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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 NTRS2019

In Space Assembled Telescope (ISAT) Study Preliminary Findings

“When is it advantageous to assemble telescopes in space rather than deploying them from launch vehicle fairings”? This question forms the crux of the objectives of a NASA study we have been conducting in collaboration with colleagues from different NASA centers, industry and academia. In this study, we have engaged a broad cross section of experts from the various fields of optics engineering, that is, telescope design and instrument design, structure and thermal engineering, robotics, launch system engineering, orbital mechanics, integration and testing, astrophysics, and NASA programmatics among others. Initial efforts began with a quick review of the current state of art of the component technologies that contribute towards an in-space assembled telescope. Then, leveraging the collective expertise of the diverse group of experts, we formulated a reference telescope design and attempted to develop a baseline approach to modularize the telescope into components amenable for robotic assembly. The group identified different trades associated with modularization and also developed a set of criteria to discern between the different options as revealed by the trades. Based on the modularization of the telescope, we will assess the impact of various launch vehicles, orbits for assembly and operation, robotic systems and operational approaches, and other related variables. From this, a concept to assemble the reference telescope in space from modular components will be developed. Based on this concept, and definition of the modules, we will develop a mission lifecycle plan for an assembled telescope over different phases of preliminary design, detailed design, assembly-test-and-integration, and in space operations. The mission lifecycle plan will be used to evaluate cost and risk implications of in-space assembly toward answering our fundamental question of the advantages, if any, of assembling a telescope in space as compared to self-deployment. In this paper, we summarize the objectives of the study, a review of the status of the underlying component technologies, a description of the methodology, including three different multi-day technical interchange meetings (TIMs), summary of findings from the TIMs and other related activities. In addition, a detailed description of the various factors that impact in-space assembly, their interplay and criteria for discerning among them, a preliminary description of the life cycle plan, including the test and integration plan, and initial observations on cost and risk implications will be included in the paper.

Mukherjee, Rudranarayan↗
NASA NTRSDate not supplied

Analyzing Natural Language Context in Human-Machine Teaming using Supervised Machine Learning

Building a foundation for trustworthiness and trust verification in multi-asset teaming is the research challenge of Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR). The Design Reference Mission (DRM) for ATTRACTOR is a search and rescue mission objective governed by a multi-member team consisting of human and machine operators. A crucial component to the effort is the communication between humans and autonomous agents throughout both planning and execution stages of the mission. Intuitive communication methods and modalities are posited as critical enablers for certifying trust and trustworthiness. This paper reports on the data collection and analysis conducted in support of the Human Informed Natural-language GANs Evaluation (HINGE)project to attain explainable and trusted communication between human-machine assets. Two identically curated image description datasets were acquired for HINGE, both consisting of two unique input modalities (typed vs. verbal) and retrieved in two distinct contexts (general vs. specific). The gathered datasets were assessed and compared using Parts-of-Speech (POS)features, sentence similarity metrics, and linguistic analysis. Then, the datasets were modeled and tested separately and in combination with one another using machine learning algorithms. The comparison and testing results reveal a superior dataset, by which a preferred context and input is understood, for generating image representations of missing persons using a Generative Adversarial Network (GAN).

