A solar energy powered autonomous wireless actuator node for irrigation systems.

PubMed

Lajara, Rafael; Alberola, Jorge; Pelegrí-Sebastiá, José

2011-01-01

The design of a fully autonomous and wireless actuator node ("wEcoValve mote") based on the IEEE 802.15.4 standard is presented. The system allows remote control (open/close) of a 3-lead magnetic latch solenoid, commonly used in drip irrigation systems in applications such as agricultural areas, greenhouses, gardens, etc. The very low power consumption of the system in conjunction with the low power consumption of the valve, only when switching positions, allows the system to be solar powered, thus eliminating the need of wires and facilitating its deployment. By using supercapacitors recharged from a specifically designed solar power module, the need to replace batteries is also eliminated and the system is completely autonomous and maintenance free. The "wEcoValve mote" firmware is based on a synchronous protocol that allows a bidirectional communication with a latency optimized for real-time work, with a synchronization time between nodes of 4 s, thus achieving a power consumption average of 2.9 mW.

Millimeter-scale MEMS enabled autonomous systems: system feasibility and mobility

NASA Astrophysics Data System (ADS)

Pulskamp, Jeffrey S.

2012-06-01

Millimeter-scale robotic systems based on highly integrated microelectronics and micro-electromechanical systems (MEMS) could offer unique benefits and attributes for small-scale autonomous systems. This extreme scale for robotics will naturally constrain the realizable system capabilities significantly. This paper assesses the feasibility of developing such systems by defining the fundamental design trade spaces between component design variables and system level performance parameters. This permits the development of mobility enabling component technologies within a system relevant context. Feasible ranges of system mass, required aerodynamic power, available battery power, load supported power, flight endurance, and required leg load bearing capability are presented for millimeter-scale platforms. The analysis illustrates the feasibility of developing both flight capable and ground mobile millimeter-scale autonomous systems while highlighting the significant challenges that must be overcome to realize their potential.

Power Source Status Estimation and Drive Control Method for Autonomous Decentralized Hybrid Train

NASA Astrophysics Data System (ADS)

Furuya, Takemasa; Ogawa, Kenichi; Yamamoto, Takamitsu; Hasegawa, Hitoshi

A hybrid control system has two main functions: power sharing and equipment protection. In this paper, we discuss the design, construction and testing of a drive control method for an autonomous decentralized hybrid train with 100-kW-class fuel cells (FC) and 36-kWh lithium-ion batteries (Li-Batt). The main objectives of this study are to identify the operation status of the power sources on the basis of the input voltage of the traction inverter and to estimate the maximum traction power control basis of the power-source status. The proposed control method is useful in preventing overload operation of the onboard power sources in an autonomous decentralized hybrid system that has a flexible main circuit configuration and a few control signal lines. Further, with this method, the initial cost of a hybrid system can be reduced and the retrofit design of the hybrid system can be simplified. The effectiveness of the proposed method is experimentally confirmed by using a real-scale hybrid train system.

Application of Autonomous Smart Inverter Volt-VAR Function for Voltage Reduction Energy Savings and Power Quality in Electric Distribution Systems: Preprint

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ding, Fei; Nagarajan, Adarsh; Baggu, Murali

This paper evaluated the impact of smart inverter Volt-VAR function on voltage reduction energy saving and power quality in electric power distribution systems. A methodology to implement the voltage reduction optimization was developed by controlling the substation LTC and capacitor banks, and having smart inverters participate through their autonomous Volt-VAR control. In addition, a power quality scoring methodology was proposed and utilized to quantify the effect on power distribution system power quality. All of these methodologies were applied to a utility distribution system model to evaluate the voltage reduction energy saving and power quality under various PV penetrations and smartmore » inverter densities.« less

Under Voltage Lock-Out Design Rules for Proper Start-Up of Energy Autonomous Systems Powered by Supercapacitors

NASA Astrophysics Data System (ADS)

Boitier, V.; Durand Estèbe, P.; Monthéard, R.; Bafleur, M.; Dilhac, J. M.

2013-12-01

This paper deals with the issue of the initial start-up of an autonomous and battery-free system powered by an energy harvester associated with a storage subsystem based on supercapacitors initially discharged. A review of different low power Under Voltage Lock-Out (UVLO) solutions used to delay the load start-up and to avoid a useless discharge of supercapacitors is presented and discussed.

The Space Station Module Power Management and Distribution automation test bed

NASA Technical Reports Server (NTRS)

Lollar, Louis F.

1991-01-01

The Space Station Module Power Management And Distribution (SSM/PMAD) automation test bed project was begun at NASA/Marshall Space Flight Center (MSFC) in the mid-1980s to develop an autonomous, user-supportive power management and distribution test bed simulating the Space Station Freedom Hab/Lab modules. As the test bed has matured, many new technologies and projects have been added. The author focuses on three primary areas. The first area is the overall accomplishments of the test bed itself. These include a much-improved user interface, a more efficient expert system scheduler, improved communication among the three expert systems, and initial work on adding intermediate levels of autonomy. The second area is the addition of a more realistic power source to the SSM/PMAD test bed; this project is called the Large Autonomous Spacecraft Electrical Power System (LASEPS). The third area is the completion of a virtual link between the SSM/PMAD test bed at MSFC and the Autonomous Power Expert at Lewis Research Center.

Reactor Power for Large Displacement Autonomous Underwater Vehicles

DOE Office of Scientific and Technical Information (OSTI.GOV)

McClure, Patrick Ray; Reid, Robert Stowers; Poston, David Irvin

This is a PentaChart on reactor power for large displacement autonomous underwater vehicles. Currently AUVs use batteries or combinations of batteries and fuel cells for power. Battery/fuel cell technology is limited by duration. Batteries and cell fuels are a good match for some missions, but other missions could benefit greatly by a longer duration. The goal is the following: to design nuclear systems to power an AUV and meet design constraints including non-proliferation issues, power level, size constraints, and power conversion limitations. The action plan is to continue development of a range of systems for terrestrial systems and focus onmore » a system for Titan Moon as alternative to Pu-238 for NASA.« less

Autonomous power management and distribution

NASA Technical Reports Server (NTRS)

Dolce, Jim; Kish, Jim

1990-01-01

The goal of the Autonomous Power System program is to develop and apply intelligent problem solving and control to the Space Station Freedom's electric power testbed being developed at NASA's Lewis Research Center. Objectives are to establish artificial intelligence technology paths, craft knowledge-based tools and products for power systems, and integrate knowledge-based and conventional controllers. This program represents a joint effort between the Space Station and Office of Aeronautics and Space Technology to develop and demonstrate space electric power automation technology capable of: (1) detection and classification of system operating status, (2) diagnosis of failure causes, and (3) cooperative problem solving for power scheduling and failure recovery. Program details, status, and plans will be presented.

Considerations in the design of a communication network for an autonomously managed power system

NASA Technical Reports Server (NTRS)

Mckee, J. W.; Whitehead, Norma; Lollar, Louis

1989-01-01

The considerations involved in designing a communication network for an autonomously managed power system intended for use in space vehicles are examined. An overview of the design and implementation of a communication network implemented in a breadboard power system is presented. An assumption that the monitoring and control devices are distributed but physically close leads to the selection of a multidrop cable communication system. The assumption of a high-quality communication cable in which few messages are lost resulted in a simple recovery procedure consisting of a time out and retransmit process.

Overview of Intelligent Power Controller Development for Human Deep Space Exploration

NASA Technical Reports Server (NTRS)

Soeder, James F.; Dever, Timothy P.; McNelis, Anne M.; Beach, Raymond F.; Trase, Larry M.; May, Ryan D.

2014-01-01

Intelligent or autonomous control of an entire spacecraft is a major technology that must be developed to enable NASA to meet its human exploration goals. NASA's current long term human space platform, the International Space Station, is in low Earth orbit with almost continuous communication with the ground based mission control. This permits the near real-time control by the ground of all of the core systems including power. As NASA moves beyond low Earth orbit, the issues of communication time-lag and lack of communication bandwidth beyond geosynchronous orbit does not permit this type of operation. This paper presents the work currently ongoing at NASA to develop an architecture for an autonomous power control system as well as the effort to assemble that controller into the framework of the vehicle mission manager and other subsystem controllers to enable autonomous control of the complete spacecraft. Due to the common problems faced in both space power systems and terrestrial power system, the potential for spin-off applications of this technology for use in micro-grids located at the edge or user end of terrestrial power grids for peak power accommodation and reliability are described.

Overview of Intelligent Power Controller Development for Human Deep Space Exploration

NASA Technical Reports Server (NTRS)

Soeder, James F.; Dever, Timothy P.; McNelis, Anne M.; Beach, Raymond F.; Trase, Larry M.; May, Ryan D.

2014-01-01

Intelligent or autonomous control of an entire spacecraft is a major technology that must be developed to enable NASA to meet its human exploration goals. NASA's current long term human space platform, the International Space Station, is in low earth orbit with almost continuous communication with the ground based mission control. This permits the near real-time control by the ground of all of the core systems including power. As NASA moves beyond Low Earth Orbit, the issues of communication time-lag and lack of communication bandwidth beyond geosynchronous orbit does not permit this type of operation. This paper presents the work currently ongoing at NASA to develop an architecture for an autonomous power control system as well as the effort to assemble that controller into the framework of the vehicle mission manager and other subsystem controllers to enable autonomous control of the complete spacecraft. Due to the common problems faced in both space power systems and terrestrial power system, the potential for spin-off applications of this technology for use in micro-grids located at the edge or user end of terrestrial power grids for peak power accommodation and reliability are described.

Overview of Intelligent Power Controller Development for Human Deep Space Exploration

NASA Technical Reports Server (NTRS)

Soeder, James F.; Dever, Timothy P.; McNelis, Anne M.; Beach, Raymond F.; Trase, Larry M.; May, Ryan

2014-01-01

Intelligent or autonomous control of an entire spacecraft is a major technology that must be developed to enable NASA to meet its human exploration goals. NASAs current long term human space platform, the International Space Station, is in low earth orbit with almost continuous communication with the ground based mission control. This permits the near real-time control by the ground of all of the core systems including power. As NASA moves beyond Low Earth Orbit, the issues of communication time-lag and lack of communication bandwidth beyond geosynchronous orbit does not permit this type of operation. This paper presents the work currently ongoing at NASA to develop an architecture for an autonomous power control system as well as the effort to assemble that controller into the framework of the vehicle mission manager and other subsystem controllers to enable autonomous control of the complete spacecraft. Due to the common problems faced in both space power systems and terrestrial power system, the potential for spin-off applications of this technology for use in micro-grids located at the edge or user end of terrestrial power grids for peak power accommodation and reliability are described.

ePave: A Self-Powered Wireless Sensor for Smart and Autonomous Pavement.

PubMed

Xiao, Jian; Zou, Xiang; Xu, Wenyao

2017-09-26

"Smart Pavement" is an emerging infrastructure for various on-road applications in transportation and road engineering. However, existing road monitoring solutions demand a certain periodic maintenance effort due to battery life limits in the sensor systems. To this end, we present an end-to-end self-powered wireless sensor-ePave-to facilitate smart and autonomous pavements. The ePave system includes a self-power module, an ultra-low-power sensor system, a wireless transmission module and a built-in power management module. First, we performed an empirical study to characterize the piezoelectric module in order to optimize energy-harvesting efficiency. Second, we developed an integrated sensor system with the optimized energy harvester. An adaptive power knob is designated to adjust the power consumption according to energy budgeting. Finally, we intensively evaluated the ePave system in real-world applications to examine the system's performance and explore the trade-off.

ePave: A Self-Powered Wireless Sensor for Smart and Autonomous Pavement

PubMed Central

Xiao, Jian; Zou, Xiang

2017-01-01

“Smart Pavement” is an emerging infrastructure for various on-road applications in transportation and road engineering. However, existing road monitoring solutions demand a certain periodic maintenance effort due to battery life limits in the sensor systems. To this end, we present an end-to-end self-powered wireless sensor—ePave—to facilitate smart and autonomous pavements. The ePave system includes a self-power module, an ultra-low-power sensor system, a wireless transmission module and a built-in power management module. First, we performed an empirical study to characterize the piezoelectric module in order to optimize energy-harvesting efficiency. Second, we developed an integrated sensor system with the optimized energy harvester. An adaptive power knob is designated to adjust the power consumption according to energy budgeting. Finally, we intensively evaluated the ePave system in real-world applications to examine the system’s performance and explore the trade-off. PMID:28954430

Network, system, and status software enhancements for the autonomously managed electrical power system breadboard. Volume 2: Protocol specification

NASA Technical Reports Server (NTRS)

Mckee, James W.

1990-01-01

This volume (2 of 4) contains the specification, structured flow charts, and code listing for the protocol. The purpose of an autonomous power system on a spacecraft is to relieve humans from having to continuously monitor and control the generation, storage, and distribution of power in the craft. This implies that algorithms will have been developed to monitor and control the power system. The power system will contain computers on which the algorithms run. There should be one control computer system that makes the high level decisions and sends commands to and receive data from the other distributed computers. This will require a communications network and an efficient protocol by which the computers will communicate. One of the major requirements on the protocol is that it be real time because of the need to control the power elements.

Instrumentation and Control Needs for Reliable Operation of Lunar Base Surface Nuclear Power Systems

NASA Technical Reports Server (NTRS)

Turso, James; Chicatelli, Amy; Bajwa, Anupa

2005-01-01

As one of the near-term goals of the President's Vision for Space Exploration, establishment of a multi-person lunar base will require high-endurance power systems which are independent of the sun, and can operate without replenishment for several years. These requirements may be obtained using nuclear power systems specifically designed for use on the lunar surface. While it is envisioned that such a system will generally be supervised by humans, some of the evolutions required maybe semi or fully autonomous. The entire base complement for near-term missions may be less than 10 individuals, most or all of which may not be qualified nuclear plant operators and may be off-base for extended periods thus, the need for power system autonomous operation. Startup, shutdown, and load following operations will require the application of advanced control and health management strategies with an emphasis on robust, supervisory, coordinated control of, for example, the nuclear heat source, energy conversion plant (e.g., Brayton Energy Conversion units), and power management system. Autonomous operation implies that, in addition to being capable of automatic response to disturbance input or load changes, the system is also capable of assessing the status of the integrated plant, determining the risk associated with the possible actions, and making a decision as to the action that optimizes system performance while minimizing risk to the mission. Adapting the control to deviations from design conditions and degradation due to component failures will be essential to ensure base inhabitant safety and mission success. Intelligent decisions will have to be made to choose the right set of sensors to provide the data needed to do condition monitoring and fault detection and isolation because of liftoff weight and space limitations, it will not be possible to have an extensive set of instruments as used for earth-based systems. Advanced instrumentation and control technologies will be needed to enable this critical functionality of autonomous operation. It will be imperative to consider instrumentation and control requirements in parallel to system configuration development so as to identify control-related, as well as integrated system-related, problem areas early to avoid potentially expensive work-arounds . This paper presents an overview of the enabling technologies necessary for the development of reliable, autonomous lunar base nuclear power systems with an emphasis on system architectures and off-the-shelf algorithms rather than hardware. Autonomy needs are presented in the context of a hypothetical lunar base nuclear power system. The scenarios and applications presented are hypothetical in nature, based on information from open-literature sources, and only intended to provoke thought and provide motivation for the use of autonomous, intelligent control and diagnostics.

Hybrid power systems for autonomous MEMS

NASA Astrophysics Data System (ADS)

Bennett, Daniel M.; Selfridge, Richard H.; Humble, Paul; Harb, John N.

2001-08-01

This paper describes the design of a hybrid power system for use with autonomous MEMS and other microdevices. This hybrid power system includes energy conversion and storage along with an electronic system for managing the collection and distribution of power. It offers flexibility and longevity in a compact package. The hybrid power system couples a silicon solar cell with a microbattery specially designed for MEMS applications. We have designed a control/interface charging circuit to be compatible with a MEMS duty cycle. The design permits short pulses of 'high' power while taking care to avoid excessive charging or discharging of the battery. Charging is carefully controlled to provide a balance between acceptably small charging times and a charging profile that extends battery life. Our report describes the charging of our Ni/Zn microbatteries using solar cells. To date we have demonstrated thousands of charge/discharge cycles of a simulated MEMS duty cycle.

Autonomous Control of Space Reactor Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo

2007-11-30

Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

Autonomous Spacecraft Communication Interface for Load Planning

NASA Technical Reports Server (NTRS)

Dever, Timothy P.; May, Ryan D.; Morris, Paul H.

2014-01-01

Ground-based controllers can remain in continuous communication with spacecraft in low Earth orbit (LEO) with near-instantaneous communication speeds. This permits near real-time control of all of the core spacecraft systems by ground personnel. However, as NASA missions move beyond LEO, light-time communication delay issues, such as time lag and low bandwidth, will prohibit this type of operation. As missions become more distant, autonomous control of manned spacecraft will be required. The focus of this paper is the power subsystem. For present missions, controllers on the ground develop a complete schedule of power usage for all spacecraft components. This paper presents work currently underway at NASA to develop an architecture for an autonomous spacecraft, and focuses on the development of communication between the Mission Manager and the Autonomous Power Controller. These two systems must work together in order to plan future load use and respond to unanticipated plan deviations. Using a nominal spacecraft architecture and prototype versions of these two key components, a number of simulations are run under a variety of operational conditions, enabling development of content and format of the messages necessary to achieve the desired goals. The goals include negotiation of a load schedule that meets the global requirements (contained in the Mission Manager) and local power system requirements (contained in the Autonomous Power Controller), and communication of off-plan disturbances that arise while executing a negotiated plan. The message content is developed in two steps: first, a set of rapid-prototyping "paper" simulations are preformed; then the resultant optimized messages are codified for computer communication for use in automated testing.

Application of voltage oriented control technique in a fully renewable, wind powered, autonomous system with storage capabilities

NASA Astrophysics Data System (ADS)

Kondylis, Georgios P.; Vokas, Georgios A.; Anastasiadis, Anestis G.; Konstantinopoulos, Stavros A.

2017-02-01

The main purpose of this paper is to examine the technological feasibility of a small autonomous network, with electricity storage capability, which is completely electrified by wind energy. The excess energy produced, with respect to the load requirements, is sent to the batteries for storage. When the energy produced by the wind generator is not sufficient, load's energy requirement is covered by the battery system, ensuring, however, that voltage, frequency and other system characteristics are within the proper boundaries. For the purpose of this study, a Voltage Oriented Control system has been developed in order to monitor the autonomous operation and perform the energy management of the network. This system manages the power flows between the load and the storage system by properly controlling the Pulse Width Modulation pulses in the converter, thus ensuring power flows are adequate and frequency remains under control. The experimental results clearly indicate that a stand-alone wind energy system based on battery energy storage system is feasible and reliable. This paves the way for fully renewable and zero emission energy schemes.

Wearable and Implantable Mechanical Energy Harvesters for Self-Powered Biomedical Systems.

PubMed

Hinchet, Ronan; Kim, Sang-Woo

2015-08-25

In this issue of ACS Nano, Tang et al. investigate the ability of a triboelectric nanogenerator (TENG) to self-power a low-level laser cure system for osteogenesis by studying the efficiency of a bone remodeling laser treatment that is powered by a skin-patch-like TENG instead of a battery. We outline this field by highlighting the motivations for self-powered biomedical systems and by discussing recent progress in nanogenerators. We note the overlap between biomedical devices and TENGs and their dawning synergy, and we highlight key prospects for future developments. Biomedical systems should be more autonomous. This advance could improve their body integration and fields of action, leading to new medical diagnostics and treatments. However, future self-powered biomedical systems will need to be more flexible, biocompatible, and biodegradable. These advances hold the promise of enabling new smart autonomous biomedical systems and contributing significantly to the Internet of Things.

Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles

NASA Technical Reports Server (NTRS)

Brockers, Roland; Ma, Jeremy C.; Matthies, Larry H.; Bouffard, Patrick

2012-01-01

Micro aerial vehicles have limited sensor suites and computational power. For reconnaissance tasks and to conserve energy, these systems need the ability to autonomously land at vantage points or enter buildings (ingress). But for autonomous navigation, information is needed to identify and guide the vehicle to the target. Vision algorithms can provide egomotion estimation and target detection using input from cameras that are easy to include in miniature systems.

Evaluating the autonomic nervous system in patients with laryngopharyngeal reflux.

PubMed

Huang, Wan-Ju; Shu, Chih-Hung; Chou, Kun-Ta; Wang, Yi-Fen; Hsu, Yen-Bin; Ho, Ching-Yin; Lan, Ming-Ying

2013-06-01

The pathogenesis of laryngopharyngeal reflux (LPR) remains unclear. It is linked to but distinct from gastroesophageal reflux disease (GERD), which has been shown to be related to disturbed autonomic regulation. The aim of this study is to investigate whether autonomic dysfunction also plays a role in the pathogenesis of LPR. Case-control study. Tertiary care center. Seventeen patients with LPR and 19 healthy controls, aged between 19 and 50 years, were enrolled in the study. The patients were diagnosed with LPR if they had a reflux symptom index (RSI) ≥ 13 and a reflux finding score (RFS) ≥ 7. Spectral analysis of heart rate variability (HRV) analysis was used to assess autonomic function. Anxiety and depression levels measured by the Beck Anxiety Inventory (BAI) and Beck Depression Inventory II (BDI-II) were also conducted. In HRV analysis, high frequency (HF) represents the parasympathetic activity of the autonomic nervous system, whereas low frequency (LF) represents the total autonomic activity. There were no significant differences in the LF power and HF power between the 2 groups. However, significantly lower HF% (P = .003) and a higher LF/HF ratio (P = .012) were found in patients with LPR, who demonstrated poor autonomic modulation and higher sympathetic activity. Anxiety was also frequently observed in the patient group. The study suggests that autonomic dysfunction seems to be involved in the pathogenesis of LPR. The potential beneficial effect of autonomic nervous system modulation as a therapeutic modality for LPR merits further investigation.

A Miniaturized 0.78-mW/cm2 Autonomous Thermoelectric Energy-Harvesting Platform for Biomedical Sensors.

PubMed

Rozgic, Dejan; Markovic, Dejan

2017-08-01

In order to use thermoelectric energy harvesters (TEHs) as a truly autonomous energy source for size-limited sensing applications, it is essential to improve the power conversion efficiency and energy density. This study presents a thin-film, array-based TEH with a surface area of 0.83 cm 2 . The TEH autonomously supplies a power management IC fabricated in a 65-nm CMOS technology. The IC utilizes a single-inductor topology with integrated analog maximum power point tracking (MPPT), resulting in a 68% peak end-to-end efficiency (92% converter efficiency) and less than 20-ms MPPT. In an in-vivo test, a 645-μW regulated output power (effective 3.5 K of temperature gradient) was harvested from a rat implanted with our TEH, demonstrating true energy independence in a real environment while showing a 7.9 × improvement in regulated power density compared to the state-of-the-art. The system showed autonomous operation down to 65-mV TEH input.

Design and realization of an autonomous solar system

NASA Astrophysics Data System (ADS)

Gaga, A.; Diouri, O.; Es-sbai, N.; Errahimi, F.

2017-03-01

The aim of this work is the design and realization of an autonomous solar system, with MPPT control, a regulator charge/discharge of batteries, an H-bridge multi-level inverter with acquisition system and supervising based on a microcontroller. The proposed approach is based on developing a software platform in the LabVIEW environment which gives the system a flexible structure for controlling, monitoring and supervising the whole system in real time while providing power maximization and best quality of energy conversion from DC to AC power. The reliability of the proposed solar system is validated by the simulation results on PowerSim and experimental results achieved with a solar panel, a Lead acid battery, solar regulator and an H-bridge cascaded topology of single-phase inverter.

Light-powered autonomous and directional molecular motion of a dissipative self-assembling system

NASA Astrophysics Data System (ADS)

Ragazzon, Giulio; Baroncini, Massimo; Silvi, Serena; Venturi, Margherita; Credi, Alberto

2015-01-01

Biomolecular motors convert energy into directed motion and operate away from thermal equilibrium. The development of dynamic chemical systems that exploit dissipative (non-equilibrium) processes is a challenge in supramolecular chemistry and a premise for the realization of artificial nanoscale motors. Here, we report the relative unidirectional transit of a non-symmetric molecular axle through a macrocycle powered solely by light. The molecular machine rectifies Brownian fluctuations by energy and information ratchet mechanisms and can repeat its working cycle under photostationary conditions. The system epitomizes the conceptual and practical elements forming the basis of autonomous light-powered directed motion with a minimalist molecular design.

Autonomous Control Capabilities for Space Reactor Power Systems

NASA Astrophysics Data System (ADS)

Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

2004-02-01

The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission.

Autonomic functions in acrocyanosis assessed by heart rate variability

PubMed Central

Yılmaz, Sedat; Yokuşoğlu, Mehmet; Çınar, Muhammet; Şimşek, İsmail; Baysan, Oben; Öz, Bilgehan Savaş; Erdem, Hakan; Pay, Salih; Dinç, Ayhan

2014-01-01

Objective To evaluate the autonomic activity of patients with acrocyanosis by using heart rate variability indices. Material and Methods The study group consisted of 24 patients with acrocyanosis and the control group contained 22 sex- and age-matched healthy subjects. All subjects underwent 24-hour Holter monitoring. Among the heart rate variability (HRV) parameters, time-domain and frequency-domain indices were analysed. Results The time-domain indices of HRV indicating global autonomic functions were found to be increased, and indices indicating parasympathetic activity showed a significant decrease in the patient group. Power-spectral analysis of HRV revealed that the low frequency and high frequency power were higher in the patient group than in controls. However, the ratio of Low Frequency/High Frequency was found to be lower in the patient group than in controls. Conclusion In acrocyanosis, both sympathetic and parasympathetic systems seem to be disrupted. Therefore, we may conclude that acrocyanosis may be resulted of systemic autonomic imbalance rather than pure sympathetic over-activation. Also, these results suggest that acrocyanosis is not a localised disorder; on the contrary, it is associated with various abnormalities of the systemic autonomic nervous system. PMID:27708866

Galileo spacecraft power distribution and autonomous fault recovery

NASA Technical Reports Server (NTRS)

Detwiler, R. C.

1982-01-01

There is a trend in current spacecraft design to achieve greater fault tolerance through the implemenation of on-board software dedicated to detecting and isolating failures. A combination of hardware and software is utilized in the Galileo power system for autonomous fault recovery. Galileo is a dual-spun spacecraft designed to carry a number of scientific instruments into a series of orbits around the planet Jupiter. In addition to its self-contained scientific payload, it will also carry a probe system which will be separated from the spacecraft some 150 days prior to Jupiter encounter. The Galileo spacecraft is scheduled to be launched in 1985. Attention is given to the power system, the fault protection requirements, and the power fault recovery implementation.

An autonomous fault detection, isolation, and recovery system for a 20-kHz electric power distribution test bed

NASA Technical Reports Server (NTRS)

Quinn, Todd M.; Walters, Jerry L.

1991-01-01

Future space explorations will require long term human presence in space. Space environments that provide working and living quarters for manned missions are becoming increasingly larger and more sophisticated. Monitor and control of the space environment subsystems by expert system software, which emulate human reasoning processes, could maintain the health of the subsystems and help reduce the human workload. The autonomous power expert (APEX) system was developed to emulate a human expert's reasoning processes used to diagnose fault conditions in the domain of space power distribution. APEX is a fault detection, isolation, and recovery (FDIR) system, capable of autonomous monitoring and control of the power distribution system. APEX consists of a knowledge base, a data base, an inference engine, and various support and interface software. APEX provides the user with an easy-to-use interactive interface. When a fault is detected, APEX will inform the user of the detection. The user can direct APEX to isolate the probable cause of the fault. Once a fault has been isolated, the user can ask APEX to justify its fault isolation and to recommend actions to correct the fault. APEX implementation and capabilities are discussed.

Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

NASA Astrophysics Data System (ADS)

Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

Integrating the autonomous subsystems management process

NASA Technical Reports Server (NTRS)

Ashworth, Barry R.

1992-01-01

Ways in which the ranking of the Space Station Module Power Management and Distribution testbed may be achieved and an individual subsystem's internal priorities may be managed within the complete system are examined. The application of these results in the integration and performance leveling of the autonomously managed system is discussed.

An Architecture to Enable Autonomous Control of Spacecraft

NASA Technical Reports Server (NTRS)

May, Ryan D.; Dever, Timothy P.; Soeder, James F.; George, Patrick J.; Morris, Paul H.; Colombano, Silvano P.; Frank, Jeremy D.; Schwabacher, Mark A.; Wang, Liu; LawLer, Dennis

2014-01-01

Autonomy is required for manned spacecraft missions distant enough that light-time communication delays make ground-based mission control infeasible. Presently, ground controllers develop a complete schedule of power modes for all spacecraft components based on a large number of factors. The proposed architecture is an early attempt to formalize and automate this process using on-vehicle computation resources. In order to demonstrate this architecture, an autonomous electrical power system controller and vehicle Mission Manager are constructed. These two components are designed to work together in order to plan upcoming load use as well as respond to unanticipated deviations from the plan. The communication protocol was developed using "paper" simulations prior to formally encoding the messages and developing software to implement the required functionality. These software routines exchange data via TCP/IP sockets with the Mission Manager operating at NASA Ames Research Center and the autonomous power controller running at NASA Glenn Research Center. The interconnected systems are tested and shown to be effective at planning the operation of a simulated quasi-steady state spacecraft power system and responding to unexpected disturbances.

Wireless Power Transfer for Autonomous Wearable Neurotransmitter Sensors.

PubMed

Nguyen, Cuong M; Kota, Pavan Kumar; Nguyen, Minh Q; Dubey, Souvik; Rao, Smitha; Mays, Jeffrey; Chiao, J-C

2015-09-23

In this paper, we report a power management system for autonomous and real-time monitoring of the neurotransmitter L-glutamate (L-Glu). A low-power, low-noise, and high-gain recording module was designed to acquire signal from an implantable flexible L-Glu sensor fabricated by micro-electro-mechanical system (MEMS)-based processes. The wearable recording module was wirelessly powered through inductive coupling transmitter antennas. Lateral and angular misalignments of the receiver antennas were resolved by using a multi-transmitter antenna configuration. The effective coverage, over which the recording module functioned properly, was improved with the use of in-phase transmitter antennas. Experimental results showed that the recording system was capable of operating continuously at distances of 4 cm, 7 cm and 10 cm. The wireless power management system reduced the weight of the recording module, eliminated human intervention and enabled animal experimentation for extended durations.

Wireless Power Transfer for Autonomous Wearable Neurotransmitter Sensors

PubMed Central

Nguyen, Cuong M.; Kota, Pavan Kumar; Nguyen, Minh Q.; Dubey, Souvik; Rao, Smitha; Mays, Jeffrey; Chiao, J.-C.

2015-01-01

In this paper, we report a power management system for autonomous and real-time monitoring of the neurotransmitter L-glutamate (L-Glu). A low-power, low-noise, and high-gain recording module was designed to acquire signal from an implantable flexible L-Glu sensor fabricated by micro-electro-mechanical system (MEMS)-based processes. The wearable recording module was wirelessly powered through inductive coupling transmitter antennas. Lateral and angular misalignments of the receiver antennas were resolved by using a multi-transmitter antenna configuration. The effective coverage, over which the recording module functioned properly, was improved with the use of in-phase transmitter antennas. Experimental results showed that the recording system was capable of operating continuously at distances of 4 cm, 7 cm and 10 cm. The wireless power management system reduced the weight of the recording module, eliminated human intervention and enabled animal experimentation for extended durations. PMID:26404311

Altered autonomic nervous system activity in women with unexplained recurrent pregnancy loss.

PubMed

Kataoka, Kumie; Tomiya, Yumi; Sakamoto, Ai; Kamada, Yasuhiko; Hiramatsu, Yuji; Nakatsuka, Mikiya

2015-06-01

Autonomic nervous system activity was studied to evaluate the physical and mental state of women with unexplained recurrent pregnancy loss (RPL). Heart rate variability (HRV) is a measure of beat-to-beat temporal changes in heart rate and provides indirect insight into autonomic nervous system tone and can be used to assess sympathetic and parasympathetic tone. We studied autonomic nervous system activity by measuring HRV in 100 women with unexplained RPL and 61 healthy female volunteers as controls. The degree of mental distress was assessed using the Kessler 6 (K6) scale. The K6 score in women with unexplained RPL was significantly higher than in control women. HRV evaluated on standard deviation of the normal-to-normal interval (SDNN) and total power was significantly lower in women with unexplained RPL compared with control women. These indices were further lower in women with unexplained RPL ≥4. On spectral analysis, high-frequency (HF) power, an index of parasympathetic nervous system activity, was significantly lower in women with unexplained RPL compared with control women, but there was no significant difference in the ratio of low-frequency (LF) power to HF power (LF/HF), an index of sympathetic nervous system activity, between the groups. The physical and mental state of women with unexplained RPL should be evaluated using HRV to offer mental support. Furthermore, study of HRV may elucidate the risk of cardiovascular diseases and the mechanisms underlying unexplained RPL. © 2014 The Authors. Journal of Obstetrics and Gynaecology Research © 2014 Japan Society of Obstetrics and Gynecology.

Expert System Detects Power-Distribution Faults

NASA Technical Reports Server (NTRS)

Walters, Jerry L.; Quinn, Todd M.

1994-01-01

Autonomous Power Expert (APEX) computer program is prototype expert-system program detecting faults in electrical-power-distribution system. Assists human operators in diagnosing faults and deciding what adjustments or repairs needed for immediate recovery from faults or for maintenance to correct initially nonthreatening conditions that could develop into faults. Written in Lisp.

Mars, the Moon, and the Ends of the Earth: Autonomy for Small Reactor Power Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wood, Richard Thomas

2008-01-01

In recent years, the National Aeronautics and Space Administration (NASA) has been considering deep space missions that utilize a small-reactor power system (SRPS) to provide energy for propulsion and spacecraft power. Additionally, application of SRPS modules as a planetary power source is being investigated to enable a continuous human presence for nonpolar lunar sites and on Mars. A SRPS can supply high-sustained power for space and surface applications that is both reliable and mass efficient. The use of small nuclear reactors for deep space or planetary missions presents some unique challenges regarding the operations and control of the power system.more » Current-generation terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of a SRPS employed for deep space missions must be able to accommodate unattended operations due to communications delays and periods of planetary occlusion while adapting to evolving or degraded conditions with no opportunity for repair or refurbishment. While surface power systems for planetary outposts face less extreme delays and periods of isolation and may benefit from limited maintenance capabilities, considerations such as human safety, resource limitations and usage priorities, and economics favor minimizing direct, continuous human interaction with the SRPS for online, dedicated power system management. Thus, a SRPS control system for space or planetary missions must provide capabilities for operational autonomy. For terrestrial reactors, large-scale power plants remain the preferred near-term option for nuclear power generation. However, the desire to reduce reliance on carbon-emitting power sources in developing countries may lead to increased consideration of SRPS modules for local power generation in remote regions that are characterized by emerging, less established infrastructures. Additionally, many Generation IV (Gen IV) reactor concepts have goals for optimizing investment recovery and economic efficiency that promote significant reductions in plant operations and maintenance staff over current-generation nuclear power plants. To accomplish these Gen IV goals and also address the SRPS remote-siting challenges, higher levels of automation, fault tolerance, and advanced diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. Essentially, the SRPS control system for several anticipated terrestrial applications can benefit from the kind of operational autonomy that is necessary for deep space and planetary SRPS-enabled missions. Investigation of the state of the technology for autonomous control confirmed that control systems with varying levels of autonomy have been employed in robotic, transportation, spacecraft, and manufacturing applications. As an example, NASA has pursued autonomy for spacecraft and surface exploration vehicles (e.g., rovers) to reduce mission costs, increase efficiency for communications between ground control and the vehicle, and enable independent operation of the vehicle during times of communications blackout. However, autonomous control has not been implemented for an operating terrestrial nuclear power plant nor has there been any experience beyond automating simple control loops for space reactors. Current automated control technologies for nuclear power plants are reasonably mature, and fully automated control of normal SRPS operations is clearly feasible. However, the space-based and remote terrestrial applications of SRPS modules require autonomous capabilities that can accommodate nonoptimum operations when degradation, failure, and other off-normal events challenge the performance of the reactor while immediate human intervention is not possible. The independent action provided by autonomous control, which is distinct from the more limited self action of automated control, can satisfy these conditions. Key characteristics that distinguish autonomous control include: (1) intelligence to confirm system performance and detect degraded or failed conditions, (2) optimization to minimize stress on SRPS components and efficiently react to operational events without compromising system integrity, (3) robustness to accommodate uncertainties and changing conditions, and (4) flexibility and adaptability to accommodate failures through reconfiguration among available control system elements or adjustment of control system strategies, algorithms, or parameters.« less

Microprocessor control and networking for the amps breadboard

NASA Technical Reports Server (NTRS)

Floyd, Stephen A.

1987-01-01

Future space missions will require more sophisticated power systems, implying higher costs and more extensive crew and ground support involvement. To decrease this human involvement, as well as to protect and most efficiently utilize this important resource, NASA has undertaken major efforts to promote progress in the design and development of autonomously managed power systems. Two areas being actively pursued are autonomous power system (APS) breadboards and knowledge-based expert system (KBES) applications. The former are viewed as a requirement for the timely development of the latter. Not only will they serve as final testbeds for the various KBES applications, but will play a major role in the knowledge engineering phase of their development. The current power system breadboard designs are of a distributed microprocessor nature. The distributed nature, plus the need to connect various external computer capabilities (i.e., conventional host computers and symbolic processors), places major emphasis on effective networking. The communications and networking technologies for the first power system breadboard/test facility are described.

Automated Power-Distribution System

NASA Technical Reports Server (NTRS)

Thomason, Cindy; Anderson, Paul M.; Martin, James A.

1990-01-01

Automated power-distribution system monitors and controls electrical power to modules in network. Handles both 208-V, 20-kHz single-phase alternating current and 120- to 150-V direct current. Power distributed to load modules from power-distribution control units (PDCU's) via subsystem distributors. Ring busses carry power to PDCU's from power source. Needs minimal attention. Detects faults and also protects against them. Potential applications include autonomous land vehicles and automated industrial process systems.

Results of an electrical power system fault study

NASA Technical Reports Server (NTRS)

Dugal-Whitehead, Norma R.; Johnson, Yvette B.

1992-01-01

NASA-Marshall conducted a study of electrical power system faults with a view to the development of AI control systems for a spacecraft power system breadboard. The results of this study have been applied to a multichannel high voltage dc spacecraft power system, the Large Autonomous Spacecraft Electrical Power System (LASEPS) breadboard. Some of the faults encountered in testing LASEPS included the shorting of a bus an a falloff in battery cell capacity.

Mission Applicability Assessment of Integrated Power Components and Systems

NASA Technical Reports Server (NTRS)

Raffaelle, R. P.; Hepp, A. F.; Landis, G. A.; Hoffman, D. J.

