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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 NTRS1998

Space Solar Power Technical Interchange Meeting 2: SSP TIM 2

The 2nd Space Solar Power Technical Interchange Meeting (SSP TIM 2) was conducted September 21st through 24th with the first part consisting of a Plenary session. The summary results of this Plenary session are contained in part one of this report. The attendees were then organized into Working Breakout Sessions and Integrated Product Team (IPT) Sessions for the purpose of conducting in-depth discussions in specific topic areas and developing a consensus as to appropriate study plans and actions to be taken. The Second part covers the Plenary Summary Session, which contains the summary results of the Working Breakout Sessions and IPT Sessions. The appendix contains the list of attendees. The ob'jective was to provide an update for the study teams and develop plans for subsequent study activities. This SSP TIM 2 was initiated and the results reported electronically over the Internet. The International Space Station (ISS) could provide the following opportunities for conducting research and technology (R&T) which are applicable to SSP: (1) Automation and Robotics, (2) Advanced Power Generation, (3) Advanced Power Management & Distribution (PMAD), (4) Communications Systems and Networks, (5) Energy Storage, (6) In Space Propulsion (ISP), (7) Structural Dynamics and Control, and Assembly and (8) Wireless Power Transmission.

Sanders, Jim↗
NASA NTRS2006

Power System Concepts for the Lunar Outpost: A Review of the Power Generation, Energy Storage, Power Management and Distribution (PMAD) System Requirements and Potential Technologies for Development of the Lunar Outpost

This paper will review potential power system concepts for the development of the lunar outpost including power generation, energy storage, and power management and distribution (PMAD). In particular, the requirements of the initial robotic missions will be discussed and the technologies considered will include cryogenics and regenerative fuel cells (RFC), AC and DC transmission line technology, high voltage and low voltage power transmission, conductor materials of construction and power beaming concepts for transmitting power to difficult to access locations such as at the bottom of craters. Operating conditions, component characteristics, reliability, maintainability, constructability, system safety, technology gaps/risk and adaptability for future lunar missions will be discussed for the technologies considered.

Khan, Z.↗
NASA NTRS2011

Ground-Based Network and Supersite Observations to Complement and Enrich EOS Research

Since 1997 NASA has been successfully launching a series of satellites - the Earth Observing System (EOS) - to intensively study, and gain a better understanding of, the Earth as an integrated system. Space-borne remote sensing observations, however, are often plagued by contamination of surface signatures. Thus, ground-based in-situ and remote-sensing measurements, where signals come directly from atmospheric constituents, the sun, and/or the Earth-atmosphere interactions, provide additional information content for comparisons that confirm quantitatively the usefulness of the integrated surface, aircraft, and satellite datasets. Through numerous participations, particularly but not limited to the EOS remote-sensing/retrieval and validation projects over the years, NASA/GSFC has developed and continuously refined ground-based networks and mobile observatories that proved to be vital in providing high temporal measurements, which complement and enrich the satellite observations. These are: the AERO NET (AErosol RObotic NETwork) a federation of ground-based globally distributed network of spectral sun-sky photometers; the MPLNET (Micro-Pulse Lidar NETwork, a similarly organized network of micro-pulse lidar systems measuring aerosol and cloud vertical structure continuously; and the SMART-COMMIT (Surface-sensing Measurements for Atmospheric Radiative Transfer - Chemical, Optical & Microphysical Measurements of In-situ Troposphere, mobile observatories, a suite of spectral radiometers and in-situ probes acquiring supersite measurements. Most MPLNET sites are collocated with those of AERONET, and both networks always support the deployment of SMART-COMMIT worldwide. These data products follow the data structure of EOS conventions: Level-0, instrument archived raw data; Level-1 (or 1.5), real-time data with no (or limited) quality assurance; Level-2, not real high temporal and spectral resolutions. In this talk, we will present NASA/GSFC groundbased facilities, serving as network or supersite observations, which have been playing key roles in major international research projects over diverse aerosol regimes to complement and enrich the EOS scientific research.

Tsay, Si-Chee↗
NASA NTRS2004

Microgravity Testing of a Surface Sampling System for Sample Return from Small Solar System Bodies

The return of samples from solar system bodies is becoming an essential element of solar system exploration. The recent National Research Council Solar System Exploration Decadal Survey identified six sample return missions as high priority missions: South-Aitken Basin Sample Return, Comet Surface Sample Return, Comet Surface Sample Return-sample from selected surface sites, Asteroid Lander/Rover/Sample Return, Comet Nucleus Sample Return-cold samples from depth, and Mars Sample Return [1] and the NASA Roadmap also includes sample return missions [2] . Sample collection methods that have been flown on robotic spacecraft to date return subgram quantities, but many scientific issues (like bulk composition, particle size distributions, petrology, chronology) require tens to hundreds of grams of sample. Many complex sample collection devices have been proposed, however, small robotic missions require simplicity. We present here the results of experiments done with a simple but innovative collection system for sample return from small solar system bodies.