Bryan A Barrows↗
NASA NTRS2013

A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation

To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

Trawny, Nikolas↗
NASA NTRSDate not supplied

The Stratospheric Aerosol and Gas Experiment IV

Atmospheric composition continues to be a key Earth science focus for international space agencies and research organizations. The target constituent varies depending upon the topic area of interest such as monitoring the ozone layer and the efficacy of the Montreal Protocol, assessing the influence of volcanic eruptions and large wildfires on the atmosphere, improving our knowledge of transport processes, or evaluating the impacts of greenhouse gases on climate. Additionally, there is a growing need for measurement continuity of many trace gases both from an inability to properly assess long-term trends without it as well as the reliance of reanalyses and chemistry climate models on observational input. To this end, proper continuity requires continuous and overlapping multi-instrument data records of which spaceborne measurements are a critical component. However, most current satellite systems are well beyond their expected lifetimes, and so we look toward the future to develop the Stratospheric Aerosol and Gas Experiment (SAGE) IV as a future mission concept. Enabled by the NASA Earth Science Technology Office’s (ESTO) Instrument Incubator Program, the SAGE IV Pathfinder project has developed and validated a prototype demonstration that paves the way for a future SAGE IV spaceflight mission. Utilizing solar occultation imaging, SAGE IV will be capable of measuring key species in the stratosphere and upper troposphere with the same quality as previous SAGE instruments but with greatly improved pointing knowledge and extensibility to new science targets. Furthermore, current technological advancements allow SAGE IV to fit within a CubeSat framework and make use of commercial hardware, significantly reducing the size and cost when compared with traditional missions and enabling sustainability of future measurements.

Robert Damadeo↗
NASA NTRSDate not supplied

Reanalysis Activities at the NASA Global Modeling and Assimilation Office

This talk presents an overview of recent reanalysis activities at the NASA Global Modeling and Assimilation Office (GMAO) as part of a multi-faceted strategy towards an Integrated Earth System retrospective analysis, coupling components of the atmosphere, ocean, chemistry, land, and ice. While elements of the atmosphere-ocean coupled Goddard Earth Observing System (GEOS) model and data assimilation are being actively developed, a suite of reanalysis products is designed to provide further understanding of key aspects of Earth system coupling in a reanalysis context: The baseline atmospheric reanalysis, the GEOS Retrospective analysis for the early 21st Century (GEOS-R21C), features recent advances in the GEOS model and data assimilation, and targets the NASA’s Earth Observing System EOS and post-EOS satellite observations; GEOS-IT, a user-tailored low-resolution atmospheric reanalysis, serves as a second baseline to the NASA Instrument Teams for validation and calibration and drives a one-way coupled ocean reanalysis, GEOSIT-Ocean; PolarMERRA, a high-resolution downscaled product for the polar regions, focuses on improving the representation of polar atmospheric processes with an assessment of current cryospheric biases, and targeted improvements to surface sea ice and glacier conditions; Finally, R21C-Chem, an off-line atmospheric chemistry and composition reanalysis, includes both tropospheric and stratospheric trace gases. The diversity of these reanalysis activities presents unique opportunities for collaborations cross-teams/institutions, with new commercial data partners, and with end-user groups. This talk will discuss these opportunities and explore leveraging the lessons learned along the way on key drivers in Earth system interactions as we converge towards the next generation of the Modern-Era Retrospective analysis for Research and Applications (MERRA) suite.

Amal El Akkraoui↗
NASA NTRSDate not supplied

The Stratospheric Aerosol and Gas Experiment (SAGE) IV

Atmospheric composition continues to be a key Earth science focus for international space agencies and research organizations. The target constituent varies depending upon the topic area of interest such as monitoring the ozone layer and the efficacy of the Montreal Protocol, assessing the influence of volcanic eruptions and large wildfires on the atmosphere, improving our knowledge of transport processes, or evaluating the impacts of greenhouse gases on climate. Additionally, there is a growing need for measurement continuity of many trace gases both from an inability to properly assess long-term trends without it as well as the reliance of reanalyses and chemistry climate models on observational input. To this end, proper continuity requires continuous and overlapping multi-instrument data records of which spaceborne measurements are a critical component. However, most current satellite systems are well beyond their expected lifetimes, and so we look toward the future to develop the Stratospheric Aerosol and Gas Experiment (SAGE) IV as a future mission concept. Enabled by the NASA Earth Science Technology Office’s (ESTO) Instrument Incubator Program, the SAGE IV Pathfinder project developed and validated a prototype demonstration that paves the way for a future SAGE IV spaceflight mission. Utilizing solar occultation imaging, SAGE IV will be capable of measuring key species in the stratosphere and upper troposphere with the same quality as previous SAGE instruments but with greatly improved pointing knowledge and extensibility to new science targets. The precision and stability of a well-designed occultation instrument can act as a calibration reference standard for other spaceborne instruments, ensuring proper continuity of the desired science targets. Furthermore, current technological advancements allow SAGE IV to fit within a CubeSat framework and make use of commercial hardware, significantly reducing the size and cost when compared with traditional missions and enabling sustainability of future measurements.

