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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

Automated Operations Development for Advanced Exploration Systems

Automated space operations command and control software development and its implementation must be an integral part of the vehicle design effort. The software design must encompass autonomous fault detection, isolation, recovery capabilities and also provide "single button" intelligent functions for the crew. Development, operations and safety approval experience with the Timeliner system onboard the International Space Station (ISS), which provided autonomous monitoring with response and single command functionality of payload systems, can be built upon for future automated operations as the ISS Payload effort was the first and only autonomous command and control system to be in continuous execution (6 years), 24 hours a day, 7 days a week within a crewed spacecraft environment. Utilizing proven capabilities from the ISS Higher Active Logic (HAL) System, along with the execution component design from within the HAL 9000 Space Operating System, this design paper will detail the initial HAL System software architecture and interfaces as applied to NASA's Habitat Demonstration Unit (HDU) in support of the Advanced Exploration Systems, Autonomous Mission Operations project. The development and implementation of integrated simulators within this development effort will also be detailed and is the first step in verifying the HAL 9000 Integrated Test-Bed Component [2] designs effectiveness. This design paper will conclude with a summary of the current development status and future development goals as it pertains to automated command and control for the HDU.

Haddock, Angie T.↗
NASA NTRS2012

Automated Operations Development for Advanced Exploration Systems

Automated space operations command and control software development and its implementation must be an integral part of the vehicle design effort. The software design must encompass autonomous fault detection, isolation, recovery capabilities and also provide single button intelligent functions for the crew. Development, operations and safety approval experience with the Timeliner system on-board the International Space Station (ISS), which provided autonomous monitoring with response and single command functionality of payload systems, can be built upon for future automated operations as the ISS Payload effort was the first and only autonomous command and control system to be in continuous execution (6 years), 24 hours a day, 7 days a week within a crewed spacecraft environment. Utilizing proven capabilities from the ISS Higher Active Logic (HAL) System [1] , along with the execution component design from within the HAL 9000 Space Operating System [2] , this design paper will detail the initial HAL System software architecture and interfaces as applied to NASA s Habitat Demonstration Unit (HDU) in support of the Advanced Exploration Systems, Autonomous Mission Operations project. The development and implementation of integrated simulators within this development effort will also be detailed and is the first step in verifying the HAL 9000 Integrated Test-Bed Component [2] designs effectiveness. This design paper will conclude with a summary of the current development status and future development goals as it pertains to automated command and control for the HDU.

Haddock, Angie↗
NASA NTRS2018

Autonomous Power Control

Intelligent autonomous control of a spacecraft is an enabling technology that must be developed for deep space human exploration. NASA's current long term human space platform, the International Space Station which is in Low Earth Orbit, is in almost continuous communication with ground based mission control. This allows near realtime operation of all the vehicle core systems, including power, from the ground. As the focus shifts from Low Earth Orbit to deep space, challenges associated with communication time-lag and bandwidth limitations beyond geosynchronous orbit do not permit this type of ground based operation. These communication limitations motivate autonomous vehicle operations, including the vehicle subsystems such as power. This presentation will describe the ongoing development of an Autonomous Power Control (APC) system that can be used for a deep space exploration spacecraft. This work extends previous work on developing an autonomous power control which includes developing a control architecture for deep space vehicles, the use of software agents, and constructing a control simulation lab for demonstrating this capability. This presentation will begin with a discussion of the representative future power architectures that will be required for deep space exploration vehicles. The presentation then will describe how the power controller will integrate with the vehicle followed with a discussion of the autonomous power controller. Next it will describe the test setup used to evaluate the performance of the system and lastly show some of the test results. To develop the type of controller envisioned, it will be necessary to employ a detailed real-time simulation to evaluate its performance and ultimately verify its functionality.

