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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Multiple task point control of a redundant manipulator

The kinematic control of a redundant arm based on multiple tasks assigned to different locations of the manipulator is presented. This is equivalent to decomposing a redundant arm into two (or more) nonredundant local arms, the basearm and the forearm, at an intermediate arm location or task point called the elbow. A redundant arm is transformed into a serially cooperating dual-arm system, with the cooperation between the local arms being carried out at the elbow. Then, a manipulator end-effector motion specified by a given task is decomposed into motions of individual local arms as well as an end-effector free motion based on achieving maximum efficiency in task execution. To consider global optimization, elbow control is applied to reshaping and reorientation of a manipulability ellipsoid at the end effector during task execution. The resolved rate control of elbow in the end-effector null and free motion space is used to maximize arm homogeneity and to match the forearm motion space with the task space. Simulation results are shown.

Lee, Sukhan↗
NASA NTRS1987

Robotic air vehicle. Blending artificial intelligence with conventional software

The Robotic Air Vehicle (RAV) system is described. The program's objectives were to design, implement, and demonstrate cooperating expert systems for piloting robotic air vehicles. The development of this system merges conventional programming used in passive navigation with Artificial Intelligence techniques such as voice recognition, spatial reasoning, and expert systems. The individual components of the RAV system are discussed as well as their interactions with each other and how they operate as a system.

Mcnulty, Christa↗
NASA NTRS2004

Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance

Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.

multi-robot systems↗
NASA NTRS1990

Space Station module Power Management And Distribution (PMAD) system

This project consists of several tasks which are unified toward experimentally demonstrating the operation of a highly autonomous, user-supportive power management and distribution system for Space Station Freedom (SSF) habitation/laboratory modules. This goal will be extended to a demonstration of autonomous, cooperative power system operation for the whole SSF power system through a joint effort with NASA's Lewis Research Center, using their Autonomous Power System. Short term goals for the space station module power management and distribution include having an operational breadboard reflecting current plans for SSF, improving performance of the system communications, and improving the organization and mutability of the artificial intelligence (AI) systems. In the middle term, intermediate levels of autonomy will be added, user interfaces will be modified, and enhanced modeling capabilities will be integrated in the system. Long term goals involve conversion of all software into Ada, vigorous verification and validation efforts and, finally, seeing an impact of this research on the operation of SSF. Conversion of the system to a DC Star configuration is now in progress, and should be completed by the end of October, 1989. This configuration reflects the latest SSF module architecture. Hardware is now being procured which will improve system communications significantly. The Knowledge-Based Management System (KBMS) is initially developed and the rules from FRAMES have been implemented in the KBMS. Rules in the other two AI systems are also being grouped modularly, making them more tractable, and easier to eventually move into the KBMS. Adding an intermediate level of autonomy will require development of a planning utility, which will also be built using the KBMS. These changes will require having the user interface for the whole system available from one interface. An Enhanced Model will be developed, which will allow exercise of the system through the interface without requiring all of the power hardware to be operational. The functionality of the AI systems will continue to be advanced, including incipient failure detection. Ada conversion will begin with the lowest level processor (LLP) code. Then selected pieces of the higher level functionality will be recorded in Ada and, where possible, moved to the LLP level. Validation and verification will be done on the Ada code, and will complete sometimes after completion of the Ada conversion.

Walls, Bryan↗
NASA NTRS2018

Ubiquitous Surveillance Notional Architecture for System-Wide DAA Capabilities in the NAS

There is an increasing demand for access to the national airspace system (NAS) by new entrants such as unmanned aircraft systems (UASs) and space vehicles. The need is driving the research into the development of a ubiquitous surveillance framework. A framework where all means of aircraft position tracking systems, both cooperative and noncooperative, would be correlated and made available to all NAS users. The architecture of an envisioned surveillance system was the focus of a recent Volpe National Transportation Systems Center research activity. In this work, the term ''Framework'' is used to characterize an operational environment that forms the context for future UAS operations. Within this framework, the use of all existing and future surveillance technologies is envisioned. Included would be all airspace locations; including coverage for airspace not under surveillance today. While these surveillance means and methods of air traffic control may currently constrain new entrant operations, they also provide the opportunity for the plethora of enabling technological capabilities with associated policies and procedures that can result in the safe, orderly and efficient operation. The focus of this paper is to survey and identify surveillance technologies to support the integration of new entrants in the NAS, and how those technologies can be aggregated.

