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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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NASA NTRS2012

Advancing Robotic Control for Space Exploration Using Robonaut 2

Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2.

Badger, Julia↗
NASA NTRSDate not supplied

Overview of GSICS visible calibration methods.

Global Space-based Inter-Calibration System (GSICS) is an international collaborative effort initiated in 2005 by the World Meteorological Organization (WMO) and the Coordination Group for Meteorological Satellites (CGMS) to 1-monitor, 2-improve and 3-harmonize the quality of observations from operational weather and environmental satellites of the Global Observing System (GOS). GSICS aims at ensuring consistent accuracy among space-based observations worldwide for climate monitoring, weather forecasting, and environmental applications by 1-monitoring instrument performance, 2-operational inter-calibration of satellite instruments, 3-radiometrically scaling observations to absolute reference standards, 4-recalibration of archived datasets. Although many of the GSIC visible inter-calibration methods are based on medium pixel-level imagers such as MODIS, VIIRS, AVHRR, and geostationary sensors, the methods are applicable to high spatial resolution imagery such as Landsat. For sensor inter-calibration efforts, coincident ray-matched reflectance pairs are used to transfer the calibration from the reference to the target instrument. Spectral band adjustment factors (SBAF) are applied to account for any spectral band differences. For sensor stability monitoring, PICS, deep convective cloud (DCC) and polar ice Earth viewed targets are utilized. GSICS uses the moon for stability monitoring by using the GSICS Implementation of the USGS Robotic Lunar Observatory (ROLO) model (GIRO). GSICS is looking forward to the launch of CLARREO on the international space station (ISS) in 2023. The CLARREO hyperspectral reflective solar band (RSB) sensor will establish an absolute calibration reference in space, which will characterize invariant targets and will inter-calibrate concurrent sensors. Examples of these calibration methods will be presented at the workshop.

Visible calibration methods↗
NASA NTRS1993

Supervisory autonomous local-remote control system design: Near-term and far-term applications

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Zimmerman, Wayne↗
NASA NTRS1985

An expert planner for the dynamic flight environment

This paper presents a robust robot planner that functions in the complex and dynamic flight domain. The robot pilot flies an aircraft between two airports and can adjust in flight to changes in the environment such as closed destination airport, thunderstorm in the flight path, and failed engine. The planner adjusts to the world changes by locally patching around the break point instead of complete replanning. The planning architecture is based on the vertical decomposition of domain knowledge, resulting in shallow planning and recovery planning. This robot flight planner can be utilized as the front end of an intelligent flight monitor. The flight planner dynamically generates the references that are used to determine whether the flight crew should be notified of potential problems. The implementation of this robot planner is also discussed.

Chen, D. C.↗
NASA NTRS2015

Astrobee: Developing a Free Flying Robot for the International Space Station

Astronaut time will always be in short supply, consumables (e.g., oxygen) will always be limited, and some work will not be feasible, or productive, for astronauts to do manually. Free flyers offer significant potential to perform a great variety of tasks, include routine, repetitive or simple but long-duration work, such as conducting environment surveys, taking sensor readings or monitoring crew activities. The "Astrobee" project is developing a new free flying robot system suitable for performing Intravehicular Activity (IVA) work on the International Space Station (ISS). This paper will describe the Astrobee project objectives, initial design, concept of operations, and key challenges.