Robert Damadeo↗
NASA NTRSDate not supplied

Data Simulation Using VLIDORT and PCRTM and its Use for Radiometric Calibration of Hyperspectral UV-NIR-SWIR Sensors

Using the vector linearized discrete ordinate radiative transfer model (VLIDORT), a multiple-scattering multi-layer discrete ordinate scattering codes, coupled with a fast principal component (PC) radiative transfer model (PCRTM), we can simulate the radiation fields for hyperspectral UV-NIR-SWIR sensors from 250nm to 2500nm with a very high speed. Since the accurate gas absorptions, molecules and aerosol/cloud particle scatterings, and the surface reflectance have been considered in these simulations, these model data can be used for satellite or airborne sensor design, characterization, or end-to-end system level uncertainty assessment. Comparison of the modelled data with measured results has been a general practice for operational satellite sensor calibrations, such as the Ozone Mapping and Profiler Suite (OMPS) onboard on SNPP and NOAA-20. This presentation will give more details of this simulation system and models. Some examples of the generation of simulations data for CLARREO PathFinder (CPF) and the Surface Biology and Geology (SBG), as well as some examples to use these data for CPF and OMPS radiometric calibration will be presented.

Xiaozhen Xiong↗
DOE OSTI2022

Novel Materials and Concepts for Next-Generation High Power Target Applications

Novel beam-intercepting materials and targetry concepts are essential to improve the performance, reliability and operation lifetimes of next generation multi-megawatt (multi-MW) accelerator target facilities. The beam-intercepting materials and components must sustain an order-of-magnitude increase in particle beam intensities and are beyond the current state-of-the-art. With conventional materials already limiting the scope of experiments, it is crucial to investigate novel target materials, technologies and concepts that will satisfy the requirements and maximize the physics benefits of future energy and intensity frontier experiments. This paper provides an overview of the related targetry R&D required over the next 10 years to support and enable future high-power accelerator target facilities.

43 PARTICLE ACCELERATORS↗
DOE OSTI2023

Sodium Components Maintenance Shop (SCMS) Carbonation Vessel – Partial HWMA/RCRA Closure Certification Report

This report documents the Hazardous Waste Management Act (HWMA)/ Resource Conservation and Recovery Act (RCRA) Partial Closure Certification of the Sodium Components Maintenance Shop (SCMS) Carbonation Vessel. The HWMA/RCRA Closure followed the multi step review and evaluation closure process identified in the Idaho National Laboratory (INL) Materials and Fuels Complex (MFC) HWMA/RCRA Partial Permit Closure Plan, October 1, 2015. This closure certification report documents that the SCMS Carbonation Vessel was removed from the SCMS, packaged as hazardous waste and stored for future treatment and disposal, and therefore has met the closure performance standards in accordance with the Department of Energy Idaho National Laboratory Materials and Fuels Complex HWMA/RCRA Partial Permit Closure Plan (EPA No. ID4890008952, October 1, 2015).

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2025

Infrastructure-Based Cooperative Perception at a Traffic Intersection: Overview and Challenges