Surveillance↗
NASA NTRS1991

Priority scheme planning for the robust SSM/PMAD testbed

Whenever mixing priorities of manually controlled resources with those of autonomously controlled resources, the space station module power management and distribution (SSM/PMAD) environment requires cooperating expert system interaction between the planning function and the priority manager. The elements and interactions of the SSM/PMAD planning and priority management functions are presented. Their adherence to cooperating for common achievement are described. In the SSM/PMAD testbed these actions are guided by having a system planning function, KANT, which has insight to the executing system and its automated database. First, the user must be given access to all information which may have an effect on the desired outcome. Second, the fault manager element, FRAMES, must be informed as to the change so that correct diagnoses and operations take place if and when faults occur. Third, some element must engage as mediator for selection of resources and actions to be added or removed at the user's request. This is performed by the priority manager, LPLMS. Lastly, the scheduling mechanism, MAESTRO, must provide future schedules adhering to the user modified resource base.

Elges, Michael R.↗
NASA NTRS1963

BIOASTRONAUTICS REVIEW - 1963

Review of u.s. and u.s.s.r. bioastronautic activities, discussing environmental control and life support systems of coopers flight and the soviet cosmonauts flight, and consideration psychophysiological phenomena

LIFE SUPPORT SYSTEM↗
NASA NTRS1988

A Shuttle based laser system for space communication

A key element of NASA-Goddard's plan for future laser space communications is the Space Shuttle-based Laser Technology Experiments Facility (LTEF), which will be designed to communicate with a cooperative laser system under development for the Advanced Communication Technology Satellite (ACTS) and will conduct a comprehensive set of acquisition, tracking, and communication experiments. Attention is presently given to the challenges faced by designers in achieving LTEF acquisition of the ACTS downlink beacon laser.

Fitzmaurice, Michael W.↗
NASA NTRS1984

Cooperative control - The interface challenge for men and automated machines

The research issues associated with the increasing autonomy and independence of machines and their evolving relationships to human beings are explored. The research, conducted by Langley Research Center (LaRC), will produce a new social work order in which the complementary attributes of robots and human beings, which include robots' greater strength and precision and humans' greater physical and intellectual dexterity, are necessary for systems of cooperation. Attention is given to the tools for performing the research, including the Intelligent Systems Research Laboratory (ISRL) and industrial manipulators, as well as to the research approaches taken by the Automation Technology Branch (ATB) of LaRC to achieve high automation levels. The ATB is focusing on artificial intelligence research through DAISIE, a system which tends to organize its environment into hierarchical controller/planner abstractions.

Hankins, W. W., III↗
NASA NTRS2004

Modelling and Analysis of a Regenerative Fuel Cell Propulsion System for a High Altitude Long Endurance UAV

In the search to bridge current gaps in surveillance and communication technologies, a new type of, aircraft is currently undergoing design. The idea of a High Altitude Long Endurance (HALE) aircraft is already a few decades old, but has only recently become realizable. A relay and collector of information at altitudes of 65,000 feet and higher could greatly improve standards of data exchange, homeland security, and research of the air, land and sea. NASA, as a major force in propulsion research, is exploring methods of powering an autonomous aircraft for days, weeks, or even months without refueling. Such a task requires not only high energy density, but also the ability to make use of renewable energy sources to regenerate power. Hydrogen is one of the most energy dense fuels available. Fuel cells make use of hydrogen by harnessing the energy released as it combines with oxygen to produce electricity and water. Fuel cells are envisioned to occupy future propulsion systems in cooperation with solar cells where the photovoltaic arrays harness sunlight into power which can electrolize the water byproduct into reusable hydrogen and oxygen. Modeling this type of system requires adequate assumptions of support hardware and daily transients in operation. The performance of a regenerative fuel cell propulsion system lies in the flight characteristics (altitude, density, temperature, latitude, etc.). Each subsystem is defined by many parameters which can be varied across wide ranges. Statistical and probabilistic analyses bring forward a wealth of information that can be utilized in the design process. This is necessary since the required technologies are relatively young and barely, if yet, capable. Once the modeling is complete, a design space exploration of this highly constrained scenario can be utilized to find the optimal design. The model will become an interactive environment with which experiments and tests can be run. When linked