ISS↗
NASA NTRS2012

NASA Tech Briefs, October 2012

Topics discussed include: Detection of Chemical Precursors of Explosives; Detecting Methane From Leaking Pipelines and as Greenhouse Gas in the Atmosphere; Onboard Sensor Data Qualification in Human-Rated Launch Vehicles; Rugged, Portable, Real-Time Optical Gaseous Analyzer for Hydrogen Fluoride; A Probabilistic Mass Estimation Algorithm for a Novel 7-Channel Capacitive Sample Verification Sensor; Low-Power Architecture for an Optical Life Gas Analyzer; Online Cable Tester and Rerouter; A Three-Frequency Feed for Millimeter-Wave Radiometry; Capacitance Probe Resonator for Multichannel Electrometer; Inverted Three-Junction Tandem Thermophotovoltaic Modules; Fabrication of Single Crystal MgO Capsules; Inflatable Hangar for Assembly of Large Structures in Space; Mars Aqueous Processing System; Hybrid Filter Membrane; Design for the Structure and the Mechanics of Moballs; Pressure Dome for High-Pressure Electrolyzer; Cascading Tesla Oscillating Flow Diode for Stirling Engine Gas Bearings; Compact, Low-Force, Low-Noise Linear Actuator; Ultra-Compact Motor Controller; Extreme Ionizing-Radiation-Resistant Bacterium; Wideband Single-Crystal Transducer for Bone Characterization; Fluorescence-Activated Cell Sorting of Live Versus Dead Bacterial Cells and Spores; Nonhazardous Urine Pretreatment Method; Laser-Ranging Transponders for Science Investigations of the Moon and Mars; Ka-Band Waveguide Three-Way Serial Combiner for MMIC Amplifiers; Structural Health Monitoring with Fiber Bragg Grating and Piezo Arrays; Low-Gain Circularly Polarized Antenna with Torus-Shaped Pattern; Stereo and IMU- Assisted Visual Odometry for Small Robots; Global Swath and Gridded Data Tiling; GOES-R: Satellite Insight; Aquarius iPhone Application; Monitoring of International Space Station Telemetry Using Shewhart Control Charts; Theory of a Traveling Wave Feed for a Planar Slot Array Antenna; Time Manager Software for a Flight Processor; Simulation of Oxygen Disintegration and Mixing With Hydrogen or Helium at Supercritical Pressure; A Superfluid Pulse Tube Refrigerator Without Moving Parts for Sub-Kelvin Cooling; Sapphire Viewports for a Venus Probe; The Mobile Chamber; Electric Propulsion Induced Secondary Mass Spectroscopy; and Radiation-Tolerant DC-DC Converters.

Source record↗
NASA NTRS2005

Software for Automation of Real-Time Agents, Version 2

Version 2 of Closed Loop Execution and Recovery (CLEaR) has been developed. CLEaR is an artificial intelligence computer program for use in planning and execution of actions of autonomous agents, including, for example, Deep Space Network (DSN) antenna ground stations, robotic exploratory ground vehicles (rovers), robotic aircraft (UAVs), and robotic spacecraft. CLEaR automates the generation and execution of command sequences, monitoring the sequence execution, and modifying the command sequence in response to execution deviations and failures as well as new goals for the agent to achieve. The development of CLEaR has focused on the unification of planning and execution to increase the ability of the autonomous agent to perform under tight resource and time constraints coupled with uncertainty in how much of resources and time will be required to perform a task. This unification is realized by extending the traditional three-tier robotic control architecture by increasing the interaction between the software components that perform deliberation and reactive functions. The increase in interaction reduces the need to replan, enables earlier detection of the need to replan, and enables replanning to occur before an agent enters a state of failure.

Fisher, Forest↗
NASA NTRS1988

Dynamic reasoning in a knowledge-based system

Any space based system, whether it is a robot arm assembling parts in space or an onboard system monitoring the space station, has to react to changes which cannot be foreseen. As a result, apart from having domain-specific knowledge as in current expert systems, a space based AI system should also have general principles of change. This paper presents a modal logic which can not only represent change but also reason with it. Three primitive operations, expansion, contraction and revision are introduced and axioms which specify how the knowledge base should change when the external world changes are also specified. Accordingly the notion of dynamic reasoning is introduced, which unlike the existing forms of reasoning, provide general principles of change. Dynamic reasoning is based on two main principles, namely minimize change and maximize coherence. A possible-world semantics which incorporates the above two principles is also discussed. The paper concludes by discussing how the dynamic reasoning system can be used to specify actions and hence form an integral part of an autonomous reasoning and planning system.