2002-01-01

The need for smaller lightweight autonomous power systems has recently increased with the increasing focus on micro- and nanosatellites. Small area high-efficiency thin film batteries and solar cells are an attractive choice for such applications. The NASA Glenn Research Center, Johns Hopkins Applied Physics Laboratory, Lithium Power Technologies, MicroSat Systems, and others, have been working on the development of autonomous monolithic packages combining these elements or what are called integrated power supplies (IPS). These supplies can be combined with individual satellite components and are capable of providing continuous power even under intermittent illumination associated with a spinning or Earth orbiting satellite. This paper discusses the space mission applicability, benefits, and current development efforts associated with integrated power supply components and systems. The characteristics and several mission concepts for an IPS that combines thin-film photovoltaic power generation with thin-film lithium ion energy storage are described. Based on this preliminary assessment, it is concluded that the most likely and beneficial application of an IPS will be for small "nanosatellites" or in specialized applications serving as a decentralized or as a distributed power source or uninterruptible power supply.

Autonomous Quantum Clocks: Does Thermodynamics Limit Our Ability to Measure Time?

NASA Astrophysics Data System (ADS)

Erker, Paul; Mitchison, Mark T.; Silva, Ralph; Woods, Mischa P.; Brunner, Nicolas; Huber, Marcus

2017-07-01

Time remains one of the least well-understood concepts in physics, most notably in quantum mechanics. A central goal is to find the fundamental limits of measuring time. One of the main obstacles is the fact that time is not an observable and thus has to be measured indirectly. Here, we explore these questions by introducing a model of time measurements that is complete and autonomous. Specifically, our autonomous quantum clock consists of a system out of thermal equilibrium—a prerequisite for any system to function as a clock—powered by minimal resources, namely, two thermal baths at different temperatures. Through a detailed analysis of this specific clock model, we find that the laws of thermodynamics dictate a trade-off between the amount of dissipated heat and the clock's performance in terms of its accuracy and resolution. Our results furthermore imply that a fundamental entropy production is associated with the operation of any autonomous quantum clock, assuming that quantum machines cannot achieve perfect efficiency at finite power. More generally, autonomous clocks provide a natural framework for the exploration of fundamental questions about time in quantum theory and beyond.

An Intelligent Control for the Distributed Flexible Network Photovoltaic System using Autonomous Control and Agent

NASA Astrophysics Data System (ADS)

Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

This paper proposes an intelligent control for the distributed flexible network photovoltaic system using autonomous control and agent. The distributed flexible network photovoltaic system is composed of a secondary battery bank and a number of subsystems which have a solar array, a dc/dc converter and a load. The control mode of dc/dc converter can be selected based on local information by autonomous control. However, if only autonomous control using local information is applied, there are some problems associated with several cases such as voltage drop on long power lines. To overcome these problems, the authors propose introducing agents to improve control characteristics. The autonomous control with agents is called as intelligent control in this paper. The intelligent control scheme that employs the communication between agents is applied for the model system and proved with simulation using PSCAD/EMTDC.

Small Autonomous Aircraft Servo Health Monitoring

NASA Technical Reports Server (NTRS)

Quintero, Steven

2008-01-01

Small air vehicles offer challenging power, weight, and volume constraints when considering implementation of system health monitoring technologies. In order to develop a testbed for monitoring the health and integrity of control surface servos and linkages, the Autonomous Aircraft Servo Health Monitoring system has been designed for small Uninhabited Aerial Vehicle (UAV) platforms to detect problematic behavior from servos and the air craft structures they control, This system will serve to verify the structural integrity of an aircraft's servos and linkages and thereby, through early detection of a problematic situation, minimize the chances of an aircraft accident. Embry-Riddle Aeronautical University's rotary-winged UAV has an Airborne Power management unit that is responsible for regulating, distributing, and monitoring the power supplied to the UAV's avionics. The current sensing technology utilized by the Airborne Power Management system is also the basis for the Servo Health system. The Servo Health system measures the current draw of the servos while the servos are in Motion in order to quantify the servo health. During a preflight check, deviations from a known baseline behavior can be logged and their causes found upon closer inspection of the aircraft. The erratic behavior nay include binding as a result of dirt buildup or backlash caused by looseness in the mechanical linkages. Moreover, the Servo Health system will allow elusive problems to be identified and preventative measures taken to avoid unnecessary hazardous conditions in small autonomous aircraft.

Intermediate Levels of Autonomy within the SSM/PMAD Breadboard

NASA Technical Reports Server (NTRS)

Dugal-Whitehead, Norma R.; Walls, Bryan

1995-01-01

The Space Station Module Power Management and Distribution (SSM/PMAD) bread-board is a test bed for the development of advanced power system control and automation. Software control in the SSM/PMAD breadboard is through co-operating systems, called Autonomous Agents. Agents can be a mixture of algorithmic software and expert systems. The early SSM/PMAD system was envisioned as being completely autonomous. It soon became apparent, though, that there would always be a need for human intervention, at least as long as a human interacts with the system in any way. In a system designed only for autonomous operation, manual intervention meant taking full control of the whole system, and loosing whatever expertise was in the system. Several methods for allowing humans to interact at an appropriate level of control were developed. This paper examines some of these intermediate modes of autonomy. The least humanly intrusive mode is simple monitoring. The ability to modify future behavior by altering a schedule involves high-level interaction. Modification of operating activities comes next. The coarsest mode of control is individual, unplanned operation of individual Power System components. Each of these levels is integrated into the SSM/PMAD breadboard, with support for the user (such as warnings of the consequences of control decisions) at every level.

Towards an Autonomic Cluster Management System (ACMS) with Reflex Autonomicity

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Hinchey, Mike; Sterritt, Roy

2005-01-01

Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of providing a fault-tolerant environment and achieving significant computational capabilities for high-performance computing applications. However, the task of manually managing and configuring a cluster quickly becomes daunting as the cluster grows in size. Autonomic computing, with its vision to provide self-management, can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Autonomic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management and its evolution to include reflex reactions via pulse monitoring.

System level latchup mitigation for single event and transient radiation effects on electronics

DOEpatents

Kimbrough, J.R.; Colella, N.J.

1997-09-30

A ``blink`` technique, analogous to a person blinking at a flash of bright light, is provided for mitigating the effects of single event current latchup and prompt pulse destructive radiation on a micro-electronic circuit. The system includes event detection circuitry, power dump logic circuitry, and energy limiting measures with autonomous recovery. The event detection circuitry includes ionizing radiation pulse detection means for detecting a pulse of ionizing radiation and for providing at an output terminal thereof a detection signal indicative of the detection of a pulse of ionizing radiation. The current sensing circuitry is coupled to the power bus for determining an occurrence of excess current through the power bus caused by ionizing radiation or by ion-induced destructive latchup of a semiconductor device. The power dump circuitry includes power dump logic circuitry having a first input terminal connected to the output terminal of the ionizing radiation pulse detection circuitry and having a second input terminal connected to the output terminal of the current sensing circuitry. The power dump logic circuitry provides an output signal to the input terminal of the circuitry for opening the power bus and the circuitry for shorting the power bus to a ground potential to remove power from the power bus. The energy limiting circuitry with autonomous recovery includes circuitry for opening the power bus and circuitry for shorting the power bus to a ground potential. The circuitry for opening the power bus and circuitry for shorting the power bus to a ground potential includes a series FET and a shunt FET. The invention provides for self-contained sensing for latchup, first removal of power to protect latched components, and autonomous recovery to enable transparent operation of other system elements. 18 figs.

System level latchup mitigation for single event and transient radiation effects on electronics

DOEpatents

Kimbrough, Joseph Robert; Colella, Nicholas John

1997-01-01

A "blink" technique, analogous to a person blinking at a flash of bright light, is provided for mitigating the effects of single event current latchup and prompt pulse destructive radiation on a micro-electronic circuit. The system includes event detection circuitry, power dump logic circuitry, and energy limiting measures with autonomous recovery. The event detection circuitry includes ionizing radiation pulse detection means for detecting a pulse of ionizing radiation and for providing at an output terminal thereof a detection signal indicative of the detection of a pulse of ionizing radiation. The current sensing circuitry is coupled to the power bus for determining an occurrence of excess current through the power bus caused by ionizing radiation or by ion-induced destructive latchup of a semiconductor device. The power dump circuitry includes power dump logic circuitry having a first input terminal connected to the output terminal of the ionizing radiation pulse detection circuitry and having a second input terminal connected to the output terminal of the current sensing circuitry. The power dump logic circuitry provides an output signal to the input terminal of the circuitry for opening the power bus and the circuitry for shorting the power bus to a ground potential to remove power from the power bus. The energy limiting circuitry with autonomous recovery includes circuitry for opening the power bus and circuitry for shorting the power bus to a ground potential. The circuitry for opening the power bus and circuitry for shorting the power bus to a ground potential includes a series FET and a shunt FET. The invention provides for self-contained sensing for latchup, first removal of power to protect latched components, and autonomous recovery to enable transparent operation of other system elements.

Artificial Intelligence and Spacecraft Power Systems

NASA Technical Reports Server (NTRS)

Dugel-Whitehead, Norma R.

1997-01-01

This talk will present the work which has been done at NASA Marshall Space Flight Center involving the use of Artificial Intelligence to control the power system in a spacecraft. The presentation will include a brief history of power system automation, and some basic definitions of the types of artificial intelligence which have been investigated at MSFC for power system automation. A video tape of one of our autonomous power systems using co-operating expert systems, and advanced hardware will be presented.

The fault monitoring and diagnosis knowledge-based system for space power systems: AMPERES, phase 1

NASA Technical Reports Server (NTRS)

Lee, S. C.

1989-01-01

The objective is to develop a real time fault monitoring and diagnosis knowledge-based system (KBS) for space power systems which can save costly operational manpower and can achieve more reliable space power system operation. The proposed KBS was developed using the Autonomously Managed Power System (AMPS) test facility currently installed at NASA Marshall Space Flight Center (MSFC), but the basic approach taken for this project could be applicable for other space power systems. The proposed KBS is entitled Autonomously Managed Power-System Extendible Real-time Expert System (AMPERES). In Phase 1 the emphasis was put on the design of the overall KBS, the identification of the basic research required, the initial performance of the research, and the development of a prototype KBS. In Phase 2, emphasis is put on the completion of the research initiated in Phase 1, and the enhancement of the prototype KBS developed in Phase 1. This enhancement is intended to achieve a working real time KBS incorporated with the NASA space power system test facilities. Three major research areas were identified and progress was made in each area. These areas are real time data acquisition and its supporting data structure; sensor value validations; development of inference scheme for effective fault monitoring and diagnosis, and its supporting knowledge representation scheme.

Future Roles for Autonomous Vertical Lift in Disaster Relief and Emergency Response

NASA Technical Reports Server (NTRS)

Young, Larry A.

2006-01-01

System analysis concepts are applied to the assessment of potential collaborative contributions of autonomous system and vertical lift (a.k.a. rotorcraft, VTOL, powered-lift, etc.) technologies to the important, and perhaps underemphasized, application domain of disaster relief and emergency response. In particular, an analytic framework is outlined whereby system design functional requirements for an application domain can be derived from defined societal good goals and objectives.

Overview of Intelligent Power Controller Development for the Deep Space Gateway

NASA Technical Reports Server (NTRS)

Csank, Jeffrey

2017-01-01

Intelligent, or autonomous, control of a spacecraft is an enabling technology that must be developed for deep space human exploration. NASAs 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 control of all the vehicle core systems, including power, to be controlled by the ground. As focus shifts from Low Earth Orbit, communication time-lag and communication bandwidth limitations beyond geosynchronous orbit does not permit this type of operation. This presentation contains ongoing work at NASA to develop an architecture for autonomous power control and the vehicle manager which monitors, coordinates, and delegates to all the on-board subsystems to enable autonomous control of the complete spacecraft.

Association of autonomic nervous system and EEG scalp potential during playing 2D Grand Turismo 5.

PubMed

Subhani, Ahmad Rauf; Likun, Xia; Saeed Malik, Aamir

2012-01-01

Cerebral activation and autonomic nervous system have importance in studies such as mental stress. The aim of this study is to analyze variations in EEG scalp potential which may influence autonomic activation of heart while playing video games. Ten healthy participants were recruited in this study. Electroencephalogram (EEG) and electrocardiogram (ECG) signals were measured simultaneously during playing video game and rest conditions. Sympathetic and parasympathetic innervations of heart were evaluated from heart rate variability (HRV), derived from the ECG. Scalp potential was measured by the EEG. The results showed a significant upsurge in the value theta Fz/alpha Pz (p<0.001) while playing game. The results also showed tachycardia while playing video game as compared to rest condition (p<0.005). Normalized low frequency power and ratio of low frequency/high frequency power were significantly increased while playing video game and normalized high frequency power sank during video games. Results showed synchronized activity of cerebellum and sympathetic and parasympathetic innervation of heart.

Low-power cryptographic coprocessor for autonomous wireless sensor networks

NASA Astrophysics Data System (ADS)

Olszyna, Jakub; Winiecki, Wiesław

2013-10-01

The concept of autonomous wireless sensor networks involves energy harvesting, as well as effective management of system resources. Public-key cryptography (PKC) offers the advantage of elegant key agreement schemes with which a secret key can be securely established over unsecure channels. In addition to solving the key management problem, the other major application of PKC is digital signatures, with which non-repudiation of messages exchanges can be achieved. The motivation for studying low-power and area efficient modular arithmetic algorithms comes from enabling public-key security for low-power devices that can perform under constrained environment like autonomous wireless sensor networks. This paper presents a cryptographic coprocessor tailored to the autonomous wireless sensor networks constraints. Such hardware circuit is aimed to support the implementation of different public-key cryptosystems based on modular arithmetic in GF(p) and GF(2m). Key components of the coprocessor are described as GEZEL models and can be easily transformed to VHDL and implemented in hardware.

Energy-autonomous wireless sensor nodes for automotive applications, powered by thermoelectric energy harvesting

NASA Astrophysics Data System (ADS)

Mehne, P.; Lickert, F.; Bäumker, E.; Kroener, M.; Woias, P.

2016-11-01

In this paper we will first present the measurement of temperatures on different positions at a diesel-powered car. As a result, several locations are identified as suitable to implement a wireless sensor node powered by thermal energy harvesting. Based on the data gained a thermoelectric generator (TEG) has been selected, and measurements of energy generation have been performed. Further, a complete energy-autonomous wireless sensor node was designed, including the TEG with its mounting bracket, an electronic power management, and a Bluetooth Low Energy (BLE) sensor node. Based on temperature differences from -10 K up to 75.3 K occurring in test drives, a low power set up was chosen to achieve a system startup time below 10 minutes and to ensure service even under difficult ambient conditions, like high ambient temperatures or a slow movement of the car in stocking traffic. 2 minutes after starting the engine a power about of 10 mW is available from the chosen TEG, and in peak the power exceeds 1 W. In a 50 minute test drive it was possible to generate 650 J of energy. This information was used to develop the complete system, demonstrating the opportunity to deploy energy-autonomous wireless sensor nodes in a car, e.g. for exhaust gas monitoring. The system is used to gather sensor data, like temperature and humidity, and transmits data successfully via BLE to a prepared main node based on a Raspberry Pi.

Relationship between cardiac autonomic function and cognitive function in Alzheimer's disease.

PubMed

Nonogaki, Zen; Umegaki, Hiroyuki; Makino, Taeko; Suzuki, Yusuke; Kuzuya, Masafumi

2017-01-01

Alzheimer's disease (AD) affects many central nervous structures and neurotransmitter systems. These changes affect not only cognitive function, but also cardiac autonomic function. However, the functional relationship between cardiac autonomic function and cognition in AD has not yet been investigated. The objective of the present study was to evaluate the association between cardiac autonomic function measured by heart rate variability and cognitive function in AD. A total of 78 AD patients were recruited for this study. Cardiac autonomic function was evaluated using heart rate variability analysis. Multiple linear regression analysis was used to model the association between heart rate variability and cognitive function (global cognitive function, memory, executive function and processing speed), after adjustment for covariates. Global cognitive function was negatively associated with sympathetic modulation (low-to-high frequency power ratio). Memory performance was positively associated with parasympathetic modulation (high frequency power) and negatively associated with sympathetic modulation (low-to-high frequency power ratio). These associations were independent of age, sex, educational years, diabetes, hypertension and cholinesterase inhibitor use. Cognitive function, especially in the areas of memory, is associated with cardiac autonomic function in AD. Specifically, lower cognitive performance was found to be associated with significantly higher cardiac sympathetic and lower parasympathetic function in AD. Geriatr Gerontol Int 2017; 17: 92-98. © 2015 Japan Geriatrics Society.

A programmable palm-size gas analyzer for use in micro-autonomous systems

NASA Astrophysics Data System (ADS)

Gordenker, Robert J. M.; Wise, Kensall D.

2012-06-01

Gas analysis systems having small size, low power, and high selectivity are badly needed for defense (detection of explosives and chemical warfare agents), homeland security, health care, and environmental applications. This paper presents a palm-size gas chromatography system having analysis times of 5-50sec, detection limits less than 1ppb, and an average power dissipation less than one watt. It uses no consumables. The three-chip fluidic system consists of a preconcentrator, a 25cm-3m separation column, and a chemi-resistive detector and is supported by a microcomputer and circuitry for programmable temperature control. The entire system, including the mini-pump and battery, occupies less than 200cc and is configured for use on autonomous robotic vehicles.

Highly Efficient Wireless Powering for Autonomous Structural Health Monitoring and Test/Evaluation Systems

DTIC Science & Technology

2016-07-27

ADDRESS (ES) U.S. Army Research Office P.O. Box 12211 Research Triangle Park, NC 27709-2211 Wireless Power Transfer , Structural Health Monitoring...efficient strongly coupled magnetic resonant systems, Wireless Power Transfer , (03 2014): 0. doi: 10.1017/wpt.2014.3 TOTAL: 1 Received Paper TOTAL...2016 Received Paper . Miniaturized Strongly Coupled Magnetic Resonant Systems for Wireless Power Transfer , 2016 IEEE Antennas Propagat. Society

Power supply of autonomous systems using solar modules

NASA Astrophysics Data System (ADS)

Yurchenko, A. V.; Zotov, L. G.; Mekhtiev, A. D.; Yugai, V. V.; Tatkeeva, G. G.

2015-04-01

The article shows the methods of constructing autonomous decentralized energy systems from solar modules. It shows the operation of up DC inverter. It demonstrates the effectiveness of DC inverters with varying structure. The system has high efficiency and low level of conductive impulse noise and at the same time the system is practically feasible. Electrical processes have been analyzed to determine the characteristics of operating modes of the main circuit elements. Recommendations on using the converters have been given.

Application of Power Geometry and Normal Form Methods to the Study of Nonlinear ODEs

NASA Astrophysics Data System (ADS)

Edneral, Victor

2018-02-01

This paper describes power transformations of degenerate autonomous polynomial systems of ordinary differential equations which reduce such systems to a non-degenerative form. Example of creating exact first integrals of motion of some planar degenerate system in a closed form is given.

Autonomous self-powered structural health monitoring system

NASA Astrophysics Data System (ADS)

Qing, Xinlin P.; Anton, Steven R.; Zhang, David; Kumar, Amrita; Inman, Daniel J.; Ooi, Teng K.

2010-03-01

Structural health monitoring technology is perceived as a revolutionary method of determining the integrity of structures involving the use of multidisciplinary fields including sensors, materials, system integration, signal processing and interpretation. The core of the technology is the development of self-sufficient systems for the continuous monitoring, inspection and damage detection of structures with minimal labor involvement. A major drawback of the existing technology for real-time structural health monitoring is the requirement for external electrical power input. For some applications, such as missiles or combat vehicles in the field, this factor can drastically limit the use of the technology. Having an on-board electrical power source that is independent of the vehicle power system can greatly enhance the SHM system and make it a completely self-contained system. In this paper, using the SMART layer technology as a basis, an Autonomous Self-powered (ASP) Structural Health Monitoring (SHM) system has been developed to solve the major challenge facing the transition of SHM systems into field applications. The architecture of the self-powered SHM system was first designed. There are four major components included in the SHM system: SMART Layer with sensor network, low power consumption diagnostic hardware, rechargeable battery with energy harvesting device, and host computer with supporting software. A prototype of the integrated self-powered active SHM system was built for performance and functionality testing. Results from the evaluation tests demonstrated that a fully charged battery system is capable of powering the SHM system for active scanning up to 10 hours.

