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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
DOE OSTI2024

The ReSWARM microgravity flight experiments: Planning, control, and model estimation for on‐orbit close proximity operations

Abstract On‐orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on‐orbit assembly, repair, and astronaut assistance. Of these scenarios, on‐orbit assembly is an enabling technology that will allow large space structures to be built in situ, using smaller building block modules. However, like many of these scenarios, robotic on‐orbit assembly involves several technical hurdles, such as changing system models. For instance, grappled modules moved by a free‐flying “assembler” robot can cause significant changes in the combined system inertia, which have cascading impacts on motion planning and control portions of the autonomy stack. Further, on‐orbit assembly and other scenarios require collision‐avoiding motion planning, particularly when operating in a “construction site” scenario of multiple assembler robots and structures. Multiple key technologies that address these complicating factors for autonomous microgravity close proximity operations are detailed in this work, in particular: (1) application of global long‐horizon planning, accomplished using offline and online sampling‐based planner options that consider the system dynamics; (2) adaptation of the recently proposed RATTLE information‐aware planning framework for on‐orbit reconfiguration model learning; and (3) connection with robust control tools to provide low‐level control robustness using current system knowledge. These approaches were demonstrated for an autonomous on‐orbit assembly use case by the RElative Satellite sWarming and Robotic Maneuvering (ReSWARM) experiments using NASA's Astrobee robots on the International Space Station. Results of the ReSWARM experiments are provided along with significant operational and implementation detail discussing the practicalities of hardware implementation and unique aspects of working with the Astrobee free‐flyer robots in microgravity. ReSWARM provides a base set of planning and control tools for robotic close proximity operations, demonstrates them in microgravity, and outlines some of the important hardware aspects that future autonomous free‐flyers will need to consider.

Robotics↗
DOE OSTI2024

Robust cooperative control strategy for a platoon of connected and autonomous vehicles against sensor errors and control errors simultaneously in a real-world driving environment

In a real-world driving environment, a platoon of connected and autonomous vehicles (CAVs) is subject to many internal and external disturbances, resulting in uncertain vehicle dynamics. In general, the disturbances can be categorized into two types: disturbances due to vehicle sensor errors (e.g., GPS error) and disturbances due to vehicle control errors (e.g., actuator delay). In the literature, many control strategies have been proposed to improve the robustness of the CAV platoon against uncertain vehicle dynamics induced by these disturbances. However, most of these strategies only consider one type of disturbance and cannot tackle both types of disturbances simultaneously. Furthermore, they are designed to maximize the benefits of each vehicle in the platoon independently, which can deteriorate the performance of the platoon. Here, to address these problems, this study proposes a robust cooperative control (RCC) strategy to maneuver the vehicles in the platoon cooperatively to counteract the impacts of both types of disturbances. The RCC strategy is developed based on a minimax problem, where the maximization subproblem seeks to find the worst inputs for the uncertainty terms in the vehicle dynamics equation to minimize the platoon performance, while the minimization subproblem seeks to find the optimal control decisions for all subsequent vehicles to maximize the platoon performance in the worst case. To solve the minimax problem, this study proposes a globally convergent solution algorithm. It can solve the minimax problem very efficiently to enable real time deployment of the RCC strategy. Numerical application indicates that compared to the existing methods, the RCC strategy can dramatically improve the robustness of the CAV platoon against the uncertain vehicle dynamics induced by both vehicle state detection errors and vehicle control errors. Therefore, it can maneuver the CAV platoon safely and efficiently in a real-world driving environment.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2026

User’s Manual for RESRAD-RDD&IND Code Version 2: Vol. 2—User’s Guide for RESRAD-RDD&IND Code

Version 2.0 of the RESRAD-RDD&IND computer code is designed to support the implementation of protective action guides (PAGs) after a nuclear emergency incident including a radiological dispersal device (RDD) and/or an improvised nuclear device (IND) incident (EPA 2017). Eight different group types, addressing various decisions, are available for selection. The RESRAD-RDD&IND code calculates radiological doses, stay times, etc., for the selected group that the user wishes to focus on. (That is, the results for all the groups are not calculated simultaneously, and the input for those other groups do not matter, although some parameter values are shared between groups.) Version 2.0 has a user-friendly interface so that the RESRAD-RDD&IND code can be used with minimal training. For example, the user can select the major characteristics of the problem-event type, source term, and decision type from the left side of the interface and then calculate the results with the default assumptions for the exposure scenarios. More in-depth analysis would include specifying site-specific exposure scenario characteristics in the right side of the interface. The procedures for data entry and results viewing are self-explanatory. This is because common window maneuvering features and text instructions were incorporated in the interface design. General and context-specific help are available to aid users entering parameter values, as well. The RESRAD-RDD&IND computer code gives the user the option to select either an RDD or IND incident for analysis. For an RDD event analysis, 11 radionuclides (Am-241, Cf-252, Cm-244, Co-60, Cs-137, Ir-192, Po-210, Pu-238, Pu-239, Ra-226, and Sr-90) are included. These 11 radionuclides are the radionuclides most likely used for an RDD. More than 90 radionuclides can be selected for an IND event analysis. Initial default concentrations are provided for 44 radionuclides for a uranium-fueled IND event. These 44 radionuclides are those that would contribute significantly to the radiation dose associated with a uranium-fueled bomb detonation. The radionuclides generated from ingrowth of these 44 initial radionuclides are also automatically included in the analysis. Pu-239, Cs-134m, Ru-105, and Rb-89 and their progeny can be selected for analysis if they are detected and their concentrations are determined. This user’s guide, which is Volume 2 of the User’s Manual for RESRAD-RDD&IND Code Version 2, provides instructions to users on how to install the RESRAD-RDD&IND code, navigate the interface, and use the various features, including those discussed above, to set up an analysis and view/print the results in text outputs. Volume 1 of the User’s Manual for RESRAD-RDD&IND Code Version 2 (Yu et al. 2026), which contains descriptions of the methodology and theoretical basis for dose modeling and the mathematical equations implemented in the code, can be accessed and viewed through the Help menu in the code or can be downloaded from the RESRAD website (https://resrad.evs.anl.gov).

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2026

Detect the Unobservable: Abnormality Detection in mixed Autonomy for Lane Change Maneuver with Following Vehicles’ Trajectories Only

Highly Automated Vehicles (HAVs) and Advanced Driver-Assistance Systems (ADAS) are transforming modern transportation with enhanced mobility, safety, and efficiency. Despite their advantages, cybersecurity vulnerabilities in these systems can lead to abnormal behavior, posing significant risks to surrounding human-driven vehicles (HDVs) in mixed traffic environments. Here, this article addresses the challenge of detecting abnormal lateral movements of HAVs/ADAS vehicles using only trajectory profiles of following HDVs. Specifically, we propose a novel modeling approach that captures both normal and abnormal lateral behaviors through vehicle kinematics, integrated decision-making processes, vehicle control using symbolic regression for lane change vehicles. Additionally, we introduce an abnormality detection framework that relies on observable HDV data, even in occlusion scenarios. The framework evaluates the sensitivity of various car-following models to detect abnormal behaviors, providing insights into the interaction between HAVs/ADAS and HDVs in mixed autonomy systems.

Connected and Automated vehicles↗