Franzen, M. A.↗
NASA NTRS2009

Monitoring and Controlling an Underwater Robotic Arm

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Haas, John↗
NASA NTRS2015

Mineralogy and Astrobiology Detection Using Laser Remote Sensing Instrument

A multispectral instrument based on Raman, laser-induced fluorescence (LIF), laser-induced breakdown spectroscopy (LIBS), and a lidar system provides high-fidelity scientific investigations, scientific input, and science operation constraints in the context of planetary field campaigns with the Jupiter Europa Robotic Lander and Mars Sample Return mission opportunities. This instrument conducts scientific investigations analogous to investigations anticipated for missions to Mars and Jupiter's icy moons. This combined multispectral instrument is capable of performing Raman and fluorescence spectroscopy out to a >100 m target distance from the rover system and provides single-wavelength atmospheric profiling over long ranges (>20 km). In this article, we will reveal integrated remote Raman, LIF, and lidar technologies for use in robotic and lander-based planetary remote sensing applications. Discussions are focused on recently developed Raman, LIF, and lidar systems in addition to emphasizing surface water ice, surface and subsurface minerals, organics, biogenic, biomarker identification, atmospheric aerosols and clouds distributions, i.e., near-field atmospheric thin layers detection for next robotic-lander based instruments to measure all the above-mentioned parameters. OCIS codes: (120.0280) Remote sensing and sensors; (130.0250) Optoelectronics; (280.3640) Lidar; (300.2530) Fluorescence, laser-induced; (300.6450) Spectroscopy, Raman; (300.6365) Spectroscopy, laser induced breakdown

Abedin, M. Nurul↗
NASA NTRS2016

Internship at the Office of the Chief Scientist

The NASA Ames Research Center (ARC) Office of the Chief Scientist (OCS) is part of the Center Management. The OCS adds value to the organization by encouraging and facilitating innovation and value to the Agency, Nation, and the scientific community through its well-developed, diverse, and strategically formed charter. The OCS provides the Center with the oversight and advice by facilitating and evaluating the Scientific Innovation Fund (SIF) and promoting science-based research partnerships. Additionally, the Office contributes to to the Agency by organizing annual Summer Series Colloquia, Workshops, and support to the Early Career Network, which allows for international and inter-agency collaborations. Working at the OCS allowed me to further learn about the working of the Office and how the Office engages and provides guidance with rest of the Center and the Agency. As part of my internship, I am working on developing the initial infrastructure required for the organization of the Standardized Distributed Workshop and further developing the layout for the Hibernation Workshop. The Standardized Distributed System workshop will investigate the scope of developing and using standardized distributed systems for a wide range of applications including satellite systems, aerospace-oriented systems, water-based systems, automobiles, and various other robotics applications. The goal of this workshop is to determine the feasibility of developing a standardized distributed system that can be customized for different technological applications, which will enable resource sharing, openness, robustness, and fault tolerance. This workshop will bring together experts from different fields, including satellite operations, unmanned aerial vehicles, aircraft operation and management, and artificial intelligence to provide a global evaluation of the aspects associated with the development and adoption of distributed systems. The workshop will also guide the participants through state of the art distributed systems, discuss some of the challenges in designing control systems with a distributed structure, and consider the future of distributed system based technologies for future applications. Additionally, I am also working on finalizing the details and documentation for the proposed Hibernation Workshop. This workshop will address the phenomenon of hibernation through three major aspects: hibernation on Earth, hibernation in space, and knowledge gaps in the approaches to future deep space exploration. The primary objective of the workshop is to explore the current state of science in the area of hibernation, and as a scientific community, explore the gaps and challenges preventing this scientific field from advancing to the next level. This workshop will consist of presentations, panel discussions, and breakout sessions focused on addressing this scientific field, and bringing experts from educational and commercial sectors together. As a part of my internship report, I will be document the process of planning these workshops and further provide a brief summary of my experience with the 2016 NASA Ames Summer Series and various professional visits.

ISU↗
NASA NTRS1990

Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance

Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.