Development of a component centered fault monitoring and diagnosis knowledge based system for space power system

NASA Technical Reports Server (NTRS)

Lee, S. C.; Lollar, Louis F.

1988-01-01

The overall approach currently being taken in the development of AMPERES (Autonomously Managed Power System Extendable Real-time Expert System), a knowledge-based expert system for fault monitoring and diagnosis of space power systems, is discussed. The system architecture, knowledge representation, and fault monitoring and diagnosis strategy are examined. A 'component-centered' approach developed in this project is described. Critical issues requiring further study are identified.

Autonomic Cluster Management System (ACMS): A Demonstration of Autonomic Principles at Work

NASA Technical Reports Server (NTRS)

Baldassari, James D.; Kopec, Christopher L.; Leshay, Eric S.; Truszkowski, Walt; Finkel, David

2005-01-01

Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of achieving significant computational capabilities for high-performance computing applications, while simultaneously affording the ability to. increase that capability simply by adding more (inexpensive) processors. However, the task of manually managing and con.guring a cluster quickly becomes impossible as the cluster grows in size. Autonomic computing is a relatively new approach to managing complex systems that can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Automatic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management.

Autonomous, Decentralized Grid Architecture: Prosumer-Based Distributed Autonomous Cyber-Physical Architecture for Ultra-Reliable Green Electricity Networks

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

2012-01-11

GENI Project: Georgia Tech is developing a decentralized, autonomous, internet-like control architecture and control software system for the electric power grid. Georgia Tech’s new architecture is based on the emerging concept of electricity prosumers—economically motivated actors that can produce, consume, or store electricity. Under Georgia Tech’s architecture, all of the actors in an energy system are empowered to offer associated energy services based on their capabilities. The actors achieve their sustainability, efficiency, reliability, and economic objectives, while contributing to system-wide reliability and efficiency goals. This is in marked contrast to the current one-way, centralized control paradigm.

Energy Autonomous Wireless Sensing System Enabled by Energy Generated during Human Walking

NASA Astrophysics Data System (ADS)

Kuang, Yang; Ruan, Tingwen; Chew, Zheng Jun; Zhu, Meiling

2016-11-01

Recently, there has been a huge amount of work devoted to wearable energy harvesting (WEH) in a bid to establish energy autonomous wireless sensing systems for a range of health monitoring applications. However, limited work has been performed to implement and test such systems in real-world settings. This paper reports the development and real-world characterisation of a magnetically plucked wearable knee-joint energy harvester (Mag-WKEH) powered wireless sensing system, which integrates our latest research progresses in WEH, power conditioning and wireless sensing to achieve high energy efficiency. Experimental results demonstrate that with walking speeds of 3∼7 km/h, the Mag-WKEH generates average power of 1.9∼4.5 mW with unnoticeable impact on the wearer and is able to power the wireless sensor node (WSN) with three sensors to work at duty cycles of 6.6%∼13%. In each active period of 2 s, the WSN is able to measure and transmit 482 readings to the base station.

Immobile Robots: AI in the New Millennium

NASA Technical Reports Server (NTRS)

Williams, Brian C.; Nayak, P. Pandurang

1996-01-01

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.

A Briefing on Metrics and Risks for Autonomous Decision-Making in Aerospace Applications

NASA Technical Reports Server (NTRS)

Frost, Susan; Goebel, Kai Frank; Galvan, Jose Ramon

2012-01-01

Significant technology advances will enable future aerospace systems to safely and reliably make decisions autonomously, or without human interaction. The decision-making may result in actions that enable an aircraft or spacecraft in an off-nominal state or with slightly degraded components to achieve mission performance and safety goals while reducing or avoiding damage to the aircraft or spacecraft. Some key technology enablers for autonomous decision-making include: a continuous state awareness through the maturation of the prognostics health management field, novel sensor development, and the considerable gains made in computation power and data processing bandwidth versus system size. Sophisticated algorithms and physics based models coupled with these technological advances allow reliable assessment of a system, subsystem, or components. Decisions that balance mission objectives and constraints with remaining useful life predictions can be made autonomously to maintain safety requirements, optimal performance, and ensure mission objectives. This autonomous approach to decision-making will come with new risks and benefits, some of which will be examined in this paper. To start, an account of previous work to categorize or quantify autonomy in aerospace systems will be presented. In addition, a survey of perceived risks in autonomous decision-making in the context of piloted aircraft and remotely piloted or completely autonomous unmanned autonomous systems (UAS) will be presented based on interviews that were conducted with individuals from industry, academia, and government.

SMART Power Systems for ANTS Missions

NASA Astrophysics Data System (ADS)

Clark, P. E.; Floyd, S. R.; Curtis, S. A.; Rilee, M. L.

2005-02-01

Autonomous NanoTechnology Swarm (ANTS) Architecture is based on Addressable Reconfigurable Technology (ART) adaptable for the full spectrum of activities in space. ART systems based on currently available electromechanical (EMS) technology could support human crews on the lunar surface within the next 10 to 15 years. Two or more decades from now, NEMS (Super Miniaturized ART or SMART) technology could perform fully autonomous surveys and operations beyond the reach of human crews. Power system requirements would range from 1 kg to generate tens of Watts for near term ART applications, such as a lunar or Mars Lander Amorphous Rover Antenna (LARA), to <0.1 kg to generate hundreds of mWatts for more advanced SMART applications.

Music Attenuated a Decrease in Parasympathetic Nervous System Activity after Exercise.

PubMed

Jia, Tiantian; Ogawa, Yoshiko; Miura, Misa; Ito, Osamu; Kohzuki, Masahiro

2016-01-01

Music and exercise can both affect autonomic nervous system activity. However, the effects of the combination of music and exercise on autonomic activity are poorly understood. Additionally, it remains unknown whether music affects post-exercise orthostatic tolerance. The aim of this study was to evaluate the effects of music on autonomic nervous system activity in orthostatic tolerance after exercise. Twenty-six healthy graduate students participated in four sessions in a random order on four separate days: a sedentary session, a music session, a bicycling session, and a bicycling with music session. Participants were asked to listen to their favorite music and to exercise on a cycle ergometer. We evaluated autonomic nervous system activity before and after each session using frequency analysis of heart rate variability. High frequency power, an index of parasympathetic nervous system activity, was significantly increased in the music session. Heart rate was increased, and high frequency power was decreased, in the bicycling session. There was no significant difference in high frequency power before and after the bicycling with music session, although heart rate was significantly increased. Additionally, both music and exercise did not significantly affect heart rate, systolic blood pressure or also heart rate variability indices in the orthostatic test. These data suggest that music increased parasympathetic activity and attenuated the exercise-induced decrease in parasympathetic activity without altering the orthostatic tolerance after exercise. Therefore, music may be an effective approach for improving post-exercise parasympathetic reactivation, resulting in a faster recovery and a reduction in cardiac stress after exercise.

Results of an electrical power system fault study (CDDF)

NASA Technical Reports Server (NTRS)

Dugal-Whitehead, N. R.; Johnson, Y. B.

1993-01-01

This report gives the results of an electrical power system fault study which has been conducted over the last 2 and one-half years. First, the results of the literature search into electrical power system faults in space and terrestrial power system applications are reported. A description of the intended implementations of the power system faults into the Large Autonomous Spacecraft Electrical Power System (LASEPS) breadboard is then presented. Then, the actual implementation of the faults into the breadboard is discussed along with a discussion describing the LASEPS breadboard. Finally, the results of the injected faults and breadboard failures are discussed.

Expert systems for MSFC power systems

NASA Technical Reports Server (NTRS)

Weeks, David J.

1988-01-01

Future space vehicles and platforms including Space Station will possess complex power systems. These systems will require a high level of autonomous operation to allow the crew to concentrate on mission activities and to limit the number of ground support personnel to a reasonable number. The Electrical Power Branch at NASA-Marshall is developing advanced automation approaches which will enable the necessary levels of autonomy. These approaches include the utilization of knowledge based or expert systems.

Power Provision Based on Self-Sacrificing Craft

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterrit, Roy (Inventor); Vassev, Emil I. (Inventor); Hinchey, Bridget (Inventor)

2015-01-01

A biologically-inspired system and method is provided for self-adapting behavior of swarm-based exploration missions, whereby individual components, for example, spacecraft, in the system can sacrifice themselves for the greater good of the entire system. The self-sacrifice can involve donating resources or assets, such as power provisions, to a different component of an autonomous system. A receiving component of the system can benefit from receiving the donated resource or power provision.

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

Large autonomous spacecraft electrical power system (LASEPS)

NASA Technical Reports Server (NTRS)

Dugal-Whitehead, Norma R.; Johnson, Yvette B.

1992-01-01

NASA - Marshall Space Flight Center is creating a large high voltage electrical power system testbed called LASEPS. This testbed is being developed to simulate an end-to-end power system from power generation and source to loads. When the system is completed it will have several power configurations, which will include several battery configurations. These configurations are: two 120 V batteries, one or two 150 V batteries, and one 250 to 270 V battery. This breadboard encompasses varying levels of autonomy from remote power converters to conventional software control to expert system control of the power system elements. In this paper, the construction and provisions of this breadboard are discussed.

Electric Transport Traction Power Supply System With Distributed Energy Sources

NASA Astrophysics Data System (ADS)

Abramov, E. Y.; Schurov, N. I.; Rozhkova, M. V.

2016-04-01

The paper states the problem of traction substation (TSS) leveling of daily-load curve for urban electric transport. The circuit of traction power supply system (TPSS) with distributed autonomous energy source (AES) based on photovoltaic (PV) and energy storage (ES) units is submitted here. The distribution algorithm of power flow for the daily traction load curve leveling is also introduced in this paper. In addition, it illustrates the implemented experiment model of power supply system.

Defeating Insider Attacks via Autonomic Self-Protective Networks

ERIC Educational Resources Information Center

Sibai, Faisal M.

2012-01-01

There has been a constant growing security concern with insider attacks on network accessible computer systems. Users with power credentials can do almost anything they want with the systems they own with very little control or oversight. Most breaches occurring nowadays by power users are considered legitimate access and not necessarily…

Automating a spacecraft electrical power system using expert systems

NASA Technical Reports Server (NTRS)

Lollar, L. F.

1991-01-01

Since Skylab, Marshall Space Flight Center (MSFC) has recognized the need for large electrical power systems (EPS's) in upcoming Spacecraft. The operation of the spacecraft depends on the EPS. Therefore, it must be efficient, safe, and reliable. In 1978, as a consequence of having to supply a large number of EPS personnel to monitor and control Skylab, the Electrical power Branch of MSFC began the autonomously managed power system (AMPS) project. This project resulted in the assembly of a 25-kW high-voltage dc test facility and provided the means of getting man out of the loop as much as possible. AMPS includes several embedded controllers which allow a significant level of autonomous operation. More recently, the Electrical Division at MSFC has developed the space station module power management and distribution (SSM/PMAD) breadboard to investigate managing and distributing power in the Space Station Freedom habitation and laboratory modules. Again, the requirement for a high level of autonomy for the efficient operation over the lifetime of the station and for the benefits of enhanced safety has been demonstrated. This paper describes the two breadboards and the hierarchical approach to automation which was developed through these projects.

A study of the selection of microcomputer architectures to automate planetary spacecraft power systems

NASA Technical Reports Server (NTRS)

Nauda, A.

1982-01-01

Performance and reliability models of alternate microcomputer architectures as a methodology for optimizing system design were examined. A methodology for selecting an optimum microcomputer architecture for autonomous operation of planetary spacecraft power systems was developed. Various microcomputer system architectures are analyzed to determine their application to spacecraft power systems. It is suggested that no standardization formula or common set of guidelines exists which provides an optimum configuration for a given set of specifications.

Autonomous power expert system advanced development

NASA Technical Reports Server (NTRS)

Quinn, Todd M.; Walters, Jerry L.

1991-01-01

The autonomous power expert (APEX) system is being developed at Lewis Research Center to function as a fault diagnosis advisor for a space power distribution test bed. APEX is a rule-based system capable of detecting faults and isolating the probable causes. APEX also has a justification facility to provide natural language explanations about conclusions reached during fault isolation. To help maintain the health of the power distribution system, additional capabilities were added to APEX. These capabilities allow detection and isolation of incipient faults and enable the expert system to recommend actions/procedure to correct the suspected fault conditions. New capabilities for incipient fault detection consist of storage and analysis of historical data and new user interface displays. After the cause of a fault is determined, appropriate recommended actions are selected by rule-based inferencing which provides corrective/extended test procedures. Color graphics displays and improved mouse-selectable menus were also added to provide a friendlier user interface. A discussion of APEX in general and a more detailed description of the incipient detection, recommended actions, and user interface developments during the last year are presented.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application.

PubMed

Vivacqua, Rafael; Vassallo, Raquel; Martins, Felipe

2017-10-16

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle's backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application

PubMed Central

Vassallo, Raquel

2017-01-01

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle’s backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation. PMID:29035334

Autonomous low-power magnetic data collection platform to enable remote high latitude array deployment.

PubMed

Musko, Stephen B; Clauer, C Robert; Ridley, Aaron J; Arnett, Kennneth L

2009-04-01

A major driver in the advancement of geophysical sciences is improvement in the quality and resolution of data for use in scientific analysis, discovery, and for assimilation into or validation of empirical and physical models. The need for more and better measurements together with improvements in technical capabilities is driving the ambition to deploy arrays of autonomous geophysical instrument platforms in remote regions. This is particularly true in the southern polar regions where measurements are presently sparse due to the remoteness, lack of infrastructure, and harshness of the environment. The need for the acquisition of continuous long-term data from remote polar locations exists across geophysical disciplines and is a generic infrastructure problem. The infrastructure, however, to support autonomous instrument platforms in polar environments is still in the early stages of development. We report here the development of an autonomous low-power magnetic variation data collection system. Following 2 years of field testing at the south pole station, the system is being reproduced to establish a dense chain of stations on the Antarctic plateau along the 40 degrees magnetic meridian. The system is designed to operate for at least 5 years unattended and to provide data access via satellite communication. The system will store 1 s measurements of the magnetic field variation (<0.2 nT resolution) in three vector components plus a variety of engineering status and environment parameters. We believe that the data collection platform can be utilized by a variety of low-power instruments designed for low-temperature operation. The design, technical characteristics, and operation results are presented here.

System identification of closed-loop cardiovascular control mechanisms: diabetic autonomic neuropathy

NASA Technical Reports Server (NTRS)

Mukkamala, R.; Mathias, J. M.; Mullen, T. J.; Cohen, R. J.; Freeman, R.

1999-01-01

We applied cardiovascular system identification (CSI) to characterize closed-loop cardiovascular regulation in patients with diabetic autonomic neuropathy (DAN). The CSI method quantitatively analyzes beat-to-beat fluctuations in noninvasively measured heart rate, arterial blood pressure (ABP), and instantaneous lung volume (ILV) to characterize four physiological coupling mechanisms, two of which are autonomically mediated (the heart rate baroreflex and the coupling of respiration, measured in terms of ILV, to heart rate) and two of which are mechanically mediated (the coupling of ventricular contraction to the generation of the ABP wavelet and the coupling of respiration to ABP). We studied 37 control and 60 diabetic subjects who were classified as having minimal, moderate, or severe DAN on the basis of standard autonomic tests. The autonomically mediated couplings progressively decreased with increasing severity of DAN, whereas the mechanically mediated couplings were essentially unchanged. CSI identified differences between the minimal DAN and control groups, which were indistinguishable based on the standard autonomic tests. CSI may provide a powerful tool for assessing DAN.

A light-driven artificial flytrap

PubMed Central

Wani, Owies M.; Zeng, Hao; Priimagi, Arri

2017-01-01

The sophistication, complexity and intelligence of biological systems is a continuous source of inspiration for mankind. Mimicking the natural intelligence to devise tiny systems that are capable of self-regulated, autonomous action to, for example, distinguish different targets, remains among the grand challenges in biomimetic micro-robotics. Herein, we demonstrate an autonomous soft device, a light-driven flytrap, that uses optical feedback to trigger photomechanical actuation. The design is based on light-responsive liquid-crystal elastomer, fabricated onto the tip of an optical fibre, which acts as a power source and serves as a contactless probe that senses the environment. Mimicking natural flytraps, this artificial flytrap is capable of autonomous closure and object recognition. It enables self-regulated actuation within the fibre-sized architecture, thus opening up avenues towards soft, autonomous small-scale devices. PMID:28534872

Electric Eel-Skin-Inspired Mechanically Durable and Super-Stretchable Nanogenerator for Deformable Power Source and Fully Autonomous Conformable Electronic-Skin Applications.

PubMed

Lai, Ying-Chih; Deng, Jianan; Niu, Simiao; Peng, Wenbo; Wu, Changsheng; Liu, Ruiyuan; Wen, Zhen; Wang, Zhong Lin

2016-12-01

Electric eel-skin-inspired mechanically durable and super-stretchable nanogenerator is demonstrated for the first time by using triboelectric effect. This newly designed nanogenerator can produce electricity by touch or tapping despite under various extreme mechanical deformations or even after experiencing damage. This device can be used not only as deformable and wearable power source but also as fully autonomous and self-sufficient adaptive electronic skin system. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Reducing Size, Weight, and Power (SWaP) of Perception Systems in Small Autonomous Aerial Systems

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Gross, Jason

2014-01-01

The objectives are to examine recent trends in the reduction of size, weight, and power (SWaP) requirements of sensor systems for environmental perception and to explore new technology that may overcome limitations in current systems. Improving perception systems to facilitate situation awareness is critical in the move to introduce increasing autonomy in aerial systems. Whether the autonomy is in the current state-of-the-art of increasing automation or is enabling cognitive decisions that facilitate adaptive behavior, collection of environmental information and fusion of that information into knowledge that can direct actuation is imperative to decisions resulting in appropriate behavior. Artificial sensory systems such as cameras, radar, LIDAR, and acoustic sensors have been in use on aircraft for many years but, due to the large size and weight of the airplane and electrical power made available through powerful engines, the SWaP requirements of these sensors was inconsequential. With the proliferation of Remote Piloted Vehicles (RPV), the trend is in significant reduction in SWaP of the vehicles. This requires at least an equivalent reduction in SWaP for the sensory systems. A survey of some currently available sensor systems and changing technology will reveal the trend toward reduction of SWaP of these systems and will predict future reductions. A new technology will be introduced that provides an example of a desirable new trend. A new device replaces multiple conventional sensory devices facilitating synchronization, localization, altimetry, collision avoidance, terrain mapping, and data communication in a single integrated, small form-factor, extremely lightweight, and low power device that it is practical for integration into small autonomous vehicles and can facilitate cooperative behavior. The technology is based on Ultra WideBand (UWB) radio using short pulses of energy rather than continuous sine waves. The characteristics of UWB yield several desirable characteristics to facilitate integration of perception for autonomous activities. The capabilities of this device and its limitations will be assessed.