Simpson, Mike B.↗
NASA NTRS2019

Airborne Radar for sUAS Sense and Avoid

A primary challenge for the safe integration of small UAS operations into the National Airspace System (NAS) is traffic deconfliction, both from manned and unmanned aircraft. The UAS Traffic Management (UTM) project being conducted at the National Aeronautics and Space Administration (NASA) considers a layered approach to separation provision, ranging from segregation of operations through airspace volumes (geofences) to autonomous sense and avoid (SAA) technologies for higher risk, densely occupied airspace. Cooperative SAA systems, such as Automatic Dependent Surveillance-Broadcast (ADS-B) and/or vehicle-to-vehicle communication systems provide significant additional risk mitigation but they fail to adequately mitigate collision risks for non-cooperative (non-transponder equipped) airborne aircraft. The RAAVIN (Radar on Autonomous Aircraft to Verify ICAROUS Navigation) flight test being conducted by NASA and the Mid-Atlantic Aviation Partnership (MAAP) was designed to investigate the applicability and performance of a prototype, commercially available sUAS radar to detect and track non-cooperative airborne traffic, both manned and unmanned. The radar selected for this research was a Frequency Modulated Continuous Wave (FMCW) radar with 120 degree azimuth and 80 degree elevation field of view operating at 24.55GHz center frequency with a 200 MHz bandwidth. The radar transmits 2 watts of power thru a Metamaterial Electronically Scanning Array antenna in horizontal polarization. When the radar is transmitting, personnel must be at least 1 meter away from the active array to limit nonionizing radiation exposure. The radar physical dimensions are 18.7cm by 12.1cm by 4.1cm and it weighs less than 820 grams making it well suited for installation on small UASs. The onboard, SAA capability, known as ICAROUS, (Independent Configurable Architecture for Reliable Operations of Unmanned Systems), developed by NASA to support sUAS operations, will provide autonomous guidance using the traffic radar tracks from the onboard radar. The RAAVIN set of studies will be conducted in three phases. The first phase included outdoor, ground-based radar evaluations performed at the Virginia Tech’s Kentland Farm testing range in Blacksburg, VA. The test was designed to measure how well the radar could detect and track a small UAS flying in the radar’s field of view. The radar was used to monitor 5 test flights consisting of outbound, inbound and crossing routes at different ranges and altitudes. The UAS flown during the ground test was the Inspire 2, a quad copter weighing less than 4250 grams (10 pounds) at maximum payload. The radar was set up to scan and track targets over its full azimuthal field of view from 0 to 40 degrees in elevation. The radar was configured to eliminate tracks generated from any targets located beyond 2000 meters from the radar and moving at velocities under 1.45 meters per second. For subsequent phases of the study the radar will be integrated with a sUAS platform to evaluate its performance in flight for SAA applications ranging from sUAS to manned GA aircraft detections and tracking. Preliminary data analysis from the first outdoor ground tests showed the radar performed well at tracking the vehicle as it flew outbound and repeatedly maintained a track out to 1000 meters (maximum 1387 meters) until the vehicle slowed to a stop to reverse direction to fly inbound. As the Inspire flew inbound tracks from beyond 800 meters, a reacquisition time delay was consistently observed between when the Inspire exceeds a speed of 1.45 meters per second and when the radar indicated an inbound target was present and maintained its track. The time delay varied between 6 seconds to over 37 seconds for the inbound flights examined, and typically resulted in about a 200 meter closure distance before the Inspire track was maintained. The radar performed well at both acquiring and tracking the vehicle as it flew crossing routes out past 400 meters across the azimuthal field of view. The radar and ICAROUS software will be integrated and flown on a BFD-1400-SE8-E UAS during the next phase of the RAAVIN project. The main goal at the conclusion of this effort is to determine if this radar technology can reliably support minimum requirements for SAA applications of sUAS. In particular, the study will measure the range of vehicle detections, lateral and vertical angular errors, false and missed/late detections, and estimated distance at closest point of approach after an avoidance maneuver is executed. This last metric is directly impacted by sensor performance and indicates its suitability for the task.

