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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 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

CARACaS multi-agent maritime autonomy for unmanned surface vehicles in the Swarm II harbor patrol demonstration

This paper describes new autonomy technology that enabled a team of unmanned surface vehicles (USVs) to execute cooperative behaviors in the USV Swarm II harbor patrol demonstration and provides a description of autonomy performance in the event. The new developments extend the NASA Jet Propulsion Laboratory’s CARACaS (Control Architecture for Robotic Agent Command and Sensing) autonomy architecture, which pro- vides foundational software infrastructure, core executive functions, and several default robotic technology mod- ules. In Swarm II, CARACaS demonstrated higher levels of autonomy and more complex cooperation than previous on-water exercises, using full-sized vehicles and real-world sensing and communication. The core au- tonomous behaviors to support the harbor patrol scenario included Patrol, Track, Inspect, and Trail, providing the capability of finding all vessels entering the patrol area, keeping track of them, inspecting them to infer intent, and trailing suspect vessels. Significantly, CARACaS assumed responsibility for not only executing tasks safely and efficiently but also recognizing what tasks needed to be accomplished, given the current state of the world. Since the heterogeneous USV teams shared world model that evolved, such as due to (dis)appearance of vessels in the area or a change in health or availability of a USV, CARACaS replanned to generate and reallocate the new task list. Thus, human intervention was never required in the loop to task USVs during mission execution, though a supervisory role was supported in the autonomy system for mission monitoring and exception handling. Finally, CARACaS also ensured the USVs avoided hazards and obeyed the applicable rules of the road, using its local motion planning modules.

Sandoval, Michael↗
NASA NTRS2020

Experimental Validation of Swarm Array Results Using Mars Cube One (Marco) A,B Downlink Signals

In this paper, we investigate the feasibility of calibrating an orbiting phased array composed of CubeSat class spacecraft together with a larger reference (or “chief”) spacecraft, comprising an overall Swarm Array. Considered as an analog to the Deep Space Network (DSN) Uplink Arraying problem [1], a spaceborne Swarm Array that can potentially deliver comparable or even greater operational performance than large monolithic spacecraft (such as increased data rates for telecommunications, or greater baselines for improved spatial resolution), thus increasing future mission capability but with significantly enhanced flexibility, evolvability and robustness.

Kahan, Daniel↗
NASA NTRSDate not supplied

Applying the Cognitive Space Gateway to Swarm Topologies

NASA’s future vision for interplanetary networking includes a lunar network, Cube Satellite (CubeSat) constellations, and deep space robotic missions, comprising what could be viewed as a network of networks. Delay-tolerant networking (DTN) architecture and protocols provide a standard network layer among these varying scenarios and mitigate many challenges of the space environment, such as long delays, unplanned service interruptions, and asymmetric links. The Cognitive Space Gateway (CSG) is a routing method in a DTN architecture that uses spiking neural networks as the learning element to optimize outing decisions in a complex environment. This work aims to further develop cognitive networking technologies in several critical areas, including DTN, the CSG algorithm, SmallSat swarm topologies, and cloud services. The CSG algorithm is tested in a realistic scenario in which the emulated network topology is based on a SmallSat swarm. The emulation environment will be built upon a commercial cloud service, such as Amazon Web Services (AWS) Elastic Compute Cloud. This work investigates the ability of such a platform to enable a flexible, lower maintenance approach to creating a multihop network outside of a physical laboratory. The cloud platform will provide a secure environment allowing for collaboration among government and academic entities.

Ricardo Lent↗
NASA NTRS2020

Experimental Validation of Swarm Array Results Using Mars Cube One (MarCO) A,B Downlink Signals

In this paper, we investigate the feasibility of calibrating an orbiting phaased array composed of CubeSat class spacecraft together with a larger reference (or “chief”) spacecraft, comprising an overall Swarm Array. Considered as an analog to the Deep Space Network (DSN) Uplink Arraying problem [1], a spaceborne Swarm Array that can potentially deliver comparable or even greater operational performance than large monolithic spacecraft (such as increased datarates for telecommunications, or greater baselines for improved spatial resolution), thus increasing future mission capability but with significantly enhanced flexibility, evolvability and robustness.

