SEARCH · Search NASA

Results for “Robotic monitoring”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6

All sources NASA NTRS DOE OSTI

DOE OSTI2020

Photonic methods and technologies for monitoring the ocean and atmosphere

In this paper, we review photonic methods and technologies that are promising for monitoring the ocean and atmosphere and have been implemented mainly in recent years at the Institute of Automation and Control Processes, Far Eastern Branch, Russian Academy of Sciences. We present results of lidar studies that have made it possible to understand key features of ocean – atmosphere interaction processes under continent – ocean transition conditions, which determine specific features of the atmospheric aerosol distribution, small gaseous components of the atmosphere and its optical characteristics. We consider methods and tools for combined optical and laser fluorescence monitoring of the ocean surface. Particular attention is paid to results of research on remote methods and tools for real-time laser-induced and laser fluorescence environmental monitoring of the ocean, including specialised fibre-optic probes and mobile underwater robotic systems. We present results of the development and investigation of highly sensitive, noise-proof fibre-optic hydro- and seismic/acoustic sensors for remote monitoring of the ocean and robotic systems for underwater laser protection of marine vessels, hydraulic structures and oceanographic instruments against the negative impact of biofouling. (invited paper)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2022

A Multi-Objective Approach for Optimizing Edge-Based Resource Allocation Using TOPSIS

Existing approaches for allocating resources on edge environments are inefficient and lack the support of heterogeneous edge devices, which in turn fail to optimize the dependency on cloud infrastructures or datacenters. To this extent, we propose in this paper OpERA, a multi-layered edge-based resource allocation optimization framework that supports heterogeneous and seamless execution of offloadable tasks across edge, fog, and cloud computing layers and architectures. By capturing offloadable task requirements, OpERA is capable of identifying suitable resources within nearby edge or fog layers, thus optimizing the execution process. Throughout the paper, we present results which show the effectiveness of our proposed optimization strategy in terms of reducing costs, minimizing energy consumption, and promoting other residual gains in terms of processing computations, network bandwidth, and task execution time. We also demonstrate that by optimizing resource allocation in computation offloading, it is then possible to increase the likelihood of successful task offloading, particularly for computationally intensive tasks that are becoming integral as part of many IoT applications such robotic surgery, autonomous driving, smart city monitoring device grids, and deep learning tasks. The evaluation of our OpERA optimization algorithm reveals that the TOPSIS MCDM technique effectively identifies optimal compute resources for processing offloadable tasks, with a 96% success rate. Moreover, the results from our experiments with a diverse range of use cases show that our OpERA optimization strategy can effectively reduce energy consumption by up to 88%, and operational costs by 76%, by identifying relevant compute resources.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1988

Human factors: Space

The objectives are to provide a technology base for intelligent operator interfaces, especially with autonomous subsystems, and to develop a new generation of high performance space suits, gloves, and tools/end effectors to meet the requirements of advanced space missions. The technology base is intended to meet the requirements of productivity, efficiency, and safety in complex manned operations within automated onboard systems and extravehicular activities (EVA) environments. Crew station research is the first of two major areas. Development of methods for the astronaut to supervise, monitor, and evaluate the performance of robotic systems, other space subsystems, and orbital vehicles are key areas of research. The second major area is development of an EVA space suit and gloves. Emphasis in the space human factors research program is placed on technology baseline studies and development of methods, techniques, and data to support productive and safe operations by the astronaut and crew as they interface with complex systems, advance automation, and robotic assistants.