Proceedings of the 8th Annual Summer Conference: NASA/USRA Advanced Design Program

NASA Technical Reports Server (NTRS)

1992-01-01

Papers presented at the 8th Annual Summer Conference are categorized as Space Projects and Aeronautics projects. Topics covered include: Systematic Propulsion Optimization Tools (SPOT), Assured Crew Return Vehicle Post Landing Configuration Design and Test, Autonomous Support for Microorganism Research in Space, Bioregenerative System Components for Microgravity, The Extended Mission Rover (EMR), Planetary Surface Exploration MESUR/Autonomous Lunar Rover, Automation of Closed Environments in Space for Human Comfort and Safety, Walking Robot Design, Extraterrestrial Surface Propulsion Systems, The Design of Four Hypersonic Reconnaissance Aircraft, Design of a Refueling Tanker Delivering Liquid Hydrogen, The Design of a Long-Range Megatransport Aircraft, and Solar Powered Multipurpose Remotely Powered Aircraft.

On-Orbit Autonomous Assembly from Nanosatellites

NASA Technical Reports Server (NTRS)

Murchison, Luke S.; Martinez, Andres; Petro, Andrew

2015-01-01

The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

Intelligent data reduction for autonomous power systems

NASA Technical Reports Server (NTRS)

Floyd, Stephen A.

1988-01-01

Since 1984 Marshall Space Flight Center was actively engaged in research and development concerning autonomous power systems. Much of the work in this domain has dealt with the development and application of knowledge-based or expert systems to perform tasks previously accomplished only through intensive human involvement. One such task is the health status monitoring of electrical power systems. Such monitoring is a manpower intensive task which is vital to mission success. The Hubble Space Telescope testbed and its associated Nickel Cadmium Battery Expert System (NICBES) were designated as the system on which the initial proof of concept for intelligent power system monitoing will be established. The key function performed by an engineer engaged in system monitoring is to analyze the raw telemetry data and identify from the whole only those elements which can be considered significant. This function requires engineering expertise on the functionality of the system, the mode of operation and the efficient and effective reading of the telemetry data. Application of this expertise to extract the significant components of the data is referred to as data reduction. Such a function possesses characteristics which make it a prime candidate for the application of knowledge-based systems' technologies. Such applications are investigated and recommendations are offered for the development of intelligent data reduction systems.

Autonomous power system brassboard

NASA Technical Reports Server (NTRS)

Merolla, Anthony

1992-01-01

The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the brassboard hardware and intelligent controlling software, fault circuits have been developed and integrated as part of the brassboard. A description of these fault circuits and their function is included. The brassboard has become an extremely useful test facility, promoting artificial intelligence (AI) applications for power distribution systems. However, there are elements of the brassboard which could be enhanced, thus improving system performance. Modifications and enhancements to improve the brassboard's operation are discussed.

Automated distribution system management for multichannel space power systems

NASA Technical Reports Server (NTRS)

Fleck, G. W.; Decker, D. K.; Graves, J.

1983-01-01

A NASA sponsored study of space power distribution system technology is in progress to develop an autonomously managed power system (AMPS) for large space power platforms. The multichannel, multikilowatt, utility-type power subsystem proposed presents new survivability requirements and increased subsystem complexity. The computer controls under development for the power management system must optimize the power subsystem performance and minimize the life cycle cost of the platform. A distribution system management philosophy has been formulated which incorporates these constraints. Its implementation using a TI9900 microprocessor and FORTH as the programming language is presented. The approach offers a novel solution to the perplexing problem of determining the optimal combination of loads which should be connected to each power channel for a versatile electrical distribution concept.

Space Station module Power Management And Distribution (PMAD) system

NASA Technical Reports Server (NTRS)

Walls, Bryan

1990-01-01

This project consists of several tasks which are unified toward experimentally demonstrating the operation of a highly autonomous, user-supportive power management and distribution system for Space Station Freedom (SSF) habitation/laboratory modules. This goal will be extended to a demonstration of autonomous, cooperative power system operation for the whole SSF power system through a joint effort with NASA's Lewis Research Center, using their Autonomous Power System. Short term goals for the space station module power management and distribution include having an operational breadboard reflecting current plans for SSF, improving performance of the system communications, and improving the organization and mutability of the artificial intelligence (AI) systems. In the middle term, intermediate levels of autonomy will be added, user interfaces will be modified, and enhanced modeling capabilities will be integrated in the system. Long term goals involve conversion of all software into Ada, vigorous verification and validation efforts and, finally, seeing an impact of this research on the operation of SSF. Conversion of the system to a DC Star configuration is now in progress, and should be completed by the end of October, 1989. This configuration reflects the latest SSF module architecture. Hardware is now being procured which will improve system communications significantly. The Knowledge-Based Management System (KBMS) is initially developed and the rules from FRAMES have been implemented in the KBMS. Rules in the other two AI systems are also being grouped modularly, making them more tractable, and easier to eventually move into the KBMS. Adding an intermediate level of autonomy will require development of a planning utility, which will also be built using the KBMS. These changes will require having the user interface for the whole system available from one interface. An Enhanced Model will be developed, which will allow exercise of the system through the interface without requiring all of the power hardware to be operational. The functionality of the AI systems will continue to be advanced, including incipient failure detection. Ada conversion will begin with the lowest level processor (LLP) code. Then selected pieces of the higher level functionality will be recorded in Ada and, where possible, moved to the LLP level. Validation and verification will be done on the Ada code, and will complete sometimes after completion of the Ada conversion.

Intrinsic cardiovascular autonomic regulatory system of astronauts exposed long-term to microgravity in space: observational study.

PubMed

Otsuka, Kuniaki; Cornelissen, Germaine; Kubo, Yutaka; Hayashi, Mitsutoshi; Yamamoto, Naomune; Shibata, Koichi; Aiba, Tatsuya; Furukawa, Satoshi; Ohshima, Hiroshi; Mukai, Chiaki

2015-01-01

The fractal scaling of the long-term heart rate variability (HRV) reflects the 'intrinsic' autonomic regulatory system. Herein, we examine how microgravity on the ISS affected the power-law scaling β (beta) of astronauts during a long-duration (about 6 months) spaceflight. Ambulatory electrocardiographic (ECG) monitoring was performed on seven healthy astronauts (5 men, 52.0±4.2 years of age) five times: before launch, 24±5 (F01) and 73±5 (F02) days after launch, 15±5 days before return (F03), and after return to Earth. The power-law scaling β was calculated as the slope of the regression line of the power density of the MEM spectrum versus frequency plotted on a log 10 -log 10 scale in the range of 0.0001-0.01 Hz (corresponding to periods of 2.8 h to 1.6 min). β was less negative in space (-0.949±0.061) than on Earth (-1.163±0.075; P <0.025). The difference was more pronounced during the awake than during the rest/sleep span. The circadian amplitude and acrophase (phase of maximum) of β did not differ in space as compared with Earth. An effect of microgravity was detected within 1 month (F01) in space and continued throughout the spaceflight. The intrinsic autonomic regulatory system that protects life under serious environmental conditions on Earth is altered in the microgravity environment, with no change over the 6-month spaceflight. It is thus important to find a way to improve conditions in space and/or in terms of human physiology, not to compromise the intrinsic autonomic regulatory system now that plans are being made to inhabit another planet in the near future.

Intrinsic cardiovascular autonomic regulatory system of astronauts exposed long-term to microgravity in space: observational study

PubMed Central

Otsuka, Kuniaki; Cornelissen, Germaine; Kubo, Yutaka; Hayashi, Mitsutoshi; Yamamoto, Naomune; Shibata, Koichi; Aiba, Tatsuya; Furukawa, Satoshi; Ohshima, Hiroshi; Mukai, Chiaki

2015-01-01

The fractal scaling of the long-term heart rate variability (HRV) reflects the ‘intrinsic’ autonomic regulatory system. Herein, we examine how microgravity on the ISS affected the power-law scaling β (beta) of astronauts during a long-duration (about 6 months) spaceflight. Ambulatory electrocardiographic (ECG) monitoring was performed on seven healthy astronauts (5 men, 52.0±4.2 years of age) five times: before launch, 24±5 (F01) and 73±5 (F02) days after launch, 15±5 days before return (F03), and after return to Earth. The power-law scaling β was calculated as the slope of the regression line of the power density of the MEM spectrum versus frequency plotted on a log10–log10 scale in the range of 0.0001–0.01 Hz (corresponding to periods of 2.8 h to 1.6 min). β was less negative in space (−0.949±0.061) than on Earth (−1.163±0.075; P<0.025). The difference was more pronounced during the awake than during the rest/sleep span. The circadian amplitude and acrophase (phase of maximum) of β did not differ in space as compared with Earth. An effect of microgravity was detected within 1 month (F01) in space and continued throughout the spaceflight. The intrinsic autonomic regulatory system that protects life under serious environmental conditions on Earth is altered in the microgravity environment, with no change over the 6-month spaceflight. It is thus important to find a way to improve conditions in space and/or in terms of human physiology, not to compromise the intrinsic autonomic regulatory system now that plans are being made to inhabit another planet in the near future. PMID:28725718

Autonomous Collision-Free Navigation of Microvehicles in Complex and Dynamically Changing Environments.

PubMed

Li, Tianlong; Chang, Xiaocong; Wu, Zhiguang; Li, Jinxing; Shao, Guangbin; Deng, Xinghong; Qiu, Jianbin; Guo, Bin; Zhang, Guangyu; He, Qiang; Li, Longqiu; Wang, Joseph

2017-09-26

Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro/nanorobotics in complex and dynamically changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator. The microscope-coupled CCD camera provides real-time localization of the chemically powered Janus microsphere vehicle and environmental detection for path planning to generate optimal collision-free routes, while the moving direction of the microrobot toward a reference position is determined by the external electromagnetic torque. Real-time object detection offers adaptive path planning in response to dynamically changing environments. We demonstrate that the autonomous navigation system can guide the vehicle movement in complex patterns, in the presence of dynamically changing obstacles, and in complex biological environments. Such a navigation system for micro/nanoscale vehicles, relying on vision-based close-loop control and path planning, is highly promising for their autonomous operation in complex dynamic settings and unpredictable scenarios expected in a variety of realistic nanoscale scenarios.

Autonomous sensor-transponder RFID with supply energy conditioning for object navigation systems

NASA Astrophysics Data System (ADS)

Skoczylas, M.; Kamuda, K.; Jankowski-Mihułowicz, P.; Kalita, W.; Weglarski, Mariusz

2014-08-01

The properties of energy conditioning electrical circuits that are developed for powering additional functional blocks of autonomous RFID transponders working in the HF band have been analyzed and presented in the paper. The concept of autonomy is realized by implementing extra functions in the typical transponder. First of all, the autonomous system should harvest energy, e.g. from the electromagnetic field of read/write devices but also the possibility of gathering information about environment should be available, e.g. by measuring different kind of physical quantities. In such an electrical device, the crucial problem consists in energy conditioning because the output voltage-current characteristic of an front-end (antenna with matching and harvesting circuit) as well as the total and instantaneous power load generated by internal circuits are strongly dependent on a realized function but also on energy and communication conditions in the RFID interface. The properly designed solution should improve harvesting efficiency, current leakage of supply storage, matching between antenna and input circuits, in order to save energy and increase operating time in such a battery-free system. The authors present methods how to increase the autonomous operation time even at advanced measuring algorithms. The measuring system with wide spectrum of sensors dedicated for different quantities (physical, chemical, etc.) has also been presented. The results of model calculations and experimental verifications have been also discussed on the basis of investigations conducted in the unique laboratory stand of object navigation systems.

SPICE modelling of a coupled piezoelectric-bimetal heat engine for autonomous Wireless Sensor Nodes (WSN) power supply

NASA Astrophysics Data System (ADS)

Boughaleb, J.; Monfray, S.; Vine, G.; Cottinet, P. J.; Arnaud, A.; Boisseau, S.; Duret, A. B.; Quenard, S.; Puscasu, O.; Maitre, C.; Trochut, S.; Hasbani, F.; Di Gilio, T.; Heinrich, V.; Urard, P.; Grasset, J. C.; Boeuf, F.; Guyomar, D.; Skotnicki, T.

2014-11-01

This paper deals with an electrical modelling and optimization of a thermal energy harvester dedicated to power autonomous systems. Such devices based on bimetal strips and piezoceramics turn thermal gradients into electricity by a two-step conversion mechanism. This work focuses first on a demonstration of a ST-WSN (GreenNet demonstration platform) supplied by the harvester to validate, for the first time, the harvesters viability. That demonstration focuses attention on the need for an optimized power management circuit for piezoelectric generators able to reach output voltages up to 20 V. The work deals then with the proposal of an equivalent lumped element model of the piezoelectric transducer with its SPICE implementation to enable the optimization of a dedicated power management circuit based on the Pulsed Synchronous Charge Extractor (PSCE). Simulations using the SPICE model and the power management circuit lead to an increased extracted power by 144%.

Autonomic nervous system balance in children and adolescents with craniopharyngioma and hypothalamic obesity.

PubMed

Cohen, Michal; Syme, Catriona; McCrindle, Brian W; Hamilton, Jill

2013-06-01

Dysregulation of the autonomic nervous system is thought to be involved in craniopharyngioma-related hypothalamic obesity (CRHO). Increased parasympathetic activity and decreased sympathetic activity have been suggested. We aimed to study autonomic activity using heart rate variability (HRV) and biochemical measures in youth with CRHO compared with controls and to explore relationships between obesity and autonomic indices. A cross-sectional study of 16 youth with CRHO and 16 controls matched for sex, age, and BMI. Anthropometrics, fasting blood-work, resting energy expenditure (REE), 24-h HRV, and 24-h urine catecholamines were assessed. Quality of life, sleepiness, and autonomic symptoms were evaluated. Power spectral analysis of the HRV was performed. HRV power spectral analysis parameters of both parasympathetic activity (mean high frequency (HF (ms(2))) 611±504 vs 459±336, P=0.325) and sympathetic activity (median low frequency/HF 1.62 (1.37, 2.41) vs 1.89 (1.44, 2.99), P=0.650) did not differ between the groups. Parasympathetic activity negatively correlated with central adiposity in both groups (r=-0.53, P=0.034 and r=-0.54, P=0.029) and sympathetic activity positively correlated with central adiposity in CRHO (r=0.51, P=0.043). Youth with CRHO had significantly lower REE; lower health and activity scores in the quality of life questionnaires, and higher sleepiness scores. Autonomic activity was similar in CRHO and control subjects. The degree of central adiposity correlated negatively with parasympathetic activity and positively with sympathetic activity in children with CRHO. These results provide a new perspective regarding autonomic balance in this unique patient population.

Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

We present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks.

Autonomous microfluidic system for phosphate detection.

PubMed

McGraw, Christina M; Stitzel, Shannon E; Cleary, John; Slater, Conor; Diamond, Dermot

2007-02-28

Miniaturization of analytical devices through the advent of microfluidics and micro total analysis systems is an important step forward for applications such as medical diagnostics and environmental monitoring. The development of field-deployable instruments requires that the entire system, including all necessary peripheral components, be miniaturized and packaged in a portable device. A sensor for long-term monitoring of phosphate levels has been developed that incorporates sampling, reagent and waste storage, detection, and wireless communication into a complete, miniaturized system. The device employs a low-power detection and communication system, so the entire instrument can operate autonomously for 7 days on a single rechargeable, 12V battery. In addition, integration of a wireless communication device allows the instrument to be controlled and results to be downloaded remotely. This autonomous system has a limit of detection of 0.3mg/L and a linear dynamic range between 0 and 20mg/L.

The influence of autonomic interventions on the sleep-wake-related changes in gastric myoelectrical activity in rats.

PubMed

Huang, Y M; Yang, C C H; Lai, C J; Kuo, T B J

2011-06-01

Significant changes in autonomic activity occur at sleep-wake transitions and constitute an ideal setting for investigating the modulatory role of the autonomic nervous system on gastric myoelectrical activity (GMA). Using continuous power spectral analysis of electroencephalogram, electromyogram, and electrogastromyogram (EGMG) data from freely moving rats that had undergone chemical sympathetomy and/or truncal vagotomy, sleep-wake-related fluctuations in GMA were compared among the intervention groups. The pattern and extent of fluctuations in EGMG power across the sleep-wake states was blunted most significantly in rats undergoing both chemical sympathectomy and truncal vagotomy. The effect of these interventions also varied with respect to the transition between different sleep-wake states. The most prominent influences were observed between active waking and quiet sleep and between paradoxical sleep and quiet sleep. The sleep-wake-related fluctuations in EGMG power are a result of joint contributions from both sympathetic and vagal innervation. Vagotomy mainly resulted in a reduction in EGMG power, while the role of sympathetic innervation was unveiled by vagotomy and this was reflected most obviously in the extent of the fluctuations in EGMG power. © 2011 Blackwell Publishing Ltd.

Next generation sensing platforms for extended deployments in large-scale, multidisciplinary, adaptive sampling and observational networks

NASA Astrophysics Data System (ADS)

Cross, J. N.; Meinig, C.; Mordy, C. W.; Lawrence-Slavas, N.; Cokelet, E. D.; Jenkins, R.; Tabisola, H. M.; Stabeno, P. J.

2016-12-01

New autonomous sensors have dramatically increased the resolution and accuracy of oceanographic data collection, enabling rapid sampling over extremely fine scales. Innovative new autonomous platofrms like floats, gliders, drones, and crawling moorings leverage the full potential of these new sensors by extending spatiotemporal reach across varied environments. During 2015 and 2016, The Innovative Technology for Arctic Exploration Program at the Pacific Marine Environmental Laboratory tested several new types of fully autonomous platforms with increased speed, durability, and power and payload capacity designed to deliver cutting-edge ecosystem assessment sensors to remote or inaccessible environments. The Expendable Ice-Tracking (EXIT) gloat developed by the NOAA Pacific Marine Environmental Laboratory (PMEL) is moored near bottom during the ice-free season and released on an autonomous timer beneath the ice during the following winter. The float collects a rapid profile during ascent, and continues to collect critical, poorly-accessible under-ice data until melt, when data is transmitted via satellite. The autonomous Oculus sub-surface glider developed by the University of Washington and PMEL has a large power and payload capacity and an enhanced buoyancy engine. This 'coastal truck' is designed for the rapid water column ascent required by optical imaging systems. The Saildrone is a solar and wind powered ocean unmanned surface vessel (USV) developed by Saildrone, Inc. in partnership with PMEL. This large-payload (200 lbs), fast (1-7 kts), durable (46 kts winds) platform was equipped with 15 sensors designed for ecosystem assessment during 2016, including passive and active acoustic systems specially redesigned for autonomous vehicle deployments. The senors deployed on these platforms achieved rigorous accuracy and precision standards. These innovative platforms provide new sampling capabilities and cost efficiencies in high-resolution sensor deployment, including reconnaissance for annual fisheries and marine mammal surveys; better linkages between sustained observing platforms; and adaptive deployments that can easily target anomalies as they arise.

A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems

PubMed Central

Brunelli, Davide

2016-01-01

Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm3. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions. PMID:26959018

A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems.

PubMed

Brunelli, Davide

2016-03-04

Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm³. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions.

Decentralized DC Microgrid Monitoring and Optimization via Primary Control Perturbations

NASA Astrophysics Data System (ADS)

Angjelichinoski, Marko; Scaglione, Anna; Popovski, Petar; Stefanovic, Cedomir

2018-06-01

We treat the emerging power systems with direct current (DC) MicroGrids, characterized with high penetration of power electronic converters. We rely on the power electronics to propose a decentralized solution for autonomous learning of and adaptation to the operating conditions of the DC Mirogrids; the goal is to eliminate the need to rely on an external communication system for such purpose. The solution works within the primary droop control loops and uses only local bus voltage measurements. Each controller is able to estimate (i) the generation capacities of power sources, (ii) the load demands, and (iii) the conductances of the distribution lines. To define a well-conditioned estimation problem, we employ decentralized strategy where the primary droop controllers temporarily switch between operating points in a coordinated manner, following amplitude-modulated training sequences. We study the use of the estimator in a decentralized solution of the Optimal Economic Dispatch problem. The evaluations confirm the usefulness of the proposed solution for autonomous MicroGrid operation.