Traffic intersections are crucial and challenging nodes in transportation networks where multiple lanes of vehicles and pedestrians converge. About one-quarter of traffic fatalities and about one-half of all traffic injuries in the United States happen at traffic intersections . Effective management of these intersections is important to ensure safety and efficiency of all users - vehicles, pedestrians, cyclists, and vulnerable road users (VRUs). With advancements in sensor perception technologies such as radar, light detection and ranging (lidar), and cameras, traffic intersections are developing into dynamic and data-rich environments. By using these data to create a real-time digital twin, we can enable real-time data-driven decision making and a range of applications such as sharing perception information to connected vehicles (CVs) and connected autonomous vehicles (CAVs), safety affirmative signaling, and curb optimizing to improve efficiency and enhance safety.This paper presents an overview of the concept and examines the challenges involved in implementing an infrastructure-based cooperative perception engine at a traffic intersection. In addition to outlining the physical components, this study also addresses important challenges involved in a multi-sensor system. We present results from deploying the National Renewable Energy Laboratory's (NREL's) Infrastructure Perception and Control (IPC) mobile trailer at a traffic intersection in the city of Colorado Springs, Colorado, USA that employed multiple radars and lidars to capture the data. This study provides necessary practical learning for the Cooperative Driving Automation (CDA) and traffic engineering communities for next-generation infrastructure-based cooperative perception that promises improvements in signal control for optimized traffic flow, among other applications, and documents findings for ongoing research and development efforts in other areas.

ADVANCED PROPULSION SYSTEMS,MATHEMATICS AND COMPUT↗
DOE OSTI2016

Helium segregation on surfaces of plasma-exposed tungsten

Here we report a hierarchical multi-scale modeling study of implanted helium segregation on surfaces of tungsten, considered as a plasma facing component in nuclear fusion reactors. We employ a hierarchy of atomic-scale simulations based on a reliable interatomic interaction potential, including molecular-statics simulations to understand the origin of helium surface segregation, targeted molecular-dynamics (MD) simulations of near-surface cluster reactions, and large-scale MD simulations of implanted helium evolution in plasma-exposed tungsten. We find that small, mobile He-n (1 <= n <= 7) clusters in the near-surface region are attracted to the surface due to an elastic interaction force that provides the thermodynamic driving force for surface segregation. Elastic interaction force induces drift fluxes of these mobile Hen clusters, which increase substantially as the migrating clusters approach the surface, facilitating helium segregation on the surface. Moreover, the clusters' drift toward the surface enables cluster reactions, most importantly trap mutation, in the near-surface region at rates much higher than in the bulk material. Moreover, these near-surface cluster dynamics have significant effects on the surface morphology, near-surface defect structures, and the amount of helium retained in the material upon plasma exposure. We integrate the findings of such atomic-scale simulations into a properly parameterized and validated spatially dependent, continuum-scale reaction-diffusion cluster dynamics model, capable of predicting implanted helium evolution, surface segregation, and its near-surface effects in tungsten. This cluster-dynamics model sets the stage for development of fully atomistically informed coarse-grained models for computationally efficient simulation predictions of helium surface segregation, as well as helium retention and surface morphological evolution, toward optimal design of plasma facing components.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS2010

Adaptive Numerical Algorithms in Space Weather Modeling

Space weather describes the various processes in the Sun-Earth system that present danger to human health and technology. The goal of space weather forecasting is to provide an opportunity to mitigate these negative effects. Physics-based space weather modeling is characterized by disparate temporal and spatial scales as well as by different physics in different domains. A multi-physics system can be modeled by a software framework comprising of several components. Each component corresponds to a physics domain, and each component is represented by one or more numerical models. The publicly available Space Weather Modeling Framework (SWMF) can execute and couple together several components distributed over a parallel machine in a flexible and efficient manner. The framework also allows resolving disparate spatial and temporal scales with independent spatial and temporal discretizations in the various models. Several of the computationally most expensive domains of the framework are modeled by the Block-Adaptive Tree Solar wind Roe Upwind Scheme (BATS-R-US) code that can solve various forms of the magnetohydrodynamics (MHD) equations, including Hall, semi-relativistic, multi-species and multi-fluid MHD, anisotropic pressure, radiative transport and heat conduction. Modeling disparate scales within BATS-R-US is achieved by a block-adaptive mesh both in Cartesian and generalized coordinates. Most recently we have created a new core for BATS-R-US: the Block-Adaptive Tree Library (BATL) that provides a general toolkit for creating, load balancing and message passing in a 1, 2 or 3 dimensional block-adaptive grid. We describe the algorithms of BATL and demonstrate its efficiency and scaling properties for various problems. BATS-R-US uses several time-integration schemes to address multiple time-scales: explicit time stepping with fixed or local time steps, partially steady-state evolution, point-implicit, semi-implicit, explicit/implicit, and fully implicit numerical schemes. Depending on the application, we find that different time stepping methods are optimal. Several of the time integration schemes exploit the block-based granularity of the grid structure. The framework and the adaptive algorithms enable physics based space weather modeling and even forecasting.