Jenkins, James P.↗

NASA NTRS2001

Calibration of of Sun Photometers and Sky Radiance Sensors

The main source of error in retrieving aerosol optical thicknesses using sun photometry comes from the determination of the TOA voltages. The degradation of interference filters is the most important source of the long-term changes in the cross-calibrations. Although major improvements have been made in the design of the filters (interference filters fabricated using ion-assisted deposition), the filters remain the principal factor limiting performance of the sun photometers. Degradation of filters necessitates frequent calibration of sun photometers and frequent measurements of the filter transmission or the relative system response. The degradation of the filters mounted on the CIMEL sun photometers have been monitored since 1993 by the Aerosol Robotic Network (AERONET) project. The decay reported by Holben et al. for the first two years of a CIMEL#s operation is between 1 and 5%. Nevertheless, the filters mounted on CIMEL instruments are regularly replaced after two years of use. The cross-calibration technique consists of taking measurements concurrently with the uncalibrated and the reference sun photometers. While analyzing measurements, the quality of the calibration has to be checked, using the following considerations: (1) any cirrus clouds suspected to be masking the sun, during the calibration period, need to be reported and the corresponding data set removed; and (2) the stability of the day needs to be checked. This chapter will describe calibration techniques, facilities, and protocols used for calibrating sun photometers and sky radiometers.

Pietras, Christophe↗

NASA NTRS1992

Traffic Monitor

Mestech's X-15 "Eye in the Sky," a traffic monitoring system, incorporates NASA imaging and robotic vision technology. A camera or "sensor box" is mounted in a housing. The sensor detects vehicles approaching an intersection and sends the information to a computer, which controls the traffic light according to the traffic rate. Jet Propulsion Laboratory technical support packages aided in the company's development of the system. The X-15's "smart highway" can also be used to count vehicles on a highway and compute the number in each lane and their speeds, important information for freeway control engineers. Additional applications are in airport and railroad operations. The system is intended to replace loop-type traffic detectors.

Source record↗

NASA NTRS2004

Microtechnology in Space: NASA's Lab-on-a-Chip Applications Development Program

NASA's Marshall Space Flight Center (MSFC) Lab on a Chip Application Development LOCAD) team has worked with microfluidic technology for the past few years in an effort to support NASA's Mission. In that time, such microfluidic based Lab-on-a-Chip (LOC) systems have become common technology in clinical and diagnostic laboratories. The approach is most attractive due to its highly miniaturized platform and ability to perform reagent handling (i-e., dilution, mixing, separation) and diagnostics for multiple reactions in an integrated fashion. LOCAD, along with Caliper Life Sciences has successfully developed the first LOC device for macromolecular crystallization using a workstation acquired specifically for designing custom chips, the Caliper 42. LOCAD uses this, along with a novel MSFC-designed and built workstation for microfluidic development. The team has a cadre of LOC devices that can be used to perform initial feasibility testing to determine the efficacy of the LOC approach for a specific application. Once applicability has been established, the LOCAD team, along with the Army's Aviation and Missile Command microfabrication facility, can then begin to custom design and fabricate a device per the user's specifications. This presentation will highlight the LOCAD team's proven and unique expertise that has been utilized to provide end to end capabilities associated with applying microfluidics for applications that include robotic life detection instrumentation, crew health monitoring and microbial and environmental monitoring for human Exploration.