Rao, Anand S.↗
NASA NTRS1990

Camera Would Monitor Weld-Pool Contours

Weld pool illuminated and viewed coaxially along welding torch. Proposed monitoring subsystem for arc welder provides image in which horizontal portions of surface of weld pool highlighted. Monitoring and analyzing subsystems integrated into overall control system of robotic welder. Control system sets welding parameters to adapt to changing conditions, maintaining surface contour giving desired pattern of reflections.

Gordon, Stephen S.↗
NASA NTRS2005

Diagnosing Hybrid Systems: a Bayesian Model Selection Approach

In this paper we examine the problem of monitoring and diagnosing noisy complex dynamical systems that are modeled as hybrid systems-models of continuous behavior, interleaved by discrete transitions. In particular, we examine continuous systems with embedded supervisory controllers that experience abrupt, partial or full failure of component devices. Building on our previous work in this area (MBCG99;MBCG00), our specific focus in this paper ins on the mathematical formulation of the hybrid monitoring and diagnosis task as a Bayesian model tracking algorithm. The nonlinear dynamics of many hybrid systems present challenges to probabilistic tracking. Further, probabilistic tracking of a system for the purposes of diagnosis is problematic because the models of the system corresponding to failure modes are numerous and generally very unlikely. To focus tracking on these unlikely models and to reduce the number of potential models under consideration, we exploit logic-based techniques for qualitative model-based diagnosis to conjecture a limited initial set of consistent candidate models. In this paper we discuss alternative tracking techniques that are relevant to different classes of hybrid systems, focusing specifically on a method for tracking multiple models of nonlinear behavior simultaneously using factored sampling and conditional density propagation. To illustrate and motivate the approach described in this paper we examine the problem of monitoring and diganosing NASA's Sprint AERCam, a small spherical robotic camera unit with 12 thrusters that enable both linear and rotational motion.

McIlraith, Sheila A.↗
NASA NTRS2009

Robotics Algorithms Provide Nutritional Guidelines

On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

Source record↗
NASA NTRS2013

Space Weather Impacts to Conjunction Assessment: A NASA Robotic Orbital Safety Perspective

National Aeronautics and Space Administration (NASA) recognizes the risk of on-orbit collisions from other satellites and debris objects and has instituted a process to identify and react to close approaches. The charter of the NASA Robotic Conjunction Assessment Risk Analysis (CARA) task is to protect NASA robotic (unmanned) assets from threats posed by other space objects. Monitoring for potential collisions requires formulating close-approach predictions a week or more in the future to determine analyze, and respond to orbital conjunction events of interest. These predictions require propagation of the latest state vector and covariance assuming a predicted atmospheric density and ballistic coefficient. Any differences between the predicted drag used for propagation and the actual drag experienced by the space objects can potentially affect the conjunction event. Therefore, the space environment itself, in particular how space weather impacts atmospheric drag, is an essential element to understand in order effectively to assess the risk of conjunction events. The focus of this research is to develop a better understanding of the impact of space weather on conjunction assessment activities: both accurately determining the current risk and assessing how that risk may change under dynamic space weather conditions. We are engaged in a data-- ]mining exercise to corroborate whether or not observed changes in a conjunction event's dynamics appear consistent with space weather changes and are interested in developing a framework to respond appropriately to uncertainty in predicted space weather. In particular, we use historical conjunction event data products to search for dynamical effects on satellite orbits from changing atmospheric drag. Increased drag is expected to lower the satellite specific energy and will result in the satellite's being 'later' than expected, which can affect satellite conjunctions in a number of ways depending on the two satellites' orbits and the geometry of the conjunction. These satellite time offsets can form the basis of a new technique under development to determine whether space weather perturbations, such as coronal mass ejections, are likely to increase, decrease, or have a neutral effect on the collision risk due to a particular close approach.