Csank, Jeffrey↗
NASA NTRS1996

Immobile Robots: AI in the New Millennium

A new generation of sensor rich, massively distributed, autonomous systems are being developed that have the potential for profound social, environmental, and economic change. These include networked building energy systems, autonomous space probes, chemical plant control systems, satellite constellations for remote ecosystem monitoring, power grids, biosphere-like life support systems, and reconfigurable traffic systems, to highlight but a few. To achieve high performance, these immobile robots (or immobots) will need to develop sophisticated regulatory and immune systems that accurately and robustly control their complex internal functions. To accomplish this, immobots will exploit a vast nervous system of sensors to model themselves and their environment on a grand scale. They will use these models to dramatically reconfigure themselves in order to survive decades of autonomous operations. Achieving these large scale modeling and configuration tasks will require a tight coupling between the higher level coordination function provided by symbolic reasoning, and the lower level autonomic processes of adaptive estimation and control. To be economically viable they will need to be programmable purely through high level compositional models. Self modeling and self configuration, coordinating autonomic functions through symbolic reasoning, and compositional, model-based programming are the three key elements of a model-based autonomous systems architecture that is taking us into the New Millennium.

Williams, Brian C.↗
NASA NTRS2018

Autonomous Power Controller for the NASA Gateway

Intelligent autonomous control of a spacecraft is an enabling technology that must be developed for deep space human exploration. NASA's current long term human space platform, the International Space Station which is in Low Earth Orbit, is in almost continuous communication with ground based mission control. This allows near real-time operation of all the vehicle core systems, including power, from the ground. As the focus shifts from Low Earth Orbit to deep space, challenges associated with communication time-lag and bandwidth limitations beyond geosynchronous orbit do not permit this type of ground based operation. These communication limitations motivate autonomous vehicle operations, including the vehicle subsystems such as power. This presentation will describe the ongoing development of an Autonomous Power Control (APC) system that can be used for a deep space exploration spacecraft. This work extends previous work on developing an autonomous power control which includes developing a control architecture for deep space vehicles, the use of software agents, and constructing a control simulation lab for demonstrating this capability. This presentation will begin with a discussion of the representative future power architectures that will be required for deep space exploration vehicles. The presentation then will describe how the power controller will integrate with the vehicle followed with a discussion of the autonomous power controller. Next it will describe the test setup used to evaluate the performance of the system and lastly show some of the test results. To develop the type of controller envisioned, it will be necessary to employ a detailed real-time simulation to evaluate its performance and ultimately verify its functionality.

Csank, Jeffrey↗
NASA NTRS1993

A fuzzy logic controller for an autonomous mobile robot

The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

Yen, John↗
NASA NTRS1992

Designing minimal space telerobotics systems for maximum performance

The design of the remote site of a local-remote telerobot control system is described which addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The Modular Telerobot Task Execution System (MOTES) provides supervised autonomous control, shared control and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. The MOTES system is minimized while providing a large capability by limiting its functionality to only that which is necessary at the remote site and by utilizing a unified multi-sensor based impedance control scheme. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. The system is written in Ada and runs in a VME environment on 68020 processors and initially controls a Robotics Research K1207 7 degree of freedom manipulator.

Backes, Paul G.↗
NASA NTRS2015

Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom

A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

Sterritt, Roy↗
NASA NTRS1987

Integration of symbolic and algorithmic hardware and software for the automation of space station subsystems

Traditional expert systems, such as diagnostic and training systems, interact with users only through a keyboard and screen, and are usually symbolic in nature. Expert systems that require access to data bases, complex simulations and real-time instrumentation have both symbolic as well as algorithmic computing needs. These needs could both be met using a general purpose workstation running both symbolic and algorithmic code, or separate, specialized computers networked together. The latter approach was chosen to implement TEXSYS, the thermal expert system, developed by NASA Ames Research Center in conjunction with Johnson Space Center to demonstrate the ability of an expert system to autonomously monitor the thermal control system of the space station. TEXSYS has been implemented on a Symbolics workstation, and will be linked to a microVAX computer that will control a thermal test bed. This paper will explore the integration options, and present several possible solutions.