Szatkowski, George N.↗
NASA NTRS1978

Laser spectroscopic detection of air pollutants

A brief review is presented of the operating principles and applications of laser systems for monitoring pollution based on absorption spectroscopy. Particular consideration is given to an active bistatic system involving a cooperative reflector; an active monostatic system involving natural reflectors; an active monostatic system involving aerosol backscattering; and passive monostatic heterodyne detection.

Hinkley, E. D.↗
NASA NTRS1988

The Transportable Applications Environment - An interactive design-to-production development system

An account is given of the design philosophy and architecture of the Transportable Applications Environment (TAE), an executive program binding a system of applications programs into a single, easily operable whole. TAE simplifies the job of a system developer by furnishing a stable framework for system-building; it also integrates system activities, and cooperates with the host operating system in order to perform such functions as task-scheduling and I/O. The initial TAE human/computer interface supported command and menu interfaces, data displays, parameter-prompting, error-reporting, and online help. Recent extensions support graphics workstations with a window-based, modeless user interface.

Perkins, Dorothy C.↗
NASA NTRS2010

Neurolab: Final Report for the Ames Research Center Payload

Neurolab, the final Spacelab mission, launched on STS-90 on April 17, 1998, was dedicated to studying the nervous system. NASA cooperated with domestic and international partners to conduct the mission. ARC's (Ames Research Center's) Payload included 15 experiments designed to study the adaptation and development of the nervous system in microgravity. The payload had the largest number of Principal and Co-Investigators, largest complement of habitats and experiment unique equipment flown to date, and most diverse distribution of live specimens ever undertaken by ARC, including rodents, toadfish, swordtail fish, water snails, hornweed and crickets To facilitate tissue sharing and optimization of science objectives, investigators were grouped into four science discipline teams: Neuronal Plasticity, Mammalian Development, Aquatic, and Neurobiology. Several payload development challenges were experienced and required an extraordinary effort, by all involved, to meet the launch schedule. With respect to hardware and the total amount of recovered science, Neurolab was regarded as an overall success. However, a high mortality rate in one rodent group and several hardware anomalies occurred inflight that warranted postflight investigations. Hardware, science, and operations lessons were learned that should be taken into consideration by payload teams developing payloads for future Shuttle missions and the International Space Station.

Maese, A. Christopher↗
NASA NTRS2001

Architectures and Evaluation for Adjustable Control Autonomy for Space-Based Life Support Systems

In the past five years, a number of automation applications for control of crew life support systems have been developed and evaluated in the Adjustable Autonomy Testbed at NASA's Johnson Space Center. This paper surveys progress on an adjustable autonomous control architecture for situations where software and human operators work together to manage anomalies and other system problems. When problems occur, the level of control autonomy can be adjusted, so that operators and software agents can work together on diagnosis and recovery. In 1997 adjustable autonomy software was developed to manage gas transfer and storage in a closed life support test. Four crewmembers lived and worked in a chamber for 91 days, with both air and water recycling. CO2 was converted to O2 by gas processing systems and wheat crops. With the automation software, significantly fewer hours were spent monitoring operations. System-level validation testing of the software by interactive hybrid simulation revealed problems both in software requirements and implementation. Since that time, we have been developing multi-agent approaches for automation software and human operators, to cooperatively control systems and manage problems. Each new capability has been tested and demonstrated in realistic dynamic anomaly scenarios, using the hybrid simulation tool.