Monaco, Lisa↗

NASA NTRS2013

Spinoff 2012

Topics covered include: Water Treatment Technologies Inspire Healthy Beverages; Dietary Formulas Fortify Antioxidant Supplements; Rovers Pave the Way for Hospital Robots; Dry Electrodes Facilitate Remote Health Monitoring; Telescope Innovations Improve Speed, Accuracy of Eye Surgery; Superconductors Enable Lower Cost MRI Systems; Anti-Icing Formulas Prevent Train Delays; Shuttle Repair Tools Automate Vehicle Maintenance; Pressure-Sensitive Paints Advance Rotorcraft Design Testing; Speech Recognition Interfaces Improve Flight Safety; Polymers Advance Heat Management Materials for Vehicles; Wireless Sensors Pinpoint Rotorcraft Troubles; Ultrasonic Detectors Safely Identify Dangerous, Costly Leaks; Detectors Ensure Function, Safety of Aircraft Wiring; Emergency Systems Save Tens of Thousands of Lives; Oxygen Assessments Ensure Safer Medical Devices; Collaborative Platforms Aid Emergency Decision Making; Space-Inspired Trailers Encourage Exploration on Earth; Ultra-Thin Coatings Beautify Art; Spacesuit Materials Add Comfort to Undergarments; Gigapixel Images Connect Sports Teams with Fans; Satellite Maps Deliver More Realistic Gaming; Elemental Scanning Devices Authenticate Works of Art; Microradiometers Reveal Ocean Health, Climate Change; Sensors Enable Plants to Text Message Farmers; Efficient Cells Cut the Cost of Solar Power; Shuttle Topography Data Inform Solar Power Analysis; Photocatalytic Solutions Create Self-Cleaning Surfaces; Concentrators Enhance Solar Power Systems; Innovative Coatings Potentially Lower Facility Maintenance Costs; Simulation Packages Expand Aircraft Design Options; Web Solutions Inspire Cloud Computing Software; Behavior Prediction Tools Strengthen Nanoelectronics; Power Converters Secure Electronics in Harsh Environments; Diagnostics Tools Identify Faults Prior to Failure; Archiving Innovations Preserve Essential Historical Records; Meter Designs Reduce Operation Costs for Industry; Commercial Platforms Allow Affordable Space Research; Fiber Optics Deliver Real-Time Structural Monitoring; Camera Systems Rapidly Scan Large Structures; Terahertz Lasers Reveal Information for 3D Images; Thin Films Protect Electronics from Heat and Radiation; Interferometers Sharpen Measurements for Better Telescopes; and Vision Systems Illuminate Industrial Processes.

Source record↗

NASA NTRSDate not supplied

Runtime Verification with Ogma

Ultra-critical systems require high-level assurance, which cannot always be guaranteed in compile time. The use of runtime verification (RV) enable monitoring these systems in runtime, to detect property violations early and limit their potential consequences. However, the introduction of monitors in ultra-critical systems poses a challenge, as failures and delays in the RV subsystem could affect other subsystems and threaten the mission as a whole. In this talk we discuss two systems: NASA's Ogma, a tool to transform high-level specifications into monitoring code, and Copilot, a runtime verification framework for real-time embedded systems. The toolchain can be used to translate structured natural language requirements into C code with static memory requirements, which can be compiled to run on embedded hardware.

Ogma↗

NASA NTRSDate not supplied

Runtime Verification with Ogma

Ogma↗

NASA NTRS2006

Integrated Planning for Telepresence with Time Delays

Teleoperation of remote robotic systems over time delays in the range of 2-10 seconds poses a unique set of challenges. In the context of a supervisory control system for the JSC Robonaut humanoid robot, we have developed an 'intelligent assistant' that integrates an Artificial Intelligence planner (JSHOP2) with execution monitoring of the state of both the human supervisor and the remote robot. The assistant reasons simultaneously about the world state on both sides of the time delay, which represents a novel application of this technology. The purpose of the assistant is to provide advice to the human supervisor about current and future activities, derived from a sequence of high-level goals to be achieved. To do this, the assistant must simultaneously monitor and react to various data sources, including actions taken by the supervisor who is issuing commands to the robot (e.g. with a data glove), actions taken by the robot, and the environment of the robot, both as currently perceived over the time delay, along with the current sequence of goals. We have developed a 'leader/follower' software architecture to handle the dual time-shifted streams of execution feedback. In this paper we describe the integrated planner and its executive, and how it operates in normal and anomaly situations.

remote robotic systems↗

NASA NTRS2004

How Can AERONET Help with Monitoring Clouds?

When conditions are inappropriate to make AErosol RObotic NETwork (AERONET) measurements for aerosol studies, new measurements related to cloud physics can be made instead. As such, several AERONET CIMEL sunphotometers have been equipped with a new "cloud mode." This mode allows the CIMELs to make measurements of zenith radiance when the Sun in blocked by clouds. When in cloud mode, a CIMEL points straight up every 10-15 minutes and takes 10 measurements over a 9 second time interval at four wavelengths: 440,670,870, and 1020 nm. For cloudy conditions above green vegetation, the spectral contrast in surface albedo dominates over Rayleigh and aerosol effects. We have developed a new method for retrieving cloud optical depth, even for broken clouds, that uses data from the 670 (and/or 440) and 870 nm channels. In addition to cloud optical depth, the method also infers a "radiatively effective" cloud fraction. The results of the retrievals at the ARM Central Facility in Oklahoma are compared with the ones from Microwave Radiometer (MWR) and Multi-Filter Rotating Shadowband Radiometers (MFRSR).

