing Shaping Control; Spacecraft Line-of-Sight Stabilization Using LWIR Earth Signature; Technique for Finding Retro-Reflectors in Flash LIDAR Imagery; Novel Hemispherical Dynamic Camera for EVAs; 360 deg Visual Detection and Object Tracking on an Autonomous Surface Vehicle; Simulation of Charge Carrier Mobility in Conducting Polymers; Observational Data Formatter Using CMOR for CMIP5; Propellant Loading Physics Model for Fault Detection Isolation and Recovery; Probabilistic Guidance for Swarms of Autonomous Agents; Reducing Drift in Stereo Visual Odometry; Future Air-Traffic Management Concepts Evaluation Tool; Examination and A Priori Analysis of a Direct Numerical Simulation Database for High-Pressure Turbulent Flows; and Resource-Constrained Application of Support Vector Machines to Imagery.

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