Toth, Gabor↗
DOE OSTI2021

Hypergraph Models of Biological Networks to Identify Genes Critical to Pathogenic Viral Response

Motivation: Representing biological networks as graphs is a powerful approach to reveal underlying patterns, signatures, and critical components from high-throughput biomolecular data. However, graphs do not natively capture the multi-way relationships present among genes and proteins in biological systems such as protein complexes, metabolic reactions, and signal transduction pathways. Hypergraphs are generalizations of graphs that naturally model multi-way interactions in data, and we therefore seek to understand how they can more faithfully identify, and potentially predict, complex relationships in genomic expression data sets. Results: We compiled a novel data set of transcriptional host response to pathogenic viral infections and formulated relationships between genes as a hypergraph where hyperedges are differentially expressed genes and vertices represent conditions. We find that hypergraph betweenness centrality is a superior method for identification of genes important to viral response when compared with graph centrality. Our results demonstrate the utility of using hypergraphs to represent complex biological systems, and highlight potentially interesting biological results about host response to highly pathogenic viruses.

systems biology, hypergraph, viral infection, biol↗
DOE OSTI2015

Distributed Flexibility Characterization and Resource Allocation Strategies for Multi-zone Commercial Buildings in the Smart Grid

The HVAC (Heating, Ventilation, and Air- Conditioning) system of commercial buildings is a complex system with a large number of dynamically interacting components. In particular, the thermal dynamics of each zone are coupled with those of the neighboring zones. In this paper, we study a multi-agent based approach to model and control commercial building HVAC system for providing grid services. In the multi-agent system (MAS), individual zones are modeled as agents that can communicate, interact, and negotiate with one another to achieve a common objective. We first propose a distributed characterization method on the aggregated airflow (and thus fan power) flexibility that the HVAC system can provide to the ancillary service market. Then, we propose a Nash-bargaining based airflow allocation strategy to track a dispatch signal (that is within the offered flexibility limit) while respecting the preference and flexibility of individual zones. Moreover, we devise a distributed algorithm to obtain the Nash bargaining solution via dual decomposition and average consensus. Numerical simulations illustrate that the proposed distributed protocols are much more scalable than the centralized approaches especially when the system becomes larger and more complex.

Hao, He↗
DOE OSTI2024

Leveraging Hydropower Multi-Sensor Data for Inference and Age-Informed Modeling

Increased demand of operational flexibility such as faster ramp up/down in generation, and more frequent start/stops are putting hydropower plants and their associated components in unprecedented stress. Consequently, these plants are at the high risk of extended and more frequent outage to accommodate unscheduled, and unexpected maintenance. Therefore, hydropower plants are in critical need of data driven and age-informed analysis for their regular and unscheduled operation. Yet not all hydropower plants are exhaustively equipped with sensors and/or measurement streams for their respective components – demanding solutions on how to detect, identify, and locate the cause of any event from the unobservable. Idaho National Laboratory (INL) analyzed the anonymized measurements and event records from the Hydropower Research Institute (HRI) to address this issue, as part of the Water Power Technologies Office (WPTO) funded one year multi-lab project. First, we investigated how time series of multiple sensor measurements can be leveraged to identify an event “root cause” as well as to develop an inference (i.e., estimate the unobservable) problem. INL also investigated how individual hydropower components’ reaction or response times vary across the pre-event, during event, and post-event conditions – enabling the hydropower dynamic models to be age-informed. Finally, the impact of clustering multi-sensor time series on short-term vibration prediction is analyzed. INL will present key findings from these analyses and recommend next steps for stakeholder adoption.