Gregg, Hugh↗
NASA NTRS1988

Integration of symbolic and algorithmic hardware and software for the automation of space station subsystems

Expert systems that require access to data bases, complex simulations and real time instrumentation have both symbolic and algorithmic needs. Both of these needs could be met using a general purpose workstation running both symbolic and algorithmic codes, or separate, specialized computers networked together. The later approach was chosen to implement TEXSYS, the thermal expert system, developed by the NASA Ames Research Center in conjunction with the Johnson Space Center to demonstrate the ability of an expert system to autonomously monitor the thermal control system of the space station. TEXSYS has been implemented on a Symbolics workstation, and will be linked to a microVAX computer that will control a thermal test bed. The integration options and several possible solutions are presented.

Gregg, Hugh↗
NASA NTRS2016

Intelligent (Autonomous) Power Controller Development for Human Deep Space Exploration

As NASAs Evolvable Mars Campaign and other exploration initiatives continue to mature they have identified the need for more autonomous operations of the power system. For current human space operations such as the International Space Station, the paradigm is to perform the planning, operation and fault diagnosis from the ground. However, the dual problems of communication lag as well as limited communication bandwidth beyond GEO synchronous orbit, underscore the need to change the operation methodology for human operation in deep space. To address this need, for the past several years the Glenn Research Center has had an effort to develop an autonomous power controller for human deep space vehicles. This presentation discusses the present roadmap for deep space exploration along with a description of conceptual power system architecture for exploration modules. It then contrasts the present ground centric control and management architecture with limited autonomy on-board the spacecraft with an advanced autonomous power control system that features ground based monitoring with a spacecraft mission manager with autonomous control of all core systems, including power. It then presents a functional breakdown of the autonomous power control system and examines its operation in both normal and fault modes. Finally, it discusses progress made in the development of a real-time power system model and how it is being used to evaluate the performance of the controller and well as using it for verification of the overall operation.

Power Systems↗
NASA NTRS2015

Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

Regalado Reyes, Bjorn Constant↗
NASA NTRS2012

Evolving Systems: An Outcome of Fondest Hopes and Wildest Dreams

New theory is presented for evolving systems, which are autonomously controlled subsystems that self-assemble into a new evolved system with a higher purpose. Evolving systems of aerospace structures often require additional control when assembling to maintain stability during the entire evolution process. This is the concept of Adaptive Key Component Control that operates through one specific component to maintain stability during the evolution. In addition, this control must often overcome persistent disturbances that occur while the evolution is in progress. Theoretical results will be presented for Adaptive Key Component control for persistent disturbance rejection. An illustrative example will demonstrate the Adaptive Key Component controller on a system composed of rigid body and flexible body modes.

Frost, Susan A.↗
NASA NTRS2021

FRESCO: A Framework for Spacecraft Systems Autonomy

Achieving the science exploration and defense goals of the following decades will require flight systems capable of operations with limited operator contact, system mode changes and retasking based on sensor data, and complex robotic operations. To support these capabilities, increasingly autonomous flight systems are required that can perform dedicated mission functions, e.g. payload targeting and communications, and system-level functions, e.g. planning and goal monitoring. Architecting an autonomous system requires a well-reasoned, self-consistent framework to avoid \textit{ad hoc} design choices that will introduce complexity and risk. The Framework for Robust Execution and Scheduling of Commands On-Board, FRESCO, is the result of lessons learned in developing a software architecture to enable autonomous solar system exploration. FRESCO generalizes this work to offer a modular, software-agnostic approach to developing verifiable architecture for autonomous space systems. FRESCO specifies guiding principles, functions, interfaces, and interactions from which mission-specific autonomous control architectures can be derived. FRESCO is a principled framework relying on explicit, state-based goal definitions, centralized management of state knowledge, clearly separated control boundaries, and hierarchical reasoning. Using components from FRESCO reference architecture, an autonomous decision-making architecture can be designed for spacecraft which can then be mapped to flight software architecture. FRESCO is flexibly defined to enable autonomous control of flight systems built using extensive software and hardware heritage. Finally, FRESCO-derived architectures support a spectrum of operator/spacecraft interactions, ranging from traditional commanding to goal-driven commanding with the ability to change mission goals autonomously. FRESCO has been used in defining the autonomy architectures for the ASTERIA mission and have been demonstrated in laboratory and software simulation for small body rendezvous and in-space servicing missions.