High performance monolithic power management system with dynamic maximum power point tracking for microbial fuel cells.

PubMed

Erbay, Celal; Carreon-Bautista, Salvador; Sanchez-Sinencio, Edgar; Han, Arum

2014-12-02

Microbial fuel cell (MFC) that can directly generate electricity from organic waste or biomass is a promising renewable and clean technology. However, low power and low voltage output of MFCs typically do not allow directly operating most electrical applications, whether it is supplementing electricity to wastewater treatment plants or for powering autonomous wireless sensor networks. Power management systems (PMSs) can overcome this limitation by boosting the MFC output voltage and managing the power for maximum efficiency. We present a monolithic low-power-consuming PMS integrated circuit (IC) chip capable of dynamic maximum power point tracking (MPPT) to maximize the extracted power from MFCs, regardless of the power and voltage fluctuations from MFCs over time. The proposed PMS continuously detects the maximum power point (MPP) of the MFC and matches the load impedance of the PMS for maximum efficiency. The system also operates autonomously by directly drawing power from the MFC itself without any external power. The overall system efficiency, defined as the ratio between input energy from the MFC and output energy stored into the supercapacitor of the PMS, was 30%. As a demonstration, the PMS connected to a 240 mL two-chamber MFC (generating 0.4 V and 512 μW at MPP) successfully powered a wireless temperature sensor that requires a voltage of 2.5 V and consumes power of 85 mW each time it transmit the sensor data, and successfully transmitted a sensor reading every 7.5 min. The PMS also efficiently managed the power output of a lower-power producing MFC, demonstrating that the PMS works efficiently at various MFC power output level.

Performance Evaluation of Energy-Autonomous Sensors Using Power-Harvesting Beacons for Environmental Monitoring in Internet of Things (IoT).

PubMed

Moiş, George Dan; Sanislav, Teodora; Folea, Silviu Corneliu; Zeadally, Sherali

2018-05-25

Environmental conditions and air quality monitoring have become crucial today due to the undeniable changes of the climate and accelerated urbanization. To efficiently monitor environmental parameters such as temperature, humidity, and the levels of pollutants, such as fine particulate matter (PM2.5) and volatile organic compounds (VOCs) in the air, and to collect data covering vast geographical areas, the development of cheap energy-autonomous sensors for large scale deployment and fine-grained data acquisition is required. Rapid advances in electronics and communication technologies along with the emergence of paradigms such as Cyber-Physical Systems (CPSs) and the Internet of Things (IoT) have led to the development of low-cost sensor devices that can operate unattended for long periods of time and communicate using wired or wireless connections through the Internet. We investigate the energy efficiency of an environmental monitoring system based on Bluetooth Low Energy (BLE) beacons that operate in the IoT environment. The beacons developed measure the temperature, the relative humidity, the light intensity, and the CO₂ and VOC levels in the air. Based on our analysis we have developed efficient sleep scheduling algorithms that allow the sensor nodes developed to operate autonomously without requiring the replacement of the power supply. The experimental results show that low-power sensors communicating using BLE technology can operate autonomously (from the energy perspective) in applications that monitor the environment or the air quality in indoor or outdoor settings.

Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot.

PubMed

Onal, Cagdas D; Rus, Daniela

2013-06-01

Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s(-1).

A Power Regulation and Droop Mode Control Method for a Stand-Alone Load Fed from a PV-Current Source Inverter

NASA Astrophysics Data System (ADS)

Khayamy, Mehdy; Ojo, Olorunfemi

2015-04-01

A current source inverter fed from photovoltaic cells is proposed to power an autonomous load when operating under either power regulation or voltage and frequency drooping modes. Input-output linearization technique is applied to the overall nonlinear system to achieve a globally stable system under feasible operating conditions. After obtaining the steady-state model that demarcates the modes of operation, computer Simulation results for variations in irradiance and the load power of the controlled system are generated in which an acceptable dynamic response of the power generator system under the two modes of operation is observed.

Emerging Methods and Systems for Observing Life in the Sea

NASA Astrophysics Data System (ADS)

Chavez, F.; Pearlman, J.; Simmons, S. E.

2016-12-01

There is a growing need for observations of life in the sea at time and space scales consistent with those made for physical and chemical parameters. International programs such as the Global Ocean Observing System (GOOS) and Marine Biodiversity Observation Networks (MBON) are making the case for expanded biological observations and working diligently to prioritize essential variables. Here we review past, present and emerging systems and methods for observing life in the sea from the perspective of maintaining continuous observations over long time periods. Methods that rely on ships with instrumentation and over-the-side sample collections will need to be supplemented and eventually replaced with those based from autonomous platforms. Ship-based optical and acoustic instruments are being reduced in size and power for deployment on moorings and autonomous vehicles. In parallel a new generation of low power, improved resolution sensors are being developed. Animal bio-logging is evolving with new, smaller and more sophisticated tags being developed. New genomic methods, capable of assessing multiple trophic levels from a single water sample, are emerging. Autonomous devices for genomic sample collection are being miniaturized and adapted to autonomous vehicles. The required processing schemes and methods for these emerging data collections are being developed in parallel with the instrumentation. An evolving challenge will be the integration of information from these disparate methods given that each provides their own unique view of life in the sea.

Compact autonomous navigation system (CANS)

NASA Astrophysics Data System (ADS)

Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

2017-11-01

Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

Road Nail: Experimental Solar Powered Intelligent Road Marking System

NASA Astrophysics Data System (ADS)

Samardžija, Dragan; Teslić, Nikola; Todorović, Branislav M.; Kovač, Erne; Isailović, Đorđe; Miladinović, Bojan

2012-03-01

Driving in low visibility conditions (night time, fog or heavy precipitation) is particularly challenging task with an increased probability of traffic accidents and possible injuries. Road Nail is a solar powered intelligent road marking system of wirelessly networked signaling devices that improve driver safety in low visibility conditions along hazardous roadways. Nails or signaling devices are autonomous nodes with capability to accumulate energy, exchange wireless messages, detect approaching vehicles and emit signalization light. We have built an experimental test-bed that consists of 20 nodes and a cellular gateway. Implementation details of the above system, including extensive measurements and performance evaluations in realistic field deployments are presented. A novel distributed network topology discovery scheme is proposed which integrates both sensor and wireless communication aspects, where nodes act autonomously. Finally, integration of the Road Nail system with the cellular network and the Internet is described.

First Results from a Hardware-in-the-Loop Demonstration of Closed-Loop Autonomous Formation Flying

NASA Technical Reports Server (NTRS)

Gill, E.; Naasz, Bo; Ebinuma, T.

2003-01-01

A closed-loop system for the demonstration of formation flying technologies has been developed at NASA s Goddard Space Flight Center. Making use of a GPS signal simulator with a dual radio frequency outlet, the system includes two GPS space receivers as well as a powerful onboard navigation processor dedicated to the GPS-based guidance, navigation, and control of a satellite formation in real-time. The closed-loop system allows realistic simulations of autonomous formation flying scenarios, enabling research in the fields of tracking and orbit control strategies for a wide range of applications. A sample scenario has been set up where the autonomous transition of a satellite formation from an initial along-track separation of 800 m to a final distance of 100 m has been demonstrated. As a result, a typical control accuracy of about 5 m has been achieved which proves the applicability of autonomous formation flying techniques to formations of satellites as close as 50 m.

A wireless smart sensor network for automated monitoring of cable tension

NASA Astrophysics Data System (ADS)

Sim, Sung-Han; Li, Jian; Jo, Hongki; Park, Jong-Woong; Cho, Soojin; Spencer, Billie F., Jr.; Jung, Hyung-Jo

2014-02-01

As cables are primary load carrying members in cable-stayed bridges, monitoring the tension forces of the cables provides valuable information regarding structural soundness. Incorporating wireless smart sensors with vibration-based tension estimation methods provides an efficient means of autonomous long-term monitoring of cable tensions. This study develops a wireless cable tension monitoring system using MEMSIC’s Imote2 smart sensors. The monitoring system features autonomous operation, sustainable energy harvesting and power consumption, and remote access using the internet. To obtain the tension force, an in-network data processing strategy associated with the vibration-based tension estimation method is implemented on the Imote2-based sensor network, significantly reducing the wireless data transmission and the power consumption. The proposed monitoring system has been deployed and validated on the Jindo Bridge, a cable-stayed bridge located in South Korea.

Analysis of the minimum swerving distance for the development of a motorcycle autonomous braking system.

PubMed

Giovannini, Federico; Savino, Giovanni; Pierini, Marco; Baldanzini, Niccolò

2013-10-01

In the recent years the autonomous emergency brake (AEB) was introduced in the automotive field to mitigate the injury severity in case of unavoidable collisions. A crucial element for the activation of the AEB is to establish when the obstacle is no longer avoidable by lateral evasive maneuvers (swerving). In the present paper a model to compute the minimum swerving distance needed by a powered two-wheeler (PTW) to avoid the collision against a fixed obstacle, named last-second swerving model (Lsw), is proposed. The effectiveness of the model was investigated by an experimental campaign involving 12 volunteers riding a scooter equipped with a prototype autonomous emergency braking, named motorcycle autonomous emergency braking system (MAEB). The tests showed the performance of the model in evasive trajectory computation for different riding styles and fixed obstacles. Copyright © 2013 Elsevier Ltd. All rights reserved.

In-flight wind identification and soft landing control for autonomous unmanned powered parafoils

NASA Astrophysics Data System (ADS)

Luo, Shuzhen; Tan, Panlong; Sun, Qinglin; Wu, Wannan; Luo, Haowen; Chen, Zengqiang

2018-04-01

For autonomous unmanned powered parafoil, the ability to perform a final flare manoeuvre against the wind direction can allow a considerable reduction of horizontal and vertical velocities at impact, enabling a soft landing for a safe delivery of sensible loads; the lack of knowledge about the surface-layer winds will result in messing up terminal flare manoeuvre. Moreover, unknown or erroneous winds can also prevent the parafoil system from reaching the target area. To realize accurate trajectory tracking and terminal soft landing in the unknown wind environment, an efficient in-flight wind identification method merely using Global Positioning System (GPS) data and recursive least square method is proposed to online identify the variable wind information. Furthermore, a novel linear extended state observation filter is proposed to filter the groundspeed of the powered parafoil system calculated by the GPS information to provide a best estimation of the present wind during flight. Simulation experiments and real airdrop tests demonstrate the great ability of this method to in-flight identify the variable wind field, and it can benefit the powered parafoil system to fulfil accurate tracking control and a soft landing in the unknown wind field with high landing accuracy and strong wind-resistance ability.

Hemodynamic and autonomic nervous system responses to mixed meal ingestion in healthy young and old subjects and dysautonomic patients with postprandial hypotension

NASA Technical Reports Server (NTRS)

Lipsitz, L. A.; Ryan, S. M.; Parker, J. A.; Freeman, R.; Wei, J. Y.; Goldberger, A. L.

1993-01-01

BACKGROUND. Although postprandial hypotension is a common cause of falls and syncope in elderly persons and in patients with autonomic insufficiency, the pathophysiology of this disorder remains unknown. METHODS AND RESULTS. We examined the hemodynamic, splanchnic blood pool, plasma norepinephrine (NE), and heart rate (HR) power spectra responses to a standardized 400-kcal mixed meal in 11 healthy young (age, 26 +/- 5 years) and nine healthy elderly (age, 80 +/- 5 years) subjects and 10 dysautonomic patients with symptomatic postprandial hypotension (age, 65 +/- 16 years). Cardiac and splanchnic blood pools were determined noninvasively by radionuclide scans, and forearm vascular resistance was determined using venous occlusion plethysmography. In healthy young and old subjects, splanchnic blood volume increased, but supine blood pressure remained unchanged after the meal. In both groups, HR increased and systemic vascular resistance remained stable. Forearm vascular resistance and cardiac index increased after the meal in elderly subjects, whereas these responses were highly variable and of smaller magnitude in the young. Young subjects demonstrated postprandial increases in low-frequency HR spectral power, representing cardiac sympatho-excitation, but plasma NE remained unchanged. In elderly subjects, plasma NE increased after the meal but without changes in the HR power spectrum. Patients with dysautonomia had a large postprandial decline in blood pressure associated with no change in forearm vascular resistance, a fall in systemic vascular resistance, and reduction in left ventricular end diastolic volume index. HR increased in these patients but without changes in plasma NE or the HR power spectrum. CONCLUSIONS. 1) In healthy elderly subjects, the maintenance of blood pressure homeostasis after food ingestion is associated with an increase in HR, forearm vascular resistance, cardiac index, and plasma NE. In both young and old, systemic vascular resistance is maintained. 2) Dysautonomic patients with postprandial hypotension fail to maintain systemic vascular resistance after a meal. This impairment in vascular response to meal ingestion may underlie the development of postprandial hypotension. 3) The measurement of mean HR or plasma NE does not adequately characterize autonomic cardiac control. Power spectral analysis suggests an impairment in the postprandial autonomic modulation of HR in healthy elderly and dysautonomic subjects, possibly predisposing to hypotension when vascular compensation is inadequate.

Autonomous Decentralized Voltage Profile Control of Super Distributed Energy System using Multi-agent Technology

NASA Astrophysics Data System (ADS)

Tsuji, Takao; Hara, Ryoichi; Oyama, Tsutomu; Yasuda, Keiichiro

A super distributed energy system is a future energy system in which the large part of its demand is fed by a huge number of distributed generators. At one time some nodes in the super distributed energy system behave as load, however, at other times they behave as generator - the characteristic of each node depends on the customers' decision. In such situation, it is very difficult to regulate voltage profile over the system due to the complexity of power flows. This paper proposes a novel control method of distributed generators that can achieve the autonomous decentralized voltage profile regulation by using multi-agent technology. The proposed multi-agent system employs two types of agent; a control agent and a mobile agent. Control agents generate or consume reactive power to regulate the voltage profile of neighboring nodes and mobile agents transmit the information necessary for VQ-control among the control agents. The proposed control method is tested through numerical simulations.

Automation study for space station subsystems and mission ground support

NASA Technical Reports Server (NTRS)

1985-01-01

An automation concept for the autonomous operation of space station subsystems, i.e., electric power, thermal control, and communications and tracking are discussed. To assure that functions essential for autonomous operations are not neglected, an operations function (systems monitoring and control) is included in the discussion. It is recommended that automated speech recognition and synthesis be considered a basic mode of man/machine interaction for space station command and control, and that the data management system (DMS) and other systems on the space station be designed to accommodate fully automated fault detection, isolation, and recovery within the system monitoring function of the DMS.

Collaborative Autonomous Unmanned Aerial - Ground Vehicle Systems for Field Operations

DTIC Science & Technology

2007-08-31

very limited payload capabilities of small UVs, sacrificing minimal computational power and run time, adhering at the same time to the low cost...configuration has been chosen because of its high computational capabilities, low power consumption, multiple I/O ports, size, low heat emission and cost. This...due to their high power to weight ratio, small packaging, and wide operating temperatures. Power distribution is controlled by the 120 Watt ATX power

iCalm: wearable sensor and network architecture for wirelessly communicating and logging autonomic activity.

PubMed

Fletcher, Richard Ribon; Dobson, Kelly; Goodwin, Matthew S; Eydgahi, Hoda; Wilder-Smith, Oliver; Fernholz, David; Kuboyama, Yuta; Hedman, Elliott Bruce; Poh, Ming-Zher; Picard, Rosalind W

2010-03-01

Widespread use of affective sensing in healthcare applications has been limited due to several practical factors, such as lack of comfortable wearable sensors, lack of wireless standards, and lack of low-power affordable hardware. In this paper, we present a new low-cost, low-power wireless sensor platform implemented using the IEEE 802.15.4 wireless standard, and describe the design of compact wearable sensors for long-term measurement of electrodermal activity, temperature, motor activity, and photoplethysmography. We also illustrate the use of this new technology for continuous long-term monitoring of autonomic nervous system and motion data from active infants, children, and adults. We describe several new applications enabled by this system, discuss two specific wearable designs for the wrist and foot, and present sample data.

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

On the Development of Fuel-Free Power Supply Sources on Pneumatic Energy Conversion Principles

NASA Astrophysics Data System (ADS)

Son, E. E.; Nikolaev, V. G.; Kudryashov, Yu. I.; Nikolaev, V. V.

2017-12-01

The article is devoted to the evaluation of capabilities and problems of creation of fuel-free power supply of isolated and autonomous Russian consumers of low (up to several hundreds kW) power based on the joint use of wind power plants and progressive systems of pneumatic accumulation and conversion of energy. The basic and functional schemes and component structure of the system prototype are developed and proposed, the evaluations of the expected technical and economic indicators of system are presented, and the ways of its further practical implementation are planned.

Tethered Vehicle Control and Tracking System

NASA Technical Reports Server (NTRS)

North, David D. (Inventor); Aull, Mark J. (Inventor)

2017-01-01

A kite system includes a kite and a ground station. The ground station includes a sensor that can be utilized to determine an angular position and velocity of the kite relative to the ground station. A controller utilizes a fuzzy logic control system to autonomously fly the kite. The system may include a ground station having powered winding units that generate power as the lines to the kite are unreeled. The control system may be configured to fly the kite in a crosswind trajectory to increase line tension for power generation. The sensors for determining the position of the kite are preferably ground-based.

Tethered Vehicle Control and Tracking System

NASA Technical Reports Server (NTRS)

North, David D. (Inventor); Aull, Mark J. (Inventor)

2014-01-01

A kite system includes a kite and a ground station. The ground station includes a sensor that can be utilized to determine an angular position and velocity of the kite relative to the ground station. A controller utilizes a fuzzy logic control system to autonomously fly the kite. The system may include a ground station having powered winding units that generate power as the lines to the kite are unreeled. The control system may be configured to fly the kite in a crosswind trajectory to increase line tension for power generation. The sensors for determining the position of the kite are preferably ground-based.

A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

PubMed

Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

2016-03-01

Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Space station automation of common module power management and distribution

NASA Technical Reports Server (NTRS)

Miller, W.; Jones, E.; Ashworth, B.; Riedesel, J.; Myers, C.; Freeman, K.; Steele, D.; Palmer, R.; Walsh, R.; Gohring, J.

1989-01-01

The purpose is to automate a breadboard level Power Management and Distribution (PMAD) system which possesses many functional characteristics of a specified Space Station power system. The automation system was built upon 20 kHz ac source with redundancy of the power buses. There are two power distribution control units which furnish power to six load centers which in turn enable load circuits based upon a system generated schedule. The progress in building this specified autonomous system is described. Automation of Space Station Module PMAD was accomplished by segmenting the complete task in the following four independent tasks: (1) develop a detailed approach for PMAD automation; (2) define the software and hardware elements of automation; (3) develop the automation system for the PMAD breadboard; and (4) select an appropriate host processing environment.

USMC Ground Surveillance Robot (GSR): Lessons Learned

NASA Astrophysics Data System (ADS)

Harmon, S. Y.

1987-02-01

This paper describes the design of an autonomous vehicle and the lessons learned during the implementation of that complex robot. The major problems encountered to which solutions were found include sensor processing bandwidth limitations, coordination of the interactions between major subsystems, sensor data fusion and system knowledge representation. Those problems remaining unresolved include system complexity management, the lack of powerful system monitoring and debugging tools, exploratory implementation of a complex system and safety and testing issues. Many of these problems arose from working with underdeveloped and continuously evolving technology and will probably be resolved as the technological resources mature and stabilize. Unfortunately, other problems will continue to plague developers throughout the evolution of autonomous system technology.