Tesar, Delbert↗
NASA NTRS2014

First Results from the Mojave Volatiles Prospector (MVP) Field Campaign, a Lunar Polar Rover Mission Analog

The Mojave Volatiles Prospector (MVP) project is a science-driven field program with the goal to produce critical knowledge for conducting robotic exploration of the Moon. MVP will feed science, payload, and operational lessons learned to the development of a real-time, short-duration lunar polar volatiles prospecting mission. MVP achieves these goals through a simulated lunar rover mission to investigate the composition and distribution of surface and subsurface volatiles in a natural and a priori unknown environment within the Mojave Desert, improving our understanding of how to find, characterize, and access volatiles on the Moon. The MVP field site is the Mojave Desert, selected for its low, naturally occurring water abundance. The Mojave typically has on the order of 2-6% water, making it a suitable lunar analog for this field test. MVP uses the Near Infrared and Visible Spectrometer Subsystem (NIRVSS), Neutron Spectrometer Subsystem (NSS), and a downward facing GroundCam camera on the KREX-2 rover to investigate the relationship between the distribution of volatiles and soil crust variation. Through this investigation, we mature robotic in situ instruments and concepts of instrument operations, improve ground software tools for real time science, and carry out publishable research on the water cycle and its connection to geomorphology and mineralogy in desert environments. A lunar polar rover mission is unlike prior space missions and requires a new concept of operations. The rover must navigate 3-5 km of terrain and examine multiple sites in in just ~6 days. Operational decisions must be made in real time, requiring constant situational awareness, data analysis and rapid turnaround decision support tools. This presentation will focus on the first science results and operational architecture findings from the MVP field deployment relevant to a lunar polar rover mission.

Heldmann, Jennifer L.↗
NASA NTRS2020

Planning and Optimization for Multi-robot Planetary Cave Exploration under Intermittent Connectivity Constraints

Exploring subsurface structures with autonomous robots is of growing interest in the context of planetary caves studies. Communication between robots in these environments is severely degraded which complicates coordination and information distribution. In this paper we focus on planning for mobility and communication in a cave exploration scenario where the situational awareness of a static base station is critical. We propose a notion of information-consistency where a plan itself is part of the information to be shared between robots, and propose a method for generating information-consistent plans. We discuss in detail how the resulting plan can be robustly implemented with minimal communication through local mission executives that run on individual robots. We describe preliminary results on the performance of the planning algorithm and integration of the local mission executives in a high-fidelity simulation environment.

Murray, Richard M.↗
NASA NTRS2014

Design and Control of Modular Spine-Like Tensegrity Structures

We present a methodology enabled by the NASA Tensegrity Robotics Toolkit (NTRT) for the rapid structural design of tensegrity robots in simulation and an approach for developing control systems using central pattern generators, local impedance controllers, and parameter optimization techniques to determine effective locomotion strategies for the robot. Biomimetic tensegrity structures provide advantageous properties to robotic locomotion and manipulation tasks, such as their adaptability and force distribution properties, flexibility, energy efficiency, and access to extreme terrains. While strides have been made in designing insightful static biotensegrity structures, gaining a clear understanding of how a particular structure can efficiently move has been an open problem. The tools in the NTRT enable the rapid exploration of the dynamics of a given morphology, and the links between structure, controllability, and resulting gait efficiency. To highlight the effectiveness of the NTRT at this exploration of morphology and control, we will provide examples from the designs and locomotion of four different modular spine-like tensegrity robots.

Modular↗
NASA NTRS1990

Balancing Loads Among Robotic-Manipulator Arms

Paper presents rigorous mathematical approach to control of multiple robot arms simultaneously grasping one object. Mathematical development focuses on relationship between ability to control degrees of freedom of configuration and ability to control forces within grasped object and robot arms. Understanding of relationship leads to practical control schemes distributing load more equitably among all arms while grasping object with proper nondamaging forces.

Kreutz, Kenneth K.↗
NASA NTRS2004

Remote Sensing Assessment of Lunar Resources: We Know Where to Go to Find What We Need

The utilization of space resources is necessary to not only foster the growth of human activities in space, but is essential to the President s vision of a "sustained and affordable human and robotic program to explore the solar system and beyond." The distribution of resources will shape planning permanent settlements by affecting decisions about where to locate a settlement. Mapping the location of such resources, however, is not the limiting factor in selecting a site for a lunar base. It is indecision about which resources to use that leaves the location uncertain. A wealth of remotely sensed data exists that can be used to identify targets for future detailed exploration. Thus, the future of space resource utilization pre-dominantly rests upon developing a strategy for resource exploration and efficient methods of extraction.