Marshak, A.↗

NASA NTRS2004

A Software Architecture for Semiautonomous Robot Control

A software architecture has been developed to increase the safety and effectiveness with which tasks are performed by robots that are capable of functioning autonomously but sometimes are operated under control by humans. The control system of such a robot designed according to a prior software architecture has no way of taking account of how the environment has changed or what parts of a task were performed during an interval of control by a human, so that errors can occur (and, hence, safety and effectiveness jeopardized) when the human relinquishes control. The present architecture incorporates the control, task-planning, and sensor-based-monitoring features of typical prior autonomous-robot software architectures, plus features for updating information on the environment and planning of tasks during control by a human operator in order to enable the robot to track the actions taken by the operator and to be ready to resume autonomous operation with minimal error. The present architecture also provides a user interface that presents, to the operator, a variety of information on the internal state of the robot and the status of the task.

Kortenkamp, David↗

NASA NTRS1991

Composite video and graphics display for multiple camera viewing system in robotics and teleoperation

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Diner, Daniel B.↗

NASA NTRS1993

Composite video and graphics display for camera viewing systems in robotics and teleoperation

Diner, Daniel B.↗

NASA NTRS2012

Telerobotics Workstation (TRWS) for Deep Space Habitats

On medium- to long-duration human spaceflight missions, latency in communications from Earth could reduce efficiency or hinder local operations, control, and monitoring of the various mission vehicles and other elements. Regardless of the degree of autonomy of any one particular element, a means of monitoring and controlling the elements in real time based on mission needs would increase efficiency and response times for their operation. Since human crews would be present locally, a local means for monitoring and controlling all the various mission elements is needed, particularly for robotic elements where response to interesting scientific features in the environment might need near- instantaneous manipulation and control. One of the elements proposed for medium- and long-duration human spaceflight missions, the Deep Space Habitat (DSH), is intended to be used as a remote residence and working volume for human crews. The proposed solution for local monitoring and control would be to provide a workstation within the DSH where local crews can operate local vehicles and robotic elements with little to no latency. The Telerobotics Workstation (TRWS) is a multi-display computer workstation mounted in a dedicated location within the DSH that can be adjusted for a variety of configurations as required. From an Intra-Vehicular Activity (IVA) location, the TRWS uses the Robot Application Programming Interface Delegate (RAPID) control environment through the local network to remotely monitor and control vehicles and robotic assets located outside the pressurized volume in the immediate vicinity or at low-latency distances from the habitat. The multiple display area of the TRWS allows the crew to have numerous windows open with live video feeds, control windows, and data browsers, as well as local monitoring and control of the DSH and associated systems.

Mittman, David S.↗

DOE OSTI2025

Automating Testing of DUNE Electronics via a Finite State Machine

The Deep Underground Neutrino Experiment (DUNE) is a flagship international collaboration designed to study neutrinos tiny, nearly massless particles that may hold answers to fundamental questions about the Universe. Fermilab s Robotic Test Stand (RTS) plays a critical role in ensuring the quality of approximately 50,000 Application-Specific Integrated Circuit (ASIC) chips that will be used in DUNE s massive liquid argon detectors. These electronics will be inside the cryostat; therefore, they will need to have a high yield of working chips and low noise. To improve the automation and reliability of the RTS, this project focused on designing and implementing a Python-based finite state machine (FSM) to manage chip handling workflows. The FSM was developed as a modular software framework to coordinate robotic arm movements, manage chip tray positions, and monitor system states during testing. Key features include robust error handling routines, a pause/resume system for safe mid-cycle interruptions, and a simulation mode for iterative testing without hardware dependencies. The system was designed to prepare for seamless integration with RTS hardware components such as the robotic arm and vision system. This integration will streamline collaboration and enable efficient deployment of updates across the six total institutions performing testing. The outcomes of this internship contribute to Fermilab s mission to advance high-energy physics and support the DOE s national goals by directly improving the testing of equipment to be used in DUNE. The project also provided valuable experience in software design and contributing to the success of DUNE.

