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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records

All sources NASA NTRS DOE OSTI

NASA NTRS2014

Advanced Inspection System: Integrating Robotic Configurations & Controls

The Advanced Inspection System (AIS) promotes the ability to perform field inspections and repairs remotely by operator command. The robotic system is required to be a fully autonomous operation, managed by computer execution of scripts with limited user control. AIS is a complex yet intriguing challenge in which various goals must be reached to achieve complete autonomy. The first steps to building such a system require human computer interactions and computer simulations for testing and verification. Such applications include the use of a wireless video game controller via Bluetooth Technology and the use of Leap Motion, a gesture based motion controller which can be used to manipulate robotic arm movements. Utilizing the Robotic Operating System (ROS) environment, these applications, in accordance to developing a 3D simulation of the system, will provide a foundational test bed for AIS development.

Wlodarczyk, Stephan J.↗

NASA NTRS1995

Fault-Tolerant Control For A Robotic Inspection System

Report describes first phase of continuing program of research on fault-tolerant control subsystem of telerobotic visual-inspection system. Goal of program to develop robotic system for remotely controlled visual inspection of structures in outer space.

Tso, Kam Sing↗

NASA NTRS1994

Using Modified Fagan Inspections to Control Rapid System Development

The Jet Propulsion Laboratory (JPL) has been developing new approaches to software and system development to shorten life cycle time and reduce total life-cycle cost, while maintaining product quality. One such approach has been taken by the Just-In-Time (JIT) Materiel Acquisition System Development Project.

JIT Implementing Radio Frequency (RF) Bar Code dev↗

NASA NTRS2014

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

sensory feedback↗

NASA NTRS1988

Distributed cooperating processes in a mobile robot control system

A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

Skillman, Thomas L., Jr.↗

DOE OSTI2024

Development of a strip-shaped X-ray mapping system for 9-cell superconducting cavities

Electrons emitted via field emission during superconducting (SC) radio-frequency (RF) cavity tests at vertical test stands often collide with the iris region inside the cavity, generating X-rays at these locations. In 1.3 GHz 9-cell SC RF cavities designed for the International Linear Collider (ILC), stiffener rings located outside the iris region between cells can interfere with X-ray detection, complicating the precise identification of field emission sites. Hence, in this study, we developed a high-density strip X-ray mapping systems (sX-map) that can be inserted into the iris region of ILC-type 9-cell SC RF cavities. This sX-map facilitates efficient and accurate detection of X-rays generated near the irises, unaffected by the presence of stiffener rings. The sX-map consisted of 32 sensors per strip, with sensors spaced approximately 10 mm apart. It was deployed in every iris of the 9-cell cavity, using a total of 320 sensors. A multiplexer was employed to facilitate the readout of a large number of detectors using a minimal number of signal lines, connecting the strips inside within the vertical test cryostat. In a vertical test conducted at Jefferson Lab (JLab), we demonstrated the capability of sX-map to detect X-rays despite the presence of a stiffener ring. This paper presents the detailed design of the sX-map and the results from the vertical test at JLab.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS1991

Neural nets for aligning optical components in harsh environments: Beam smoothing spatial filter as an example

The goal is to develop an approach to automating the alignment and adjustment of optical measurement, visualization, inspection, and control systems. Classical controls, expert systems, and neural networks are three approaches to automating the alignment of an optical system. Neural networks were chosen for this project and the judgements that led to this decision are presented. Neural networks were used to automate the alignment of the ubiquitous laser-beam-smoothing spatial filter. The results and future plans of the project are presented.

Decker, Arthur J.↗

NASA NTRS1997

Autonomous Rapid Inspection of Aerospace Structures

Aging aircraft structures and composite materials are requiring rapid inspection of large areas. Removal from the aircraft for NDE at an inspection facility is not economical as compared to field inspection. Detection and characterization of defects are labor intensive, time consuming and when the process is manual the result are subjected to human error.

control inspection systems↗

DOE OSTI2020

A secure measurement unit for an inspection system used in nuclear arms-control verification

Verification of arms control treaties may require information barriers to protect sensitive data acquired during the verification process. These information barriers are commonly implemented in software, but must store and operate on data that are vulnerable to attack and tampering. Here, we present a new Secure Measurement Unit based on a modified pipeline SAR ADC architecture. The idea is to move the information barrier back into the digitization process so that prohibited data is never created. A prototype 65nm CMOS Secure Measurement Unit (SMU) was tested using U-235, U-238, Co-60, Cs-137 and Am-241 sources. Here, the prototype accurately digitized allowable signals while being immune to side-channel attacks on signals within preset forbidden regions.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2020

NDE Technology Engineering Program for Hanford DST Non-Visual Volumetric Inspection Technology: Phase II RAVIS Radiation Tolerance Test Report