Real-time path planning and autonomous control for helicopter autorotation

NASA Astrophysics Data System (ADS)

Yomchinda, Thanan

Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

Effect of Muslim prayer (Salat) on α electroencephalography and its relationship with autonomic nervous system activity.

PubMed

Doufesh, Hazem; Ibrahim, Fatimah; Ismail, Noor Azina; Wan Ahmad, Wan Azman

2014-07-01

This study investigated the effect of Muslim prayer (salat) on the α relative power (RPα) of electroencephalography (EEG) and autonomic nervous activity and the relationship between them by using spectral analysis of EEG and heart rate variability (HRV). Thirty healthy Muslim men participated in the study. Their electrocardiograms and EEGs were continuously recorded before, during, and after salat practice with a computer-based data acquisition system (MP150, BIOPAC Systems Inc., Camino Goleta, California). Power spectral analysis was conducted to extract the RPα and HRV components. During salat, a significant increase (p<.05) was observed in the mean RPα in the occipital and parietal regions and in the normalized unit of high-frequency (nuHF) power of HRV (as a parasympathetic index). Meanwhile, the normalized unit of low-frequency (nuLF) power and LF/HF of HRV (as sympathetic indices) decreased according to HRV analyses. RPα showed a significant positive correlation in the occipital and parietal electrodes with nuHF and significant negative correlations with nuLF and LF/HF. During salat, parasympathetic activity increased and sympathetic activity decreased. Therefore, regular salat practices may help promote relaxation, minimize anxiety, and reduce cardiovascular risk.

Laser rangefinders for autonomous intelligent cruise control systems

NASA Astrophysics Data System (ADS)

Journet, Bernard A.; Bazin, Gaelle

1998-01-01

THe purpose of this paper is to show to what kind of application laser range-finders can be used inside Autonomous Intelligent Cruise Control systems. Even if laser systems present good performances the safety and technical considerations are very restrictive. As the system is used in the outside, the emitted average output power must respect the rather low level of 1A class. Obstacle detection or collision avoidance require a 200 meters range. Moreover bad weather conditions, like rain or fog, ar disastrous. We have conducted measurements on laser rangefinder using different targets and at different distances. We can infer that except for cooperative targets low power laser rangefinder are not powerful enough for long distance measurement. Radars, like 77 GHz systems, are better adapted to such cases. But in case of short distances measurement, range around 10 meters, with a minimum distance around twenty centimeters, laser rangefinders are really useful with good resolution and rather low cost. Applications can have the following of white lines on the road, the target being easily cooperative, detection of vehicles in the vicinity, that means car convoy traffic control or parking assistance, the target surface being indifferent at short distances.

Power Considerations for Micro-Autonomous Systems

DTIC Science & Technology

2012-07-30

PV cell APPROVED FOR PUBLIC RELEASE 15 Micro-Thermo- Photovoltaics POC: Ivan Celanovic low- power MPPT micro channel Silicon MEMs reactor Ill...max power density 150 W/kg (3000 mW, 500 sec) APPROVED FOR PUBLIC RELEASE 29 Micro-Thermo- Photovoltaics low- power MPPT micro channel Silicon MEMs...Secondary used as a Primary *Contour  4g (220Whr/kg, 750W/kg), 15g (400 Whr/kg, 1000W/kg) *Sion Power ??? •Lithium-Sulfur: promising rechargeable

Self-powered enzyme micropumps

NASA Astrophysics Data System (ADS)

Sengupta, Samudra; Patra, Debabrata; Ortiz-Rivera, Isamar; Agrawal, Arjun; Shklyaev, Sergey; Dey, Krishna K.; Córdova-Figueroa, Ubaldo; Mallouk, Thomas E.; Sen, Ayusman

2014-05-01

Non-mechanical nano- and microscale pumps that function without the aid of an external power source and provide precise control over the flow rate in response to specific signals are needed for the development of new autonomous nano- and microscale systems. Here we show that surface-immobilized enzymes that are independent of adenosine triphosphate function as self-powered micropumps in the presence of their respective substrates. In the four cases studied (catalase, lipase, urease and glucose oxidase), the flow is driven by a gradient in fluid density generated by the enzymatic reaction. The pumping velocity increases with increasing substrate concentration and reaction rate. These rechargeable pumps can be triggered by the presence of specific analytes, which enables the design of enzyme-based devices that act both as sensor and pump. Finally, we show proof-of-concept enzyme-powered devices that autonomously deliver small molecules and proteins in response to specific chemical stimuli, including the release of insulin in response to glucose.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

2012-12-01

We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero-emissions rover could travel more than 500 km per week during Polar summers and provide 100 - 200 W to power instrument payloads to help investigate the atmosphere, magnetosphere, glaciology and sub-glacial geology in Antarctica and Greenland. We are currently upgrading Cool Robot's navigation and solar-power systems and will deploy it during 2013 to map the emissions footprint around Summit Station to demonstrate its potential to execute long-endurance Polar science campaigns. These rovers could assist science traverses to chart safe routes into the interior of Antarctica and Greenland or conduct autonomous, remote science campaigns to extend spatial and temporal coverage for data collection. Our goals include 1,000 - 2,000-km summertime traverses of Antarctica and Greenland, safe navigation through 0.5-m amplitude sastrugi fields, survival in blizzards, and rover-network adaptation to research events of opportunity. We are seeking Polar scientists interested in autonomous, mobile data collection and can adapt the rovers to meet their requirements.

An Autonomous Sensor System Architecture for Active Flow and Noise Control Feedback

NASA Technical Reports Server (NTRS)

Humphreys, William M, Jr.; Culliton, William G.

2008-01-01

Multi-channel sensor fusion represents a powerful technique to simply and efficiently extract information from complex phenomena. While the technique has traditionally been used for military target tracking and situational awareness, a study has been successfully completed that demonstrates that sensor fusion can be applied equally well to aerodynamic applications. A prototype autonomous hardware processor was successfully designed and used to detect in real-time the two-dimensional flow reattachment location generated by a simple separated-flow wind tunnel model. The success of this demonstration illustrates the feasibility of using autonomous sensor processing architectures to enhance flow control feedback signal generation.

Space Station man-machine automation trade-off analysis

NASA Technical Reports Server (NTRS)

Zimmerman, W. F.; Bard, J.; Feinberg, A.

1985-01-01

The man machine automation tradeoff methodology presented is of four research tasks comprising the autonomous spacecraft system technology (ASST) project. ASST was established to identify and study system level design problems for autonomous spacecraft. Using the Space Station as an example spacecraft system requiring a certain level of autonomous control, a system level, man machine automation tradeoff methodology is presented that: (1) optimizes man machine mixes for different ground and on orbit crew functions subject to cost, safety, weight, power, and reliability constraints, and (2) plots the best incorporation plan for new, emerging technologies by weighing cost, relative availability, reliability, safety, importance to out year missions, and ease of retrofit. A fairly straightforward approach is taken by the methodology to valuing human productivity, it is still sensitive to the important subtleties associated with designing a well integrated, man machine system. These subtleties include considerations such as crew preference to retain certain spacecraft control functions; or valuing human integration/decision capabilities over equivalent hardware/software where appropriate.

Verification of Autonomous Systems for Space Applications

NASA Technical Reports Server (NTRS)

Brat, G.; Denney, E.; Giannakopoulou, D.; Frank, J.; Jonsson, A.

2006-01-01

Autonomous software, especially if it is based on model, can play an important role in future space applications. For example, it can help streamline ground operations, or, assist in autonomous rendezvous and docking operations, or even, help recover from problems (e.g., planners can be used to explore the space of recovery actions for a power subsystem and implement a solution without (or with minimal) human intervention). In general, the exploration capabilities of model-based systems give them great flexibility. Unfortunately, it also makes them unpredictable to our human eyes, both in terms of their execution and their verification. The traditional verification techniques are inadequate for these systems since they are mostly based on testing, which implies a very limited exploration of their behavioral space. In our work, we explore how advanced V&V techniques, such as static analysis, model checking, and compositional verification, can be used to gain trust in model-based systems. We also describe how synthesis can be used in the context of system reconfiguration and in the context of verification.

Potential and challenges of body area networks for cardiac monitoring.

PubMed

Gyselinckx, Bert; Penders, Julien; Vullers, Ruud

2007-01-01

This article gives an overview of results of the Human++ research program related to cardiac monitoring (http://www.imec-nl.nl/). This research aims to achieve highly miniaturized and nearly autonomous sensor systems that assist our health and comfort. It combines expertise in wireless ultra-low-power communications, packaging and 3D integration technologies, Micro Electro Mechanical Systems (MEMS) energy scavenging techniques, and low-power design techniques.

Autonomous control systems: applications to remote sensing and image processing

NASA Astrophysics Data System (ADS)

Jamshidi, Mohammad

2001-11-01

One of the main challenges of any control (or image processing) paradigm is being able to handle complex systems under unforeseen uncertainties. A system may be called complex here if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is uncertain such that classical techniques cannot easily handle the problem. Examples of complex systems are power networks, space robotic colonies, national air traffic control system, and integrated manufacturing plant, the Hubble Telescope, the International Space Station, etc. Soft computing, a consortia of methodologies such as fuzzy logic, neuro-computing, genetic algorithms and genetic programming, has proven to be powerful tools for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. In this paper new paradigms using soft computing approaches are utilized to design autonomous controllers and image enhancers for a number of application areas. These applications are satellite array formations for synthetic aperture radar interferometry (InSAR) and enhancement of analog and digital images.

The effects of heat and massage application on autonomic nervous system.

PubMed

Lee, Young-Hee; Park, Bit Na Ri; Kim, Sung Hoon

2011-11-01

The objective of this study is to evaluate the effects of heat and massage application on autonomic nervous system. One hundred thirty-nine subjects volunteered and completed this study. Heat and massage was daily applied for 40 minutes, 5 days a week for 2 weeks. Primary-dependent measures included heart rate variability, sympathetic skin response, and serum cortisol and norepinephrine levels. Serum cortisol levels were significantly decreased at 2 weeks compared to baseline (p=0.003). Plasma norepinephrine levels at 4 weeks were significantly decreased compared to baseline (p=0.010). Heart rate, using the power spectra, increased significantly after 2 weeks compared to baseline. Of autonomic nerve conduction measures, latency was significantly increased at 2 and 4 weeks compared to baseline (p=0.023, 0.012), and amplitude was significantly decreased at 4 weeks compared to baseline (p=0.008). There were no serious adverse events such as burns or other major complications. The results of this study suggest that heat and massage applications provide relaxation to the autonomic nervous system without serious adverse events.

Dynamic Modeling and Control of Nuclear Reactors Coupled to Closed-Loop Brayton Cycle Systems using SIMULINK{sup TM}

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wright, Steven A.; Sanchez, Travis

2005-02-06

The operation of space reactors for both in-space and planetary operations will require unprecedented levels of autonomy and control. Development of these autonomous control systems will require dynamic system models, effective control methodologies, and autonomous control logic. This paper briefly describes the results of reactor, power-conversion, and control models that are implemented in SIMULINK{sup TM} (Simulink, 2004). SIMULINK{sup TM} is a development environment packaged with MatLab{sup TM} (MatLab, 2004) that allows the creation of dynamic state flow models. Simulation modules for liquid metal, gas cooled reactors, and electrically heated systems have been developed, as have modules for dynamic power-conversion componentsmore » such as, ducting, heat exchangers, turbines, compressors, permanent magnet alternators, and load resistors. Various control modules for the reactor and the power-conversion shaft speed have also been developed and simulated. The modules are compiled into libraries and can be easily connected in different ways to explore the operational space of a number of potential reactor, power-conversion system configurations, and control approaches. The modularity and variability of these SIMULINK{sup TM} models provides a way to simulate a variety of complete power generation systems. To date, both Liquid Metal Reactors (LMR), Gas Cooled Reactors (GCR), and electric heaters that are coupled to gas-dynamics systems and thermoelectric systems have been simulated and are used to understand the behavior of these systems. Current efforts are focused on improving the fidelity of the existing SIMULINK{sup TM} modules, extending them to include isotopic heaters, heat pipes, Stirling engines, and on developing state flow logic to provide intelligent autonomy. The simulation code is called RPC-SIM (Reactor Power and Control-Simulator)« less

Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

NASA Technical Reports Server (NTRS)

Sandy, Michael

2015-01-01

The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

Autonomous mobile robot research using the HERMIES-III robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; Beckerman, M.; Spelt, P.F.

1989-01-01

This paper reports on the status and future directions in the research, development and experimental validation of intelligent control techniques for autonomous mobile robots using the HERMIES-III robot at the Center for Engineering Systems Advanced research (CESAR) at Oak Ridge National Laboratory (ORNL). HERMIES-III is the fourth robot in a series of increasingly more sophisticated and capable experimental test beds developed at CESAR. HERMIES-III is comprised of a battery powered, onmi-directional wheeled platform with a seven degree-of-freedom manipulator arm, video cameras, sonar range sensors, laser imaging scanner and a dual computer system containing up to 128 NCUBE nodes in hypercubemore » configuration. All electronics, sensors, computers, and communication equipment required for autonomous operation of HERMIES-III are located on board along with sufficient battery power for three to four hours of operation. The paper first provides a more detailed description of the HERMIES-III characteristics, focussing on the new areas of research and demonstration now possible at CESAR with this new test-bed. The initial experimental program is then described with emphasis placed on autonomous performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES- III). The paper concludes with a discussion of the integration problems and safety considerations necessarily arising from the set-up of an experimental program involving human-scale, multi-autonomous mobile robots performance. 10 refs., 3 figs.« less

Development of technology for creating intelligent control systems for power plants and propulsion systems for marine robotic systems

NASA Astrophysics Data System (ADS)

Iakovleva, E. V.; Momot, B. A.

2017-10-01

The object of this study is to develop a power plant and an electric propulsion control system for autonomous remotely controlled vessels. The tasks of the study are as follows: to assess remotely controlled vessels usage reasonability, to define the requirements for this type of vessel navigation. In addition, the paper presents the analysis of technical diagnostics systems. The developed electric propulsion control systems for vessels should provide improved reliability and efficiency of the propulsion complex to ensure the profitability of remotely controlled vessels.

An embedded wireless system for remote monitoring of bridges

NASA Astrophysics Data System (ADS)

Harms, T.; Bastianini, F.; Sedigh Sarvestani, S.

2008-03-01

This paper describes an autonomous embedded system for remote monitoring of bridges. Salient features of the system include ultra-low power consumption, wireless communication of data and alerts, and incorporation of embedded sensors that monitor various indicators of the structural health of a bridge, while capturing the state of its surrounding environment. Examples include water level, temperature, vibration, and acoustic emissions. Ease of installation, physical robustness, remote maintenance and calibration, and autonomous data communication make the device a self-contained solution for remote monitoring of structural health. The system addresses shortcomings present in centralized structural health monitoring systems, particularly their reliance on a laptop or handheld computer. The system has been field-tested to verify the accuracy of the collected data and dependability of communication. The sheer volume of data collected, and the regularity of its collection can enable accurate and precise assessment of the health of a bridge, guiding maintenance efforts and providing early warning of potentially dangerous events. In this paper, we present a detailed breakdown of the system's power requirements and the results of the initial field test.

Autonomy, Automation, and Systems

NASA Astrophysics Data System (ADS)

Turner, Philip R.

1987-02-01

Aerospace industry interest in autonomy and automation, given fresh impetus by the national goal of establishing a Space Station, is becoming a major item of research and technology development. The promise of new technology arising from research in Artificial Intelligence (AI) has focused much attention on its potential in autonomy and automation. These technologies can improve performance in autonomous control functions that involve planning, scheduling, and fault diagnosis of complex systems. There are, however, many aspects of system and subsystem design in an autonomous system that impact AI applications, but do not directly involve AI technology. Development of a system control architecture, establishment of an operating system within the design, providing command and sensory data collection features appropriate to automated operation, and the use of design analysis tools to support system engineering are specific examples of major design issues. Aspects such as these must also receive attention and technology development support if we are to implement complex autonomous systems within the realistic limitations of mass, power, cost, and available flight-qualified technology that are all-important to a flight project.

Altered autonomic nervous system activity as a potential etiological factor of premenstrual syndrome and premenstrual dysphoric disorder.

PubMed

Matsumoto, Tamaki; Ushiroyama, Takahisa; Kimura, Tetsuya; Hayashi, Tatsuya; Moritani, Toshio

2007-12-20

Premenstrual syndrome (PMS) encompasses a wide variety of cyclic and recurrent physical, emotional, and behavioral symptoms occurring during the late luteal phase of the menstrual cycle and abating shortly following the beginning of menses. Although PMS is widely recognized, its etiopathogenesis is not yet understood. The present study investigates whether the activity of the autonomic nervous system, which plays a vital role in orchestrating physiological homeostasis within the human body, is altered during the menstrual cycle of women with different degrees of premenstrual symptomatology. Sixty-two women in their 20s to 40s with regular menstrual cycles participated in this study. All subjects were examined during the follicular and late luteal phases. Cycle phase was determined by the onset of menstruation and oral temperature and was verified by concentrations of ovarian hormones, estrone, and pregnanediol in a urine sample taken early in the morning. Autonomic nervous system activity was assessed by means of heart-rate variability (HRV) power spectral analysis during supine rest. The Menstrual Distress Questionnaire was used to evaluate physical, emotional, and behavioral symptoms accompanying the menstrual cycle of the subjects. The subjects were categorized in three groups, Control, PMS, and premenstrual dysphoric disorder (PMDD) groups, depending on the severity of premenstrual symptomatology. No intramenstrual cycle difference in any of the parameters of HRV was found in the Control group, which had no or a small increase in premenstrual symptoms. In contrast, Total power and high frequency power, which reflect overall autonomic and parasympathetic nerve activity, respectively, significantly decreased in the late luteal phase from the follicular phase in the PMS group. As for the PMDD group, which had more severe symptoms premenstrually, heart-rate fluctuation as well as all components of the power spectrum of HRV were markedly decreased regardless of the menstrual cycle compared to those of the other two groups. Several theories have been proposed to explain the underlying mechanisms of PMS with its complex web of bio-psycho-social factors. Although causes and consequences continue to elude, the present study provides intriguing and novel findings that the altered functioning of the autonomic nervous system in the late luteal phase could be associated with diverse psychosomatic and behavioral symptoms appearing premenstrually. In addition, when symptoms become more severe (as seen in women with PMDD), the sympathovagal function might be more depressed regardless of the menstrual cycle.

Optimized Autonomous Space - In-situ Sensorweb: A new Tool for Monitoring Restless Volcanoes

NASA Astrophysics Data System (ADS)

Lahusen, R. G.; Kedar, S.; Song, W.; Chien, S.; Shirazi, B.; Davies, A.; Tran, D.; Pieri, D.

2007-12-01

An interagency team of earth scientists, space scientists and computer scientists are collaborating to develop a real-time monitoring system optimized for rapid deployment at restless volcanoes. The primary goals of this Optimized Autonomous Space In-situ Sensorweb (OASIS) are: 1) integrate complementary space and in-situ (ground-based) elements into an interactive, autonomous sensorweb; 2) advance sensorweb power and communication resource management technology; and 3) enable scalability for seamless infusion of future space and in-situ assets into the sensorweb. A prototype system will be deployed on Mount St. Helens by December 2009. Each node will include GPS, seismic, infrasonic and lightning (for ash plume detection) sensors plus autonomous decision making capabilities and interaction with EO-1 multi-spectral satellite. This three year project is jointly funded by NASA AIST program and USGS Volcano Hazards Program. Work has begun with a rigorous multi-disciplinary discussion and resulted in a system requirements document aimed to guide the design of OASIS and future networks and to achieve the project's stated goals. In this presentation we will highlight the key OASIS system requirements, their rationale and the physical and technical challenges they pose. Preliminary design decisions will be presented.