Kolcio, Ksenia↗
NASA NTRS2012

Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications

The need to maintain optimal energy efficiency is critical during the drilling operations performed on future and current planetary rover missions (see figure). Specifically, this innovation seeks to solve the following problem. Given a spring-loaded percussive drill driven by a voice-coil motor, one needs to determine the optimal input voltage waveform (periodic function) and the optimal hammering period that minimizes the dissipated energy, while ensuring that the hammer-to-rock impacts are made with sufficient (user-defined) impact velocity (or impact energy). To solve this problem, it was first observed that when voice-coil-actuated percussive drills are driven at high power, it is of paramount importance to ensure that the electrical current of the device remains in phase with the velocity of the hammer. Otherwise, negative work is performed and the drill experiences a loss of performance (i.e., reduced impact energy) and an increase in Joule heating (i.e., reduction in energy efficiency). This observation has motivated many drilling products to incorporate the standard bang-bang control approach for driving their percussive drills. However, the bang-bang control approach is significantly less efficient than the optimal energy-efficient control approach solved herein. To obtain this solution, the standard tools of classical optimal control theory were applied. It is worth noting that these tools inherently require the solution of a two-point boundary value problem (TPBVP), i.e., a system of differential equations where half the equations have unknown boundary conditions. Typically, the TPBVP is impossible to solve analytically for high-dimensional dynamic systems. However, for the case of the spring-loaded vibro-impactor, this approach yields the exact optimal control solution as the sum of four analytic functions whose coefficients are determined using a simple, easy-to-implement algorithm. Once the optimal control waveform is determined, it can be used optimally in the context of both open-loop and closed-loop control modes (using standard realtime control hardware).

Aldrich, Jack B.↗
NASA NTRS2003

Agent Based Software for the Autonomous Control of Formation Flying Spacecraft

Distributed satellite systems is an enabling technology for many future NASA/DoD earth and space science missions, such as MMS, MAXIM, Leonardo, and LISA [1, 2, 3]. While formation flying offers significant science benefits, to reduce the operating costs for these missions it will be essential that these multiple vehicles effectively act as a single spacecraft by performing coordinated observations. Autonomous guidance, navigation, and control as part of a coordinated fleet-autonomy is a key technology that will help accomplish this complex goal. This is no small task, as most current space missions require significant input from the ground for even relatively simple decisions such as thruster burns. Work for the NMP DS1 mission focused on the development of the New Millennium Remote Agent (NMRA) architecture for autonomous spacecraft control systems. NMRA integrates traditional real-time monitoring and control with components for constraint-based planning, robust multi-threaded execution, and model-based diagnosis and reconfiguration. The complexity of using an autonomous approach for space flight software was evident when most of its capabilities were stripped off prior to launch (although more capability was uplinked subsequently, and the resulting demonstration was very successful).

How, Jonathan P.↗
NASA NTRS1986

Issues in the design of an executive controller shell for Space Station automation

A major goal of NASA's Systems Autonomy Demonstration Project is to focus research in artificial intelligence, human factors, and dynamic control systems in support of Space Station automation. Another goal is to demonstrate the use of these technologies in real space systems, for both round-based mission support and on-board operations. The design, construction, and evaluation of an intelligent autonomous system shell is recognized as an important part of the Systems Autonomy research program. His paper describes autonomous systems and executive controllers, outlines how these intelligent systems can be utilized within the Space Station, and discusses a number of key design issues that have been raised during some preliminary work to develop an autonomous executive controller shell at NASA Ames Research Center.

Erickson, William K.↗