This test report provides the results of radiation tolerance robustness testing that was performed on samples of robotic components and an ultrasonic guided wave air-slot sensor that represent components/sub-systems of the Robotic Air-slot Volumetric Inspection System (RAVIS) that has been engineered for volumetric inspection of Hanford tank bottom plates via under-tank refractory pad air-slots. The specific components tested for 1) functionality during active irradiation and 2) tolerance to cumulative radiation dose (until failure or upon reaching a cumulative dose test limit) were: • four samples each of a printed circuit board (PCB) and direct current (DC) motor, which are robotic components, and • 26 ultrasonic piezoelectric elements (samples) inside an air-slot sensor. The robotic components are part of the RAVIS air-slot inspection crawler drive control system that is responsible for remote communication with and actuation of the air-slot inspection crawler. The failure of either of these components during under-tank deployment would require manual retrieval via the crawler’s tether, which risks damage to the robot/refractory/tank. Preemptive replacement of the components at appropriately conservative dose/time intervals informed by failure dose would reduce the likelihood of under-tank failure. The components were included in radiation tolerance testing to quantify their failure doses to inform replacement intervals. The air-slot sensor is responsible for collecting ultrasonic inspection data (scan images) for the tank bottom plates during under-tank deployment. Compromised signal quality due to elevated noise levels caused by gamma radiation would compromise inspection performance. The air-slot sensor was included in radiation tolerance testing to quantify the impact of active irradiation on sensor signal quality. The irradiation and in-situ functional tests of the PCBs, DC motors and air-slot sensor took place in June and July 2020 at the Pacific Northwest National Laboratory. Testing was performed at a gamma dose rate near 300 rad/hr., which, in the absence of under-tank dose rate data, has been conservatively estimated to be the upper-bound dose rate beneath the primary tanks at Hanford. Irradiation took place at elevated temperatures of 150-200°F to determine failure doses that reflect the compounding effects of gamma radiation and heat. The test results revealed: • The DC motors can tolerate being actively irradiated at the high dose rate at 200°F and can tolerate a cumulative dose of 300,000 rad, that which would be incurred after 5 years of service at the 300 rad/hr dose rate. The component therefore meets minimum and preferred radiation tolerance and lifecycle requirements for robotic components. • The air-slot sensor can tolerate being actively irradiated at the high dose rate at 150°F and can tolerate a cumulative dose of 60,000 rad, that which would be incurred after 1 year of service at the 300 rad/hr dose rate. The sensor therefore meets minimum radiation tolerance and lifecycle requirements. • The PCB can tolerate being actively irradiated at the high dose rate, but can only tolerate a cumulative dose of 19,000 rad at 150-200°F. The PCB does not meet minimum radiation tolerance and lifecycle requirements; however, because the component is considered replaceable, it can be replaced before a cumulative dose of 19,000 rad is reached, determined through either monitoring with a dosimeter or scheduled time intervals that are calculated based on conservative estimates of under-tank dose rates.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

NASA NTRS2005

Control Algorithms and Simulated Environment Developed and Tested for Multiagent Robotics for Autonomous Inspection of Propulsion Systems

The NASA Glenn Research Center and academic partners are developing advanced multiagent robotic control algorithms that will enable the autonomous inspection and repair of future propulsion systems. In this application, on-wing engine inspections will be performed autonomously by large groups of cooperative miniature robots that will traverse the surfaces of engine components to search for damage. The eventual goal is to replace manual engine inspections that require expensive and time-consuming full engine teardowns and allow the early detection of problems that would otherwise result in catastrophic component failures. As a preliminary step toward the long-term realization of a practical working system, researchers are developing the technology to implement a proof-of-concept testbed demonstration. In a multiagent system, the individual agents are generally programmed with relatively simple controllers that define a limited set of behaviors. However, these behaviors are designed in such a way that, through the localized interaction among individual agents and between the agents and the environment, they result in self-organized, emergent group behavior that can solve a given complex problem, such as cooperative inspection. One advantage to the multiagent approach is that it allows for robustness and fault tolerance through redundancy in task handling. In addition, the relatively simple agent controllers demand minimal computational capability, which in turn allows for greater miniaturization of the robotic agents.

Wong, Edmond↗

NASA NTRS2008

Models in the Design and Validation of Eddy Current Inspection for Cracking in the Shuttle Reaction Control System Thruster

A case study is presented for using models in eddy current NDE design for crack detection in Shuttle Reaction Control System thruster components. Numerical methods were used to address the complex geometry of the part and perform parametric studies of potential transducer designs. Simulations were found to show agreement with experimental results. Accurate representation of the coherent noise associated with the measurement and part geometry was found to be critical to properly evaluate the best probe designs.