13 HYDRO ENERGY↗
DOE OSTI2024

Geophysical Imaging of Flow and Transport (GIFT): FY24 Status Report

The GIFT (Geophysical Imaging of Flow and Transport) system will improve predictive capabilities as a platform for collecting multi-physical (MP) time-lapse datasets from well-controlled laboratory experiments. This will enable more accurate prediction of multi-phase fluid flow during delivery and transport of insitu remedial amendments as important components of the overall Hanford Site cleanup mission. Design and construction of the GIFT system, which consists of a meter-scale test cell and a network of custom gas circulation and analysis systems, was accomplished in fiscal year (FY) 2024, with plans to add liquid circulation to the system and use this new capability for multi-phase deep vadose experiments starting in FY25.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRSDate not supplied

Multi-Star Wavefront Control at the Occulting Mask Coronagraph Testbed: Monochromatic Laboratory Demonstration for the Roman Coronagraph Instrument

The Astro2020 decadal survey recommended a direct imaging flagship mission with a goal for mission yield of 25 or more potentially habitable exoplanets. A majority of Sun-like stars have a stellar companion that can introduce additional noise into the field of view of any high-contrast imaging instrument and enabling exoplanet discovery around binary stars represents a path to increased coronagraphic instrument efficiency. This includes both of the Alpha Centauri A and B stars which would represent the top science target for direct imaging if companion leakage can be suppressed. Multi-Star Wavefront Control (MSWC) is a technique that removes stellar leakage from both stellar components, enabling direct imaging of exoplanets in many binary star systems. We present the latest testbed results obtained with MSWC as part of the technology development effort focusing on demonstrations conducted on the Occulting Mask Coronagraph (OMC) testbed at JPL. OMC has a layout similar to the Roman Space Telescope coronagraph instrument (CGI) and is outfitted with a MSWC mask with the same design as the contributed mask for the Roman CGI. Our testbed results represent the first demonstrations of this technique using the recently installed full binary source for a geometry matching potential Alpha Centauri observations. Technical Review Abstract: The Astro2020 decadal survey recommended a direct imaging flagship mission with a goal for mission yield of 25 or more potentially habitable exoplanets. A majority of Sun-like stars have a stellar companion that can introduce additional noise into the field of view of any high-contrast imaging instrument and enabling exoplanet discovery around binary stars represents a path to increased coronagraphic instrument efficiency by increasing the available science target pool of bright nearby stars. This includes both of the Alpha Centauri A and B stars which would represent the top science target for direct imaging if companion leakage can be suppressed. Multi-Star Wavefront Control (MSWC) is a technique that removes stellar leakage from both stellar components, enabling direct imaging of exoplanets in many binary star systems . We present the latest testbed results obtained with MSWC as part of the technology development effort focusing on demonstrations conducted on the Occulting Mask Coronagraph (OMC) testbed at JPL during the completed first vacuum window and recent results from the ongoing second vacuum window. The MSWC mask consists of a shaped pupil mask similar to the one used for the Wide-Field of View mode but also includes a set of superimposed, regularly-spaced dots that serve as a diffraction grating. OMC has a layout similar to the Roman Space Telescope coronagraph instrument (CGI) and is configured with a binary imaging mode with a MSWC mask using same design as the contributed mask for the Roman CGI. Our testbed results represent the first demonstrations of this technique using the recently installed full binary source. We present results obtained in Super-Nyquist regime demonstrating suppression in the Super-Nyquist regime for the 3rd diffraction order reaching 8.7e-9 contrast with the Roman pupil. In addition, we present results obtained with the binary-star regime demonstrating 9.6e-8 contrast for a geometry matching potential Alpha Centauri observations in a monochromatic wavelength similar to Band 1. Planned demonstrations in the 2nd vacuum window will focus on Band 3d and Band 4 using the full MSWC mode for an Alpha Centauri geometry.

High-contrast imaging↗
NASA NTRS2005

Behavior-based multi-robot collaboration for autonomous construction tasks

The Robot Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of Long components. The two robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.

autonomous construction↗