Vilnrotter, Victor↗
NASA NTRS2023

Transpolar Pc1 Wave Ducting: Swarm, DMSP, and Ground Observations

Alfvén mode Pc1 waves undergo mode conversion to the fast mode due to induced Hall current in the ionosphere. The fast mode Pc1 waves are trapped and propagate across the magnetic field through the ionospheric waveguide. This process is called Pc1 wave ducting (PWD). Ducting is expected to be in any direction, but most of the existing literature investigated only PWDs toward the equator. In this paper, we report the rare observations of PWD propagating from sub-auroral latitudes and pervading the polar cap using Swarm satellites, ground magnetometers, and Defense Meteorological Satellite Program (DMSP) satellites. We first identify the injection region of Pc1 wave where localized broadband transverse waves, isolated aurora, and energetic proton precipitations are concurrently observed. Then, we compare ducting characteristics in the ionosphere between the two hemispheres. For the three events investigated here, PWDs in the Southern Hemisphere (SH) pervaded the polar cap while Pc1 waves in the Northern Hemisphere (NH) did not. This hemispheric asymmetry is attributed to the plasma density in the SH sufficient to form the Pc1 waveguide. However, a sharp plasma density gradient on the propagation path still interrupts the ducting even in higher plasma density (> 10 5 cm -3 ) regions. The observation of two intersecting Swarm satellites indicates the PWD is not only elongated meridionally, but also can have a significant zonal extent beyond that of the injection region.

Hyangpyo Kim↗
NASA NTRS2016

Extracting Ocean-Generated Tidal Magnetic Signals from Swarm Data Through Satellite Gradiometry

Ocean-generated magnetic field models of the Principal Lunar, M2, and the Larger Lunar elliptic, N2, semidiurnal tidal constituents were estimated through a "Comprehensive Inversion" of the first 20.5 months of magnetic measurements from European Space Agency's (ESA) Swarm satellite constellation mission. While the constellation provides important north-south along-track gradiometry information, it is the unique low-spacecraft pair that allows for east-west cross-track gradiometry. This latter type is crucial in delivering an M2 estimate of similar quality with that derived from over 10 years of CHAMP satellite data but over a shorter interval, at higher altitude, and during more magnetically disturbed conditions. Recovered N2 contains nonoceanic signal but is highly correlated with theoretical models in regions of maximum oceanic amplitude. Thus, satellite magnetic gradiometry may eventually enable the monitoring of ocean electrodynamic properties at temporal resolutions of 1 to 2 years, which may have important implications for the inference of ocean temperature and salinity.

Magnetic↗
NASA NTRS2019

Modular Active Self-Assembling Space Telescope Swarms

The Phase I study included a detailed exploration of a specific mission concept based on this architecture - a 31-meter diameter version of the LUVOIR (Large Ultraviolet Optical Infrared Surveyor) mission concept with the same wavelength coverage and wave-front quality requirements. The study focused on establishing the feasibility of the proposed concept with respect to what were identified as the most challenging aspects of the mission: the ability to find orbital solutions using solar sail propulsion for both the initial transfers and subsequent rendezvous trajectories; and the ability to generate the required final primary mirror surface out of uniformly polished individual module mirrors using deformation via mechanical degrees of freedom. As a result of the Phase I work it was shown that both orbital and optical solutions are feasible, but will require technology advancement in multiple key areas. In particular, improvements to solar sail areal densities and loading factors will allow us to more easily find fully general solutions for the transfer trajectories, while lower mass, ultra-precise cryogenic linear actuators will likely be needed to form the final mirror shape. However, it was found that current state of the art in solar sails was sufficient for rendezvous trajectories once on-orbit, that the requisite wave-front quality could be achieved with actuation requirements not more stringent than those being carried by LUVOIR, and that there exists a well-defined design space in which the module spacecraft designs can be optimized. The technology development required to progress this work overlaps significantly with numerous NASA technology roadmaps, as well as the Exoplanet Exploration Program's technologies gap list, meaning that continued development of this concept would directly benefit a variety of NASA programs, as well as enabling the completely unique capabilities provided by a 31-meter optical space telescope...Our architecture requires only a single module type allowing us to directly leverage the cost and efficiency benefits of true mass production, in direct contrast to previously explored self-assembling swarm concepts, which typically include multiple module types.