Ghrist, Richard↗
NASA NTRS1996

Mission simulation as an approach to develop requirements for automation in Advanced Life Support Systems

This paper examines mission simulation as an approach to develop requirements for automation and robotics for Advanced Life Support Systems (ALSS). The focus is on requirements and applications for command and control, control and monitoring, situation assessment and response, diagnosis and recovery, adaptive planning and scheduling, and other automation applications in addition to mechanized equipment and robotics applications to reduce the excessive human labor requirements to operate and maintain an ALSS. Based on principles of systems engineering, an approach is proposed to assess requirements for automation and robotics using mission simulation tools. First, the story of a simulated mission is defined in terms of processes with attendant types of resources needed, including options for use of automation and robotic systems. Next, systems dynamics models are used in simulation to reveal the implications for selected resource allocation schemes in terms of resources required to complete operational tasks. The simulations not only help establish ALSS design criteria, but also may offer guidance to ALSS research efforts by identifying gaps in knowledge about procedures and/or biophysical processes. Simulations of a planned one-year mission with 4 crewmembers in a Human Rated Test Facility are presented as an approach to evaluation of mission feasibility and definition of automation and robotics requirements.

NASA Discipline Number 61-10↗
NASA NTRS1990

The use of multisensor data for robotic applications

The feasibility of realistic autonomous space manipulation tasks using multisensory information is shown through two experiments involving a fluid interchange system and a module interchange system. In both cases, autonomous location of the mating element, autonomous location of the guiding light target, mating, and demating of the system were performed. Specifically, vision-driven techniques were implemented to determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. The robotic system was also equipped with a force/torque sensor that continuously monitored the six components of force and torque exerted on the end effector. Using vision, force, torque, proximity, and touch sensors, the two experiments were completed successfully and autonomously.

Abidi, M. A.↗
NASA NTRS1991

AI aerospace components

An evaluation is made of the application of novel, AI-capabilities-related technologies to aerospace systems. Attention is given to expert-system shells for Space Shuttle Orbiter mission control, manpower and processing cost reductions at the NASA Kennedy Space Center's 'firing rooms' for liftoff monitoring, the automation of planetary exploration systems such as semiautonomous mobile robots, and AI for battlefield staff-related functions.

Heindel, Troy A.↗
NASA NTRS1997

An OSEE Based Portable Surface Contamination Monitor

Many industrial and aerospace processes involving the joining of materials, require sufficient surface cleanliness to insure proper bonding. Processes as diverse as painting, welding, or the soldering of electronic circuits will be compromised if prior inspection and removal of surface contaminants is inadequate. As process requirements become more stringent and the number of different materials and identified contaminants increases, various instruments and techniques have been developed for improved inspection. One such technique based on the principle of Optically Stimulated Electron Emission (OSEE) has been explored for a number of years as a tool for surface contamination monitoring. Some of the benefits of OSEE are: it's non-contacting; requires little operator training; and has very high contamination sensitivity. This paper describes the development of a portable OSEE based surface contamination monitor. The instrument is suitable for both hand-held and robotic inspections with either manual or automated control of instrument operation. In addition, instrument output data is visually displayed to the operator and may be output to an external computer for archiving or analysis.

Perey, Daniel F.↗
NASA NTRS1996

A Portable Surface Contamination Monitor Based on the Principle of Optically Stimulated Electron Emission (OSEE)

Many industrial and aerospace processes involving the joining of materials, require sufficient surface cleanliness to insure proper bonding. Processes as diverse as painting, welding, or the soldering of electronic circuits will be compromised if prior inspection and removal of surface contaminants is inadequate. As process requirements become more stringent and the number of different materials and identified contaminants increases, various instruments and techniques have been developed for improved inspection. One such technique, based on the principle of Optically Stimulated Electron Emission (OSEE), has been explored for a number of years as a tool for surface contamination monitoring. Some of the benefits of OSEE are: it is non-contacting; requires little operator training; and has very high contamination sensitivity. This paper describes the development of a portable OSEE based surface contamination monitor. The instrument is suitable for both hand-held and robotic inspections with either manual or automated control of instrument operation. In addition, instrument output data is visually displayed to the operator and may be sent to an external computer for archiving or analysis.

Perey, D. F.↗