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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 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↗
DOE OSTI2024

Swarm Intelligence Based Optimal Design of Local Volt/Var Control Function for Distributed Energy Resources

The increasing penetration of renewable based distributed energy resources (DERs) in distribution network (DN) leads to larger and more frequent voltage variation in distributions network (DN), thus posing challenges on voltage control. Real-time local voltage control method is a promising solution for the above issue. However, the local voltage control function needs to be customized and optimized according to real distribution system condition. In this paper, a swarm intelligence based Volt/Var control optimal design method (SO-VVC) is proposed to optimize the control function. Compared with existing approaches, the proposed method can not only represent the nonlinear behaviour of power flow but is also computation efficient. The performance of the proposed SO-VVC is demonstrated by case studies on a modified IEEE-123 bus system.

Zhang, Zhengfa [University of Tennessee, Knoxville↗
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.↗
NASA NTRS2010

Requirements of an Integrated Formal Method for Intelligent Swarms

NASA is investigating new paradigms for future space exploration, heavily focused on the (still) emerging technologies of autonomous and autonomic systems [47, 48, 49]. Missions that rely on multiple, smaller, collaborating spacecraft, analogous to swarms in nature, are being investigated to supplement and complement traditional missions that rely on one large spacecraft [16]. The small spacecraft in such missions would each be able to operate on their own to accomplish a part of a mission, but would need to interact and exchange information with the other spacecraft to successfully execute the mission.

Hinchey, M. G.↗
NASA NTRS2003

Swarms of Micron-Sized Sensors

A paper presents the concept of swarms of micron-sized and smaller carriers of sensing equipment, denoted generally as controllable granular matter, to be used in exploring remote planets and interplanetary space. The design and manufacture of controllable granular matter would exploit advances in microelectromechanical systems and nanotechnology. Depending on specific designs and applications, controllable granular matter could have characteristics like those of powders, sands, or aerosols, which would be dispersed into the environments to be explored: For example, sensory grains could be released into orbit around a planet, spread out over ground, or dispersed into wind or into a body of liquid. The grains would thus become integral parts of multiphase environments, where they would function individually and/or collectively to gather information about the environments. In cases of clouds of grains dispersed in outer space, it may be feasible to use laser beams to shape the clouds to perform specific functions. To enable the full utilization of controllable granular matter, it is necessary to advance the knowledge of the dynamics and controllable characteristics of both individual grains and the powders, sands, or aerosols of which they are parts.

Quadrelli, Marco↗
NASA NTRS2013

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

Birge, Brian↗
NASA NTRS2013

Automatic Parameter Tuning for the Morpheus Vehicle Using Particle Swarm Optimization

A high fidelity simulation using a PC based Trick framework has been developed for Johnson Space Center's Morpheus test bed flight vehicle. There is an iterative development loop of refining and testing the hardware, refining the software, comparing the software simulation to hardware performance and adjusting either or both the hardware and the simulation to extract the best performance from the hardware as well as the most realistic representation of the hardware from the software. A Particle Swarm Optimization (PSO) based technique has been developed that increases speed and accuracy of the iterative development cycle. Parameters in software can be automatically tuned to make the simulation match real world subsystem data from test flights. Special considerations for scale, linearity, discontinuities, can be all but ignored with this technique, allowing fast turnaround both for simulation tune up to match hardware changes as well as during the test and validation phase to help identify hardware issues. Software models with insufficient control authority to match hardware test data can be immediately identified and using this technique requires very little to no specialized knowledge of optimization, freeing model developers to concentrate on spacecraft engineering. Integration of the PSO into the Morpheus development cycle will be discussed as well as a case study highlighting the tool's effectiveness.

Birge, B.↗
NASA NTRS2014

Swarming Robot Design, Construction and Software Implementation

In this paper is presented an overview of the hardware design, construction overview, software design and software implementation for a small, low-cost robot to be used for swarming robot development. In addition to the work done on the robot, a full simulation of the robotic system was developed using Robot Operating System (ROS) and its associated simulation. The eventual use of the robots will be exploration of evolving behaviors via genetic algorithms and builds on the work done at the University of New Mexico Biological Computation Lab.

construction overview↗
NASA NTRS2008

Swarm Verification

Reportedly, supercomputer designer Seymour Cray once said that he would sooner use two strong oxen to plow a field than a thousand chickens. Although this is undoubtedly wise when it comes to plowing a field, it is not so clear for other types of tasks. Model checking problems are of the proverbial "search the needle in a haystack" type. Such problems can often be parallelized easily. Alas, none of the usual divide and conquer methods can be used to parallelize the working of a model checker. Given that it has become easier than ever to gain access to large numbers of computers to perform even routine tasks it is becoming more and more attractive to find alternate ways to use these resources to speed up model checking tasks. This paper describes one such method, called swarm verification.

grid computing↗
NASA NTRS2019

Revealing the Multiscale Nature of Turbulence in Space Plasmas with an Innovative Swarm of Spacecraft

Abstract: Turbulence is fundamentally a multiscale phenomena, with energy, mass, and momentum being transported across both spatial and temporal scales. In a magnetized collisionless plasma, there are unresolved questions about the structure of the turbulent transfer of energy, as well as how the energy is extracted from the cascade and dissipated as heat in the constituent charged particles. The plasma in the solar wind acts as an accessible natural laboratory to study these processes, and much progress has indeed been made since the dawn of the space age in understanding turbulence via in situ observations of turbulent plasmas near Earth. However, to date, these observations have been limited to a single, or at best, a tight cluster of points, leading to ambiguities in at what scales energy is contained, how it is transported, and by what mechanism it is dissipated. In this presentation, we describe a heliophysics mission concept aimed at understanding turbulence that is enabled by a swarm of small satellites. The proposed "HelioSwarm" mission will measure turbulent fields and flows and charged particles simultaneously at many points spanning size and time scales from the fluid to sub-ion regime. In doing so, we will be able to disentangle how the turbulence depends on time and space, directly observe the change in internal energy in the plasma, and definitively capture the dynamic relation between turbulence and structures. While the processes under examination are universal, arising throughout our solar system and universe, they are difficult to reproduce in either terrestrial laboratories or numerical simulations, meaning that the only a multipoint observatory in the near-Earth heliosphere will be able to study them in sufficient detail to discern the underlying physics. In this talk, we highlight the enabling role that small satellites play in providing closure on these long-standing but critically important science questions.

Spence, H. E.↗
NASA NTRS2018

Recent Advances in CubeSat Swarm Technologies

This is a presentation that summarizes some of the work we are doing at NASA Ames in the area of small spacecraft, with an emphasis on swarm mission technologies. The presentation will be given at the Washington State University Aerospace Careers Day.

Sorgenfrei, Matt↗
NASA NTRSDate not supplied

Autonomous Nanosatellite Swarming (ANS) Using Radio Frequency and Optical Navigation

The Autonomous Nanosatellite Swarming (ANS) subsystem is a dynamics, guidance, navigation, and control software unit based on commercial-off-the-shelf avionics, which is distributed and deployed on a cluster of cooperative nanosatellites to enable future exploration missions to near-Earth objects (NEOs). ANS allows multiple nanosatellites to act together as a single large spacecraft through radio-frequency (RF) cross-links, optical navigation, and low-thrust control. In particular, ANS-equipped nanosatellites can utilize images of a NEO taken from multiple viewpoints to achieve stereo-vision capabilities and characterize the target body’s shape, gravity field, and dynamical properties. All this is enabled by the fusion of major advances to the state of the art in the astrodynamics of relative motion, RF and vision-based navigation, as well as low-thrust control.

Simone D'Amico↗