Gillis, J. J.↗
NASA NTRS2011

Design and Demonstration of a Miniature Lidar System for Rover Applications

Public awareness of harmful human environmental effects such as global warming has increased greatly in recent years and researchers have increased their efforts in gaining more knowledge about the Earth's atmosphere. Natural and man-made processes pose threats to the environment and human life, so knowledge of all atmospheric processes is necessary. Ozone and aerosols are important factors in many atmospheric processes and active remote sensing techniques provide a way to analyze their quantity and distribution. A compact ground-based lidar system for a robotic platform meant for atmospheric aerosol measurements was designed, tested, and evaluated. The system will eventually be deployed for ozone and aerosol measurements in Mars and lunar missions to improve our knowledge and understanding of atmospheres on Mars and the Moon. Atmospheric testing was performed to test the operability of the receiver system to acquire the lidar return signal from clouds and aerosols.

Robinson, Benjamin↗
NASA NTRS2011

Design and Demonstration of a Miniature Lidar System for Rover Applications

Public awareness of harmful human environmental effects such as global warming has increased greatly in recent years and researchers have increased their efforts in gaining more knowledge about the Earth s atmosphere. Natural and man-made processes pose threats to the environment and human life, so knowledge of all atmospheric processes is necessary. Ozone and aerosols are important factors in many atmospheric processes and active remote sensing techniques provide a way to analyze their quantity and distribution. A compact ground-based lidar system for a robotic platform meant for atmospheric aerosol measurements was designed, tested, and evaluated. The system will eventually be deployed for ozone and aerosol measurements in Mars and lunar missions to improve our knowledge and understanding of atmospheres on Mars and the Moon. All of the major subsystems were described in detail and atmospheric testing was performed to test the operability of the receiver system to acquire the lidar return signal from clouds and aerosols. The measured backscattered results are discussed and compared with theoretical results.

Robinson, Benjamin↗
NASA NTRSDate not supplied

Distributed Pressure Sensing for Enabling Self-Aware Autonomous Aerial Vehicles

Autonomous aerial transportation will be a fixture of future robotic societies, simultaneously requiring more stringent safety requirements and fewer resources for characterization than current commercial air transportation. More robust, adaptable, self-state estimation will be necessary to create such autonomous systems. We present a modular, scalable, distributed pressure sensing skin for aerodynamic state estimation of a large, flexible aerostructure. This skin used a network of 22 nodes that performed in-situ computation and communication of data collected from 74 pressure sensors, which were embedded into the skin panels of an ultra-lightweight 14-foot wingspan made from commutable, lattice-based subcomponents, and tested at NASA Langley Research Center's 14X22 wind tunnel. The density of the pressure sensors allowed for the use of a novel distributed algorithm to generate estimates of the wing lift contribution that were more accurate than the direct integration of the pressure distribution over the wing surface.

Daniel Cellucci↗
NASA NTRS2007

Mission Simulation Toolkit

The Mission Simulation Toolkit (MST) is a flexible software system for autonomy research. It was developed as part of the Mission Simulation Facility (MSF) project that was started in 2001 to facilitate the development of autonomous planetary robotic missions. Autonomy is a key enabling factor for robotic exploration. There has been a large gap between autonomy software (at the research level), and software that is ready for insertion into near-term space missions. The MST bridges this gap by providing a simulation framework and a suite of tools for supporting research and maturation of autonomy. MST uses a distributed framework based on the High Level Architecture (HLA) standard. A key feature of the MST framework is the ability to plug in new models to replace existing ones with the same services. This enables significant simulation flexibility, particularly the mixing and control of fidelity level. In addition, the MST provides automatic code generation from robot interfaces defined with the Unified Modeling Language (UML), methods for maintaining synchronization across distributed simulation systems, XML-based robot description, and an environment server. Finally, the MSF supports a number of third-party products including dynamic models and terrain databases. Although the communication objects and some of the simulation components that are provided with this toolkit are specifically designed for terrestrial surface rovers, the MST can be applied to any other domain, such as aerial, aquatic, or space.

Pisaich, Gregory↗
NASA NTRS1993

A fault-tolerant intelligent robotic control system

This paper describes the concept, design, and features of a fault-tolerant intelligent robotic control system being developed for space and commercial applications that require high dependability. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system level fault tolerance is the distributed recovery block which protects against application software, system software, hardware, and network failures. Task level fault tolerance provisions are implemented in a knowledge-based system which utilizes advanced automation techniques such as rule-based and model-based reasoning to monitor, diagnose, and recover from unexpected events. The two level design provides tolerance of two or more faults occurring serially at any level of command, control, sensing, or actuation. The potential benefits of such a fault tolerant robotic control system include: (1) a minimized potential for damage to humans, the work site, and the robot itself; (2) continuous operation with a minimum of uncommanded motion in the presence of failures; and (3) more reliable autonomous operation providing increased efficiency in the execution of robotic tasks and decreased demand on human operators for controlling and monitoring the robotic servicing routines.

Marzwell, Neville I.↗