Kang, Caleb [William Rainey Harper Coll.]↗

DOE OSTI2025

Automating Testing of DUNE Electronics via a Finite State Machine

The Deep Underground Neutrino Experiment (DUNE) is a flagship international collaboration designed to study neutrinos—tiny, nearly massless particles that may hold answers to fundamental questions about the Universe. Fermilab’s Robotic Test Stand (RTS) plays a critical role in ensuring the quality of approximately 50,000 Application-Specific Integrated Circuit (ASIC) chips that will be used in DUNE’s massive liquid argon detectors. These electronics will be inside the cryostat; therefore, they will need to have a high yield of working chips and low noise. To improve the automation and reliability of the RTS, this project focused on designing and implementing a Python-based finite state machine (FSM) to manage chip handling workflows. The FSM was developed as a modular software framework to coordinate robotic arm movements, manage chip tray positions, and monitor system states during testing. Key features include robust error handling routines, a pause/resume system for safe mid-cycle interruptions, and a simulation mode for iterative testing without hardware dependencies. The system was designed to prepare for seamless integration with RTS hardware components such as the robotic arm and vision system. This integration will streamline collaboration and enable efficient deployment of updates across the six institutions performing testing. The outcomes of this internship contribute to Fermilab’s mission to advance high-energy physics and support the DOE’s national goals by directly improving the testing of equipment to be used in DUNE. The project also provided valuable experience in software design and contributing to the success of DUNE.

Kang, Caleb [Fermilab]↗

DOE OSTI2022

The EGS Collab Project – Stimulations at Two Depths

The EGS Collab project, supported by the US Department of Energy, is performing intensively monitored rock stimulation and flow tests at the 10-m scale in an underground research laboratory to address challenges in implementing enhanced geothermal systems (EGS). Data and observations from the field tests are compared to simulations to understand processes and build confidence in numerical modeling of the processes. We have completed Experiment 1 (of 3), which examined hydraulic fracturing in a well-characterized underground fractured phyllite test bed at a depth of approximately 1.5 km at the Sanford Underground Research Facility (SURF) in Lead, South Dakota. Testbed characterization included fracture mapping, borehole acoustic and optical televiewers, full waveform sonic, conductivity, resistivity, temperature, campaign p- and s-wave investigations and electrical resistance tomography. Borehole geophysical techniques including passive seismic, continuous active source seismic monitoring, electrical resistance tomography, fiber-based distributed strain, distributed temperature, and distributed acoustic monitoring, were used to carefully monitor stimulation events and flow tests. More than a dozen stimulations and nearly one year of flow tests were performed. Quality data and detailed observations were collected and analyzed during stimulation and water flow tests using ambient temperature and chilled water. We achieved adaptive control of the tests using real-time monitoring and rapid dissemination of data and near-real-time simulation. More detailed numerical simulation was performed to answer key experimental design questions, forecast fracture propagation trajectories and extents, and analyze and evaluate results. Data are freely available from the Geothermal Data Repository. Experiment 2 examines the potential for hydraulic shearing in amphibolite at a depth of about 1.25 km at SURF. This site has a different set of stress and fracture conditions than Experiment 1. The Experiment 2 testbed consists of nine subhorizontal boreholes configured in two fans of two boreholes which surround the testbed and contain grouted-in electrical resistance tomography, seismic sensors, active seismic sources and distributed fiber sensors. A “five-spot” set of test wells that extends from a custom mined alcove includes an injection well and four production/monitoring wells. The testbed was characterized geophysically and hydrologically, and three stimulations have been performed using the Step-Rate Injection Method for Fracture In-Situ Properties (SIMFIP) tool to measure strains, and a new strain quantifying tool (downhole robotic strain analysis tool -DORSA) was deployed in a monitoring hole during stimulation. Real-time data were broadcast during stimulations to allow real-time response to arising issues.

EGS Collab, Enhanced Geothermal Systems, EGS, fiel↗