Astronomy↗
NASA NTRSDate not supplied

Active Swarm Resiliency in the HelioSwarm Mission

Designed to observe plasma turbulence dynamics in solar wind over a distributed volume of space, the HelioSwarm mission comprises a primary chief spacecraft and eight smaller deputy satellites in uniquely assigned “loops” of periodic relative motion in a P/2 lunar resonant orbit. If one or more deputies fail, this multi-satellite architecture facilitates resiliency for science goals through repositioning of satellites to contingency loops. This strategy of Active Swarm Resiliency mitigates risk by modeling quantitative results ahead of time for mission operators to make informed decisions. Responsive actions meet minimum science objectives based on past and predicted system performance, an approach with applications to future missions with similar architecture and requirements.

Fault Management↗
NASA NTRSDate not supplied

Active Swarm Resiliency in the HelioSwarm Mission

Designed to observe plasma turbulence dynamics in solar wind over a distributed volume of space, the HelioSwarm mission comprises a primary chief spacecraft and eight smaller deputy satellites in uniquely assigned “loops” of periodic relative motion in a P/2 lunar resonant orbit. If one or more deputies fail, this multi-satellite architecture facilitates resiliency for science goals through repositioning of satellites to contingency loops. This strategy of Active Swarm Resiliency mitigates risk by modeling quantitative results ahead of time for mission operators to make informed decisions. Responsive actions meet minimum science objectives based on past and predicted system performance, an approach with applications to future missions with similar architecture and requirements.

Fault Management↗
NASA NTRSDate not supplied

The Troupe System: an Autonomous Multi-Agent Rover Swarm

Autonomous cooperative robotic systems are the future of space exploration. The complexity of such systems makes their development, verification and assurance challenging. The Robust Software Engineering group at NASA Ames has developed the Troupe project that aims to explore the design and development of a swarm of autonomous rovers tasked to perform autonomous exploration and mapping of an unknown terrain. In this paper, we showcase the system design, and accompanying verification and validation tools integrated in the Troupe system development life-cycle.

TROUPE↗
NASA NTRS1976

The Sagatu Ridge dike swarm, Ethiopian rift margin

A swarm of dikes forms the core of the Sagatu Ridge, a 70-km-long topographic feature elevated to more than 4000 m above sea level and 1500 m above the level of the Eastern (Somalian) plateau. The ridge trends NNE and lies about 50 km east of the northeasterly trending rift-valley margin. Intrusion of the dikes and buildup of the flood-lava pile, largely hawaiitic but with trachyte preponderant in the final stages, occurred during the late Pliocene-early Pleistocene and may have been contemporaneous with downwarping of the protorift trough to the west. The ensuing faulting that formed the present rift margin, however, bypassed the ridge. The peculiar situation and orientation of the Sagatu Ridge, and its temporary existence as a line of crustal extension and voluminous magmatism, are considered related to a powerful structural control by a major line of Precambrian crustal weakness, well exposed further south. Transverse rift structures of unknown type appear to have limited the development of the ridge to the north and south.

Mohr, P. A.↗
NASA NTRS1977

Study of the ablative effects on tektites: Atmosphere entry of a swarm of tektites

The large variety of ablation markings observed on recovered tektites lead to the previously proposed swarm wake model which states that the lead peripheral tektites bore the blunt of aerodynamic heating upon entry, and that the bulk of tektites in the wake enjoyed partial shielding at the expense of the leaders. Further considerations are presented in support of this model. Quantitative assessments indicate that wake shielding might indeed have provided for substantially less heating than would have been experienced by a tektite entering an undisturbed atmosphere along a similar trajectory. For the case of strong wake shielding it is even possible that the surface temperature of a falling tektite had barely reached its melting point. In the distribution of tektites, there is a size band (near R = 0.5 cm) which is least susceptible to melting.