Aldrin, John C.↗

NASA NTRS1978

Digital pointing control

The digital pointing control system developed for the Space Shuttle Data Bus is discussed. The device, which interfaces with NASA standard sensor units, contains a front panel controller, a development system to load, inspect, print, and store the program and data, and a 'test jig' to provide closed-loop controller operation. The system is described with particular reference to the tracker-gyro interfaces, the control algorithms and compensation procedures, Kalman-estimation filtering, the proportional power output, and the discrete output capability. The results of simulation studies are presented and the development status is noted.

Studer, P. A.↗

DOE OSTI2025

Management and Operation of the Oak Ridge National Laboratory

ThermaMatrix, Inc provides novel vision inspection solutions for a wide range of manufacturers and industries, providing and implementing the leading technologies for nondestructive inspection (NDI) and material characterization. Many other inspection solutions are either not adequate or are not approachable due to implementation barriers needing expert level operators, excessive inspection time, and high cost. ThermaMatrix’sadvanced vision inspection technology addresses all of these limitations. The Lab Embedded Entrepreneurial Program (LEEP) opportunity by the Department of Energy (DOE) allows small-business start-ups to leverage national laboratory capabilities and skilled scientists to rapidly develop their technology that aligns with DOE goals. ThermaMatrix, Inc.was positioned in the Innovation Crossroads program at Oak Ridge National Laboratory to further develop thenovel Watson Vision Inspection System to support manufacturing quality control efforts. Theresearch goals were (1) explore fundamental parameters that would improve preexisting capabilities, (2) full-scale industrial setup for demonstration, and (3) capability testing and verification. Manufacturing is demanding more NDI implementation to support their quality control needs, which this technology development would support. Figure 1: Ryan Spencer of ThermaMatrix with Watson Vision Inspection System.

99 GENERAL AND MISCELLANEOUS↗

NASA NTRS2011

Space Shuttle Program (SSP) Orbiter Main Propulsion System (MPS) Gaseous Hydrogen (GH2) Flow Control Valve (FCV) Poppet Eddy Current (EC) Inspection Probability of Detection (POD) Study

The Director of the NASA Engineering and Safety Center (NESC), requested an independent assessment of the anomalous gaseous hydrogen (GH2) flow incident on the Space Shuttle Program (SSP) Orbiter Vehicle (OV)-105 during the Space Transportation System (STS)-126 mission. The main propulsion system (MPS) engine #2 GH2 flow control valve (FCV) LV-57 transition from low towards high flow position without being commanded. Post-flight examination revealed that the FCV LV-57 poppet had experienced a fatigue failure that liberated a section of the poppet flange. The NESC assessment provided a peer review of the computational fluid dynamics (CFD), stress analysis, and impact testing. A probability of detection (POD) study was requested by the SSP Orbiter Project for the eddy current (EC) nondestructive evaluation (NDE) techniques that were developed to inspect the flight FCV poppets. This report contains the findings and recommendations from the NESC assessment.

Piascik, Robert S.↗

NASA NTRS2011

Space Shuttle Program (SSP) Orbiter Main Propulsion System (MPS) Gaseous Hydrogen (GH2) Flow Control Valve (FCV) Poppet Eddy Current (EC) Inspection Probability of Detection (POD) Study: Appendices - Volume 2