Malin, Jane T.↗
NASA NTRSDate not supplied

Evolutionary Stability of Microbial Mutualism in Simulated Microgravity

Sustainable long-term space travel will require astronauts to live in built environments cohabited by microbes. Though much of space biology research has focused on microbial monocultures, microbes naturally live in multispecies communities in which they compete and cooperate. Understanding how communities experience spaceflight over generations can influence sanitation measures and the design of synthetic communities for applications in spaceflight. In this study, we investigated the evolutionary stability of mutualism in multispecies communities in microgravity using a model system of cooperating microbes. Our model consisted of bioengineered strains of mutually dependent E. coli and S. enterica. E. coli metabolized lactose and produced a carbon source for S. enterica, which secreted methionine for E. coli. By introducing a noncooperative ("cheater") strain of S. enterica, we tested the dynamic stability of mutualism. Using a rotating wall vessel, we simulated microgravity, specifically a low-shear, diffusion-limited environment where metabolite transfer is limited compared to 1g conditions. Fluorescent motile and non-motile strains were used to assess how motility affects the microbial experience of microgravity. We hypothesized that mutualism in non-motile cocultures would be favored in microgravity due to the diffusion-limited spatial structure, while motile strains would show less difference between simulated microgravity and other conditions. We cultured communities for approximately 20 generations and assessed community composition over time using flow cytometry. We compared simulated microgravity to cultures grown in agar plates as spatially structured controls, shaken flasks as well-mixed controls, and still flasks representing the convective mixing of 1g. A high, sustained cooperator-to-cheater ratio represented stable mutualism within the community. Our results show that microbial communities may better maintain mutualism in microgravity compared to their counterparts in 1g conditions and that the motility of a community’s constituents influences how the community experiences microgravity on generational timescales.

Nathan Moreno↗
NASA NTRS2020

Integration Test and Evaluation (IT&E) Flight Test Series 6 Live Virtual Constructive - Distributed Environment (LVC-DE) Test Report

The goals of the Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) (also UAS-NAS) Project are to reduce the barriers for UAS access and its integration into the NAS. The UAS-NAS project and industry stakeholders conducted a series of flight tests integrating technologies from the Modeling & Simulation (M&S), Human Systems Integration (HSI), and Communication and Control (C2), and Integration, Test & Evaluation (IT&E) research areas. The last of the flight test series, Flight Test Series 6 (FT6) was conducted in late 2019 and focused on evaluating the interaction of the airborne non-cooperative surveillance system and the Detect and Avoid (DAA) technology. The DAA system generated conflict alert and guidance for pilots using a Research Ground Control System (RGCS) to avoid intruder aircraft. The conflict alerting and guidance information was presented on the RGCS’s display using symbology developed by the human factors team. The objective of FT6 was to investigate the interoperability of Low Size, Weight, and Power (Low SWaP) sensors with the DAA alerting, guidance, and display requirements. To support this goal, the distributed test environments (DTE) were developed at Ames Research Center (ARC) and Armstrong Flight Research Center (AFRC) and securely linked over a Virtual Private Network (VPN). These environments took advantage of existing Live Virtual Constructive (LVC) technologies to support research observation at both Centers with the insertion of live UAS and manned intruder aircraft into a simulated NAS environment with Air Traffic Control (ATC) and constructive manned aircraft. The experiment was distributed between AFRC flight operations and research facilities and the Distributed Simulation Research Laboratory (DSRL) and Software Development Laboratory (SDL) in building N243 at ARC. The Air Traffic Controller and pseudo pilots operated from the DSRL and SDL, respectively, using the Multi-Aircraft Control System (MACS). The test subject and researchers operated from the Research Ground Control Station (RGCS) at AFRC using the Vigilant Spirit Control Station (VSCS) and associated DAA software and displays. Flight Operation for the unmanned aircraft (UA) and manned intruder traffic was conducted at AFRC. Virtual traffic was managed by ARC. Voice distribution was accomplished using a combination of disparate communication systems at ARC and AFRC. The purpose of this document is to record the development, design, and execution of activities in support of the FT6 efforts from the perspective of the ARC IT&E team. Furthermore, the Armstrong IT&E team has published a thorough FT6 Test Report, with emphasis on flight test support, facilities and vehicle development; this report complements the Armstrong report. Analysis of collected FT6 data will be conducted and reported by the M&S and HSI teams and will be published in separate reports.

UAS-NAS↗