Sepri, P.↗
NASA NTRS1984

Evolution of the Uranus-neptune Planetesimal Swarm: Consequences for the Earth

The evolution of planetesimals in the outer Solar System were evaluated, both stellar and planetary encounters. About 20% of the Uranus-Neptune planetesimals (UNP's) enter the comet cloud and are stored primarily in the region inside the observational limits of the Oort cloud. Half of the comets have suruived to the present time; the cloud now has a mass of the order of Jupiter's mass. Most UNP's are ejected from the Solar system, and about half of the planetesimal swarm is passed to the control of Jupiter prior to ejection. Jupiter's perturbations drive a large flux of these planetesimals into Earth-crossing orbits, and it now appears highly probable that UNP's account for most of the heavy bombardment of the Moon and Earth.

Shoemaker, E. M.↗
NASA NTRS1987

Petrogenesis of basalts from the Archean Matachewan Dike Swarm Superior Province of Canada

The Matachewan Dike swarm of eastern Ontario comprises Archean age basalts that were emplaced in the greenstone, granite-greenstone, and metasedimentary terrains of the Superior Province of Canada. The basalts are Fe-rich tholeiites, characterized by the near ubiquitos presence of large, compositionally uniform, calcic plagioclase. Major and trace element whole-rock compositions, along with microprobe analyses of constituent phases, from a group of dikes from the eastern portion of the province, were evaluated to constrain petrological processes that operated during the formation and evolution of the magmas. Three compositional groupings, were identified within the dikes. One group has compositional characteristics similar to modern abyssal tholeiites and is termed morb-type. A second group, enriched in incompatible elements and light-REE enriched, is referred to as the enriched group. The third more populated group has intermediate characteristics and is termed the main group. The observation of both morb-type and enriched compositions within a single dike strongly argues for the contemporaneous existence of magmas derived through different processes. Mixing calculations suggest that two possibilities exist. The least evolved basalts lie on a mixing line between the morb-type and enriched group, suggesting mixing of magmas derived from heterogeneous mantle. Mixing of magmas derived from a depleted mantle with heterogeneous Archean crust can duplicate certain aspects of the Matachewan dike composition array.

Nelson, Dennis O.↗
NASA NTRS1991

Accretional evolution of a planetesimal swarm. I - A new simulation

This novel simulation of planetary accretion simultaneously treats many interacting heliocentric distance zones and characterizes planetesimals via Keplerian elements. The numerical code employed, in addition to following the size distribution and the orbit-element distribution of a planetesimal swarm from arbitrary size and orbit distributions, treats a small number of the largest bodies as discrete objects with individual orbits. The accretion algorithm used yields good agreement with the analytic solutions; agreement is also obtained with the results of Weatherill and Stewart (1989) for gravitational accretion of planetesimals having equivalent initial conditions.

Spaute, Dominique↗
NASA NTRS1996

The " Swarm of Ants vs. Herd of Elephants" Debated Revisited: Performance Measurements of PVM-Overflow Across a Wide Spectrum of Architectures

The Gorden Bell Prizes given out at Supercomputing every year includes at least two catergories: performance (highest GFLOP count) and price-performance (GFLOP/million $$) for real applications. In the past five years, the winners of the price-performance categories all came from networks of work-stations. This reflects three important facts: 1. supercomputers are still too expensive for the masses; 2. achieving high performance for real applications takes real work; and, most importantly; 3. it is possible to obtain acceptable performance for certain real applications on network of work stations. With the continued advance of network technology as well as increased performance of "desktop" workstation, the "Swarm of Ants vs. Herd of Elephants" debate, which began with vector multiprocessors (VPPs) against SIMD type multiprocessors (e.g. CM2), is now recast as VPPs against Symetric Multiprocessors (SMPs, e.g. SGI PowerChallenge). This paper reports on performance studies we performed solving a large scale (2-million grid pt.s) CFD problem involving a Boeing 747 based on a parallel version of OVERFLOW that utilizes message passing on PVM. A performance monitoring tool developed under NASA HPCC, called AIMS, was used to instrument and analyze the the performance data thus obtained. We plan to compare its performance data obtained across a wide spectrum of architectures including: the Cray C90, IBM/SP2, SGI/Power Challenge Cluster, to a group of workstations connected over a simple network. The metrics of comparison includes speed-up, price-performance, throughput, and turn-around time. We also plan to present a plan of attack for various issues that will make the execution of Grand Challenge Applications across the Global Information Infrastructure a reality.

Yan, Jerry C.↗
NASA NTRS2005

Robot Swarms

Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

Morring, Frank, Jr.↗