Piascik, Robert S.↗

NASA NTRS1995

NASA Tech Briefs, November 1995

The contents include: 1) Mission Accomplished; 2) Resource Report: Marshall Space Flight Center; 3) NASA 1995 Software of the Year Award; 4) Microbolometers Based on Epitaxial YBa2Cu3O(sub 7-x) Thin Films; 5) Garnet Random-Access Memory; 6) Fabrication of SNS Weak Links on SOS Substrates; 7) High-Voltage MOSFET Switching Circuit; 8) Asymmetric Switching for a PWM H-Bridge Power Circuit; 9) Better Ohmic Contacts for InP Semiconductor Devices; 10) Low-Bandgap Thermovoltaic Materials and Devices; 11) Digital Frequency-Differencing Circuit; 12) Imaging Magnetometer; 13) Computer-Assisted Monitoring of a Complex System; 14) Buffered Telemetry Demodulator; 15) Compact Multifunction Inspection Head; 16) Optical Detection of Fractures in Ceramic Diaphragms; 17) Eddy-Current Detection of Cracks in Reinforced Carbon/Carbon; 18) Apparent Thermal Conductivity of Multilayer Insulation; 19) Optimizing Misch-Metal Compositions in Metal Hydride Anodes; 20) Device for Sampling Surface Contamination; 21) Probabilistic Failure Assessment for Fatigue; 22) Probabilistic Fatigue and Flaw-Propagation Analysis; 23) Windows Program for Driving the TDU-850 Printer; 24) Subband/Transform MATLAB Functions for Processing Images; 25) Computing Equilibrium Chemical Compositions; 26) Program Processes Thermocouple Readings; 27) ICAN-Second-Generation Integrated Composite Analyzer; 28) Integrated Composite Analyzer with Damping Capabilities; 29) Computing Efficiency of Transfer of Microwave Power; 30) Program Calculates Power Demands of Electronic Designs; 31) Cost-Estimation Program; 32) Program Estimates Areas Required by Electronic Designs; 33) Program to Balance Mapped Turbopump Assemblies; 34) BiblioTech; 35) Controlling Mirror Tilt With a Bimorph Actuator; 36) Burst-Disk Device Simulates Effect of Pyrotechnic Device; 37) Bearing-Mounting Concept Accommodates Thermal Expansion; 38) Parallel-Plate Acoustic Absorbers for Hot Environments; 39) Adjustable-Length Strut Withstands Large Cyclic Loads; 40) Tool Indicates Contact Angles in Bearing Raceways; 41) Gravity Slides With Magnetic Braking; 42) High-Torque, Lightweight, Pneumatically Driven Wrench for Small Spaces; 43) Device for Testing Compatibility of an O-Ring; 44) Magnetic Heat Pump Containing Flow Diverters; 45) Variable-Tilt Helicopter Rotor Mast; 46) "Beach-Ball" Robotic Rovers; 47) Apparatus Would Measure Temperatures of Ball Bearings; 48) Flexible Borescope for Inspecting Ducts; 49) Texturing Copper To Reduce Secondary Emission of Electrons; 50) Automated Laser Cutting in Three Dimensions; 51) Algorithm Helps Monitor Engine Operation; 52) Flexible Revision of Data-Processing Communications; 53) Software for Managing the Use of Land; 54) Thermal Strap Increases Cryocooling Efficiency; 55) Reversible Nut With Engagement Indication; 56) Control Algorithms for Kinematically Redundant Manipulators; 57) Computed Hydrogen-Flow Splits in a Rocket Engine; 58) Pressure and Thermal Modeling of Rocket Launches; 59) Field of View of a Spacecraft Antenna: Analysis and Software; 60) Digital Controller for Laser-Beam-Steering Subsystem; 61) More About Beam-Steering Subsystem for Laser Communication; 62) Digital Controller for Laser-Beam-Steering Subsystem: Part 2; 63) Interface Circuit Board for Space-Shuttle Communications; 64) Automated Planning of Spacecraft Telecommunications; 65) Artifacts of Spectral Analysis of Instrument Readings; 66) Neural-Network Controller for Vibration Suppression; 67) Adaptive Finite-Element Computation in Fracture Mechanics; 68) Attitude Control for the Cassini Spacecraft; 69) Analytical Model for Fluid Dynamics in a Microgravity Environment; 70) Study of Rocket-Engine Joints Bonded by NVCU/NARloy-Z; 71) Improved Silicon Nitride for Advanced Heat Engines; 72) Parameters for Welding Aluminum/Lithium Alloys; 73) Lightweight Composite Intertank Structure; 74) Foil Patches Seal Small Vacuum Leaks; 75) Data Base on Cables and Connectors; 76) Effect of Clock Mode on Radiation Hardnessf an ADC; and 77) Fault-Tolerant Control for a Robotic Inspection System.

Source record↗

NASA NTRS1977

Construction bidding cost of KSC's space shuttle facilities

The bidding cost of the major Space Transportation System facilities constructed under the responsibility of the John F. Kennedy Space Center (KSC) is described and listed. These facilities and Ground Support Equipment (GSE) are necessary for the receiving, assembly, testing, and checkout of the Space Shuttle for launch and landing missions at KSC. The Shuttle launch configuration consists of the Orbiter, the External Tank, and the Solid Rocket Boosters (SRB). The reusable Orbiter and SRB's is the major factor in the program that will result in lowering space travel costs. The new facilities are the Landing Facility; Orbiter Processing Facility; Orbiter Approach and Landing Test Facility (Dryden Test Center, California); Orbiter Mating Devices; Sound Suppression Water System; and Emergency Power System for LC-39. Also, a major factor was to use as much Apollo facilities and hardware as possible to reduce the facilities cost. The alterations to existing Apollo facilities are the VAB modifications; Mobile Launcher Platforms; Launch Complex 39 Pads A and B (which includes a new concept - the Rotary Service Structure), which was featured in ENR, 3 Feb. 1977, 'Hinged Space Truss will Support Shuttle Cargo Room'; Launch Control Center mods; External Tank and SRB Processing and Storage; Fluid Test Complex mods; O&C Spacelab mods; Shuttle mods for Parachute Facility; SRB Recovery and Disassembly Facility at Hangar 'AF'; and an interesting GSE item - the SRB Dewatering Nozzle Plug Sets (Remote Controlled Submarine System) used to inspect and acquire for reuse of SRB's.

Brown, Joseph Andrew↗