Earth-to-Geostationary Orbit Transportation for Space Solar Power System Development

NASA Technical Reports Server (NTRS)

Martin, James A.; Donahue, Benjamin B.; Lawrence, Schuyler C.; McClanahan, James A.; Carrington, Connie K. (Technical Monitor)

2000-01-01

Space solar power satellites have the potential to provide abundant quantities of electricity for use on Earth. One concept, the Sun Tower, can be assembled in geostationary orbit from pieces transferred from Earth. The cost of transportation is one of the major hurdles to space solar power. This study found that autonomous solar-electric transfer is a good choice for the transportation from LEO to GEO.

[Effect of substance P on cardiac autonomic nervous function in rats].

PubMed

Deng, Lijun; Li, Jing; Yan, Fuping; Lu, Jie

2009-12-01

Forty SD rats were divided into 5 groups: control group, SP groups (5 microg/kg,10 microg/kg, 20 microg/kg) and spantide II plus SP group. An analysis of heart rate variability (HRV) was used to detect the changes of HRV parameters before and after intravenous injection of SP in order to investigate the effect of substance P on cardiac autonomic nervous function and the corresponding mechanism. (1) There were significant differences in most HRV parameters for the three different doses of SP. Mean heart period (MHP), absolute power of ultra-low frequency and high frequency band (APU, APH), total power (TPV) and ratio of power in ultra-low to high frequency band (RUH) increased, while mean heart rate (MHR) and chaos intensity (HCC) decreased during the 30 minutes. Each peak amplitude of HRV parameters went higher and showed up ahead of the upward doses of SP. (2) Significant change was seen in each of the parameters between spantide II plus SP group and high-dose SP group. These data idicate that, after intravenous injection of different doses of SP, both cardiac sympathetic nervous system activity and parasympathetic nervous system activity increase, and the function of cardiac autonomic nervous becomes instable and unbalanced. The effect of SP may be dose dependent, and it is possibly mediated by neurokinin-1(NK-1) receptor.

Decisive Army Strategic and Expeditionary Maneuver

DTIC Science & Technology

2015-05-01

80 6.9 Fuel Cells, Batteries, and Solar Photovoltaics ................................................................... 81 6.10 Thermoelectric...selected areas will have matured to the point where they can be incorporated into Army operations Semi-autonomous systems, hybrid- powered platforms... powered platforms, aerial layer communications and networking, precision fires/munitions) are addressed in BA4, BA3 (and BA2) funding plans • In

A Systems Engineering Approach to the Development of an Autonomous Sailing Vessel

DTIC Science & Technology

2011-01-01

netbook . Power issues and heat dissipation must also be considered in the selection process. Actuation: Because the system is designed to allow a...use of a lap- top or netbook as the primary processor. While we have used a small form com- puter (Pico system) in the past, the Technical Support

The Challenges of Human-Autonomy Teaming

NASA Technical Reports Server (NTRS)

Vera, Alonso

2017-01-01

Machine intelligence is improving rapidly based on advances in big data analytics, deep learning algorithms, networked operations, and continuing exponential growth in computing power (Moores Law). This growth in the power and applicability of increasingly intelligent systems will change the roles humans, shifting them to tasks where adaptive problem solving, reasoning and decision-making is required. This talk will address the challenges involved in engineering autonomous systems that function effectively with humans in aeronautics domains.

Behavior-based multi-robot collaboration for autonomous construction tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

The Robot Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of Long components. The two robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.

An Efficient Reachability Analysis Algorithm

NASA Technical Reports Server (NTRS)

Vatan, Farrokh; Fijany, Amir

2008-01-01

A document discusses a new algorithm for generating higher-order dependencies for diagnostic and sensor placement analysis when a system is described with a causal modeling framework. This innovation will be used in diagnostic and sensor optimization and analysis tools. Fault detection, diagnosis, and prognosis are essential tasks in the operation of autonomous spacecraft, instruments, and in-situ platforms. This algorithm will serve as a power tool for technologies that satisfy a key requirement of autonomous spacecraft, including science instruments and in-situ missions.

Dynamic characteristics of a 20 kHz resonant power system - Fault identification and fault recovery

NASA Technical Reports Server (NTRS)

Wasynczuk, O.

1988-01-01

A detailed simulation of a dc inductor resonant driver and receiver is used to demonstrate the transient characteristics of a 20 kHz resonant power system during fault and overload conditions. The simulated system consists of a dc inductor resonant inverter (driver), a 50-meter transmission cable, and a dc inductor resonant receiver load. Of particular interest are the driver and receiver performance during fault and overload conditions and on the recovery characteristics following removal of the fault. The information gained from these studies sets the stage for further work in fault identification and autonomous power system control.

Multi-port power router and its impact on resilient power grid systems

NASA Astrophysics Data System (ADS)

Kado, Yuichi; Iwatsuki, Katsumi; Wada, Keiji

2016-02-01

We propose a Y-configuration power router as a unit cell to easily construct a power delivery system that can meet many types of user requirements. The Y-configuration power router controls the direction and magnitude of power flow among three ports regardless of DC and AC. We constructed a prototype three-way isolated DC/DC converter that is the core unit of the Y-configuration power router and tested the power flow control operation. Experimental results revealed that our methodology based on the governing equation was appropriate for the power flow control of the three-way DC/DC converter. In addition, the hexagonal distribution network composed of the power routers has the ability to easily interchange electric power between autonomous microgrid cells. We also explored the requirements for communication between energy routers to achieve dynamic adjustments of energy flow in a coordinated manner and its impact on resilient power grid systems.

Autonomous Deep-Space Optical Navigation Project

NASA Technical Reports Server (NTRS)

D'Souza, Christopher

2014-01-01

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

Autonomous propulsion of carbon nanotubes powered by a multienzyme ensemble.

PubMed

Pantarotto, Davide; Browne, Wesley R; Feringa, Ben L

2008-04-07

Covalent attachment of the enzymes glucose oxidase and catalase to carbon nanotubes enables the tandem catalytic conversion of glucose and H(2)O(2) formed to power autonomous movement of the nanotubes.

[Energy and memory efficient calculation of the accommodation demand in the artificial accommodation system].

PubMed

Nagel, J A; Beck, C; Harms, H; Stiller, P; Guth, H; Stachs, O; Bretthauer, G

2010-12-01

Presbyopia and cataract are gaining more and more importance in the ageing society. Both age-related complaints are accompanied with a loss of the eye's ability to accommodate. A new approach to restore accommodation is the Artificial Accommodation System, an autonomous micro system, which will be implanted into the capsular bag instead of a rigid intraocular lens. The Artificial Accommodation System will, depending on the actual demand for accommodation, autonomously adapt the refractive power of its integrated optical element. One possibility to measure the demand for accommodation non-intrusively is to analyse eye movements. We present an efficient algorithm, based on the CORDIC technique, to calculate the demand for accommodation from magnetic field sensor data. It can be shown that specialised algorithms significantly shorten calculation time without violating precision requirements. Additionally, a communication strategy for the wireless exchange of sensor data between the implants of the left and right eye is introduced. The strategy allows for a one-sided calculation of the demand for accommodation, resulting in an overall reduction of calculation time by 50 %. The presented methods enable autonomous microsystems, such as the Artificial Accommodation System, to save significant amounts of energy, leading to extended autonomous run-times. © Georg Thieme Verlag KG Stuttgart · New York.

Development of a High Reliability Compact Air Independent PEMFC Power System

NASA Technical Reports Server (NTRS)

Wynne, B.; Diffenderfer, C.; Ferguson, S.; Keyser, J.; Miller, M.; Sievers, B.; Song, Y.; Araghi, K.; Vasquez, A.

2013-01-01

Autonomous Underwater Vehicles (AUV's) have received increased attention in recent years as military and commercial users look for means to maintain a mobile and persistent presence in the undersea world. Teledyne Energy Systems, Inc. (TESI) is committed to meeting the energy needs for these missions

Completely explosive ultracompact high-voltage nanosecond pulse-generating system

NASA Astrophysics Data System (ADS)

Shkuratov, Sergey I.; Talantsev, Evgueni F.; Baird, Jason; Rose, Millard F.; Shotts, Zachary; Altgilbers, Larry L.; Stults, Allen H.

2006-04-01

A conventional pulsed power technology has been combined with an explosive pulsed power technology to produce an autonomous high-voltage power supply. The power supply contained an explosive-driven high-voltage primary power source and a power-conditioning stage. The ultracompact explosive-driven primary power source was based on the physical effect of shock-wave depolarization of high-energy Pb (Zr52Ti48)O3 ferroelectric material. The volume of the energy-carrying ferroelectric elements in the shock-wave ferroelectric generators (SWFEGs) varied from 1.2 to 2.6cm3. The power-conditioning stage was based on the spiral vector inversion generator (VIG). The SWFEG-VIG system demonstrated successful operation and good performance. The amplitude of the output voltage pulse of the SWFEG-VIG system exceeded 90kV, with a rise time of 5.2ns.

Spacecube: A Family of Reconfigurable Hybrid On-Board Science Data Processors

NASA Technical Reports Server (NTRS)

Flatley, Thomas P.

2015-01-01

SpaceCube is a family of Field Programmable Gate Array (FPGA) based on-board science data processing systems developed at the NASA Goddard Space Flight Center (GSFC). The goal of the SpaceCube program is to provide 10x to 100x improvements in on-board computing power while lowering relative power consumption and cost. SpaceCube is based on the Xilinx Virtex family of FPGAs, which include processor, FPGA logic and digital signal processing (DSP) resources. These processing elements are leveraged to produce a hybrid science data processing platform that accelerates the execution of algorithms by distributing computational functions to the most suitable elements. This approach enables the implementation of complex on-board functions that were previously limited to ground based systems, such as on-board product generation, data reduction, calibration, classification, eventfeature detection, data mining and real-time autonomous operations. The system is fully reconfigurable in flight, including data parameters, software and FPGA logic, through either ground commanding or autonomously in response to detected eventsfeatures in the instrument data stream.

Design of a wheeled articulating land rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Mathew; Yandle, Barbara

1994-01-01

The WALRUS is a wheeled articulating land rover that will provide Ames Research Center with a reliable, autonomous vehicle for demonstrating and evaluating advanced technologies. The vehicle is one component of the Ames Research Center's on-going Human Exploration Demonstration Project. Ames Research Center requested a system capable of traversing a broad spectrum of surface types and obstacles. In addition, this vehicle must have an autonomous navigation and control system on board and its own source of power. The resulting design is a rover that articulates in two planes of motion to allow for increased mobility and stability. The rover is driven by six conical shaped aluminum wheels, each with an independent, internally coupled motor. Mounted on the rover are two housings and a removable remote control system. In the housings, the motor controller board, tilt sensor, navigation circuitry, and QED board are mounted. Finally, the rover's motors and electronics are powered by thirty C-cell rechargeable batteries, which are located in the rover wheels and recharged by a specially designed battery charger.

Grid-independent residential power systems

NASA Astrophysics Data System (ADS)

Nelson, Robert E.

1996-02-01

A self-powered, gas-fired, warm air furnace is evaluated as a candidate for the autonomous generation of electrical power. A popular, commercial residential furnace is analyzed for electrical power requirements. Available energy conversion concepts are considered for this application, and the thermophotovoltaic (TPV) option is selected due to reliability and cost. The design and the internal components peculiar to the TPV converter will be covered. Operating results, including NOx emission, will be summarized. This work was sponsored by the Basic Research Group, Gas Research Institute, Chicago, IL.

Aluminum-Water Energy System for Autonomous Undersea Vehicles

DTIC Science & Technology

2015-04-10

lithium ‐ ion battery technology, which provides three days of endurance to a mid‐sized AUV traveling at...electrochemical power sources such as lithium ‐ ion batteries power most industry‐ built AUVs. In mid‐sized AUVs, lithium ‐ ion technology can power an AUV at 2 to 3...data are for relative comparison only; the volume and mass penalties of oxygen and water are not included. Data for lithium - ion and zinc

An autonomous structural health monitoring solution

NASA Astrophysics Data System (ADS)

Featherston, Carol A.; Holford, Karen M.; Pullin, Rhys; Lees, Jonathan; Eaton, Mark; Pearson, Matthew

2013-05-01

Combining advanced sensor technologies, with optimised data acquisition and diagnostic and prognostic capability, structural health monitoring (SHM) systems provide real-time assessment of the integrity of bridges, buildings, aircraft, wind turbines, oil pipelines and ships, leading to improved safety and reliability and reduced inspection and maintenance costs. The implementation of power harvesting, using energy scavenged from ambient sources such as thermal gradients and sources of vibration in conjunction with wireless transmission enables truly autonomous systems, reducing the need for batteries and associated maintenance in often inaccessible locations, alongside bulky and expensive wiring looms. The design and implementation of such a system however presents numerous challenges. A suitable energy source or multiple sources capable of meeting the power requirements of the system, over the entire monitoring period, in a location close to the sensor must be identified. Efficient power management techniques must be used to condition the power and deliver it, as required, to enable appropriate measurements to be taken. Energy storage may be necessary, to match a continuously changing supply and demand for a range of different monitoring states including sleep, record and transmit. An appropriate monitoring technique, capable of detecting, locating and characterising damage and delivering reliable information, whilst minimising power consumption, must be selected. Finally a wireless protocol capable of transmitting the levels of information generated at the rate needed in the required operating environment must be chosen. This paper considers solutions to some of these challenges, and in particular examines SHM in the context of the aircraft environment.

GROVER: An autonomous vehicle for ice sheet research

NASA Astrophysics Data System (ADS)

Trisca, G. O.; Robertson, M. E.; Marshall, H.; Koenig, L.; Comberiate, M. A.

2013-12-01

The Goddard Remotely Operated Vehicle for Exploration and Research or Greenland Rover (GROVER) is a science enabling autonomous robot specifically designed to carry a low-power, large bandwidth radar for snow accumulation mapping over the Greenland Ice Sheet. This new and evolving technology enables reduced cost and increased safety for polar research. GROVER was field tested at Summit, Greenland in May 2013. The robot traveled over 30 km and was controlled both by line of sight wireless and completely autonomously with commands and telemetry via the Iridium Satellite Network, from Summit as well as remotely from Boise, Idaho. Here we describe GROVER's unique abilities and design. The software stack features a modular design that can be adapted for any application that requires autonomous behavior, reliable communications using different technologies and low level control of peripherals. The modules are built to communicate using the publisher-subscriber design pattern to maximize data-reuse and allow for graceful failures at the software level, along with the ability to be loaded or unloaded on-the-fly, enabling the software to adopt different behaviors based on power constraints or specific processing needs. These modules can also be loaded or unloaded remotely for servicing and telemetry can be configured to contain any kind of information being generated by the sensors or scientific instruments. The hardware design protects the electronic components and the control system can change functional parameters based on sensor input. Power failure modes built into the hardware prevent the vehicle from running out of energy permanently by monitoring voltage levels and triggering software reboots when the levels match pre-established conditions. This guarantees that the control software will be operational as soon as there is enough charge to sustain it, giving the vehicle increased longevity in case of a temporary power loss. GROVER demonstrates that autonomous rovers can be a revolutionary tool for data collection, and that both the technology and the software are available and ready to be implemented to create scientific data collection platforms.

Application of Concurrent Engineering Methods to the Design of an Autonomous Aerial Robot

DTIC Science & Technology

1991-12-01

power within the system, either airborne or at a ground station, was left to the team’s discretion. Data link from the aerial vehicle to the ground...Design Process 1 4 10 0% Conceptual 100% Preliminary 100% Detailed 100% Design Freedom Kowledge About the Design TIME INTO THE DESIGN PROCESS Figure 15...mission planning and control tasks was accomplished. Key system issues regarding power up and component initialization procedures began to be addressed

Energy Autonomous Wireless Water Meter with Integrated Turbine Driven Energy Harvester

NASA Astrophysics Data System (ADS)

Becker, P.; Folkmer, B.; Goepfert, R.; Hoffmann, D.; Willmann, A.; Manoli, Y.

2013-12-01

Accurate meter reading is the fundamental task of the home water system for the handling of payments. Meters need to be read correctly, to avoid an effect of adding events that increase unnecessary cost and create customer dissatisfaction. This paper presents a fully integrated wireless, energy autonomous water metering system based on the European Standard EN 13757 "Communication systems for meters and remote reading of meters". The system can be used in multiple water metering scenarios. No maintenance will be required and the system will provide precise and secure data transmission as well as timely and accurate recording of the consumption of water. The identification of any leakages will be improved through the analysis of the actual quantity supplied and recorded by the meters. The system is powered by an energy harvester, based on a water driven turbine wheel that is directly coupled to an electromagnetic energy transducer. The power delivered by the generator is dependent of the amount of flowing water and the pressure in the water pipes. Therefor the power is commonly non-continuous, fluctuant and unstable in the voltage amplitude. To be able to report the meter readings at all times, the system needs to be powered not only in times when the energy harvester delivers energy. Therefor an energy buffer, that stores the harvested energy, is installed to compensate the energy requirement between the actual generator output and the energy consumption of the application. Besides a complete system overview, the presentation will focus on the power management and energy aware battery charging circuitry. The design, fabrication, measuring results and the preparations for field tests in rural and urban environment will be presented and discussed.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Berland, Brian Spencer; Lanning, Bruce Roy; Stowell, Jr., Michael Wayne

This disclosure describes system and methods for creating an autonomous electrochromic assembly, and systems and methods for use of the autonomous electrochromic assembly in combination with a window. Embodiments described herein include an electrochromic assembly that has an electrochromic device, an energy storage device, an energy collection device, and an electrochromic controller device. These devices may be combined into a unitary electrochromic insert assembly. The electrochromic assembly may have the capability of generating power sufficient to operate and control an electrochromic device. This control may occur through the application of a voltage to an electrochromic device to change its opacitymore » state. The electrochromic assembly may be used in combination with a window.« less

A six-legged rover for planetary exploration

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric; Bares, John

1991-01-01

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

Optimized Autonomous Space In-situ Sensor-Web for volcano monitoring

USGS Publications Warehouse

Song, W.-Z.; Shirazi, B.; Kedar, S.; Chien, S.; Webb, F.; Tran, D.; Davis, A.; Pieri, D.; LaHusen, R.; Pallister, J.; Dzurisin, D.; Moran, S.; Lisowski, M.

2008-01-01

In response to NASA's announced requirement for Earth hazard monitoring sensor-web technology, a multidisciplinary team involving sensor-network experts (Washington State University), space scientists (JPL), and Earth scientists (USGS Cascade Volcano Observatory (CVO)), is developing a prototype dynamic and scaleable hazard monitoring sensor-web and applying it to volcano monitoring. The combined Optimized Autonomous Space -In-situ Sensor-web (OASIS) will have two-way communication capability between ground and space assets, use both space and ground data for optimal allocation of limited power and bandwidth resources on the ground, and use smart management of competing demands for limited space assets. It will also enable scalability and seamless infusion of future space and in-situ assets into the sensor-web. The prototype will be focused on volcano hazard monitoring at Mount St. Helens, which has been active since October 2004. The system is designed to be flexible and easily configurable for many other applications as well. The primary goals of the project are: 1) integrating complementary space (i.e., Earth Observing One (EO-1) satellite) and in-situ (ground-based) elements into an interactive, autonomous sensor-web; 2) advancing sensor-web power and communication resource management technology; and 3) enabling scalability for seamless infusion of future space and in-situ assets into the sensor-web. To meet these goals, we are developing: 1) a test-bed in-situ array with smart sensor nodes capable of making autonomous data acquisition decisions; 2) efficient self-organization algorithm of sensor-web topology to support efficient data communication and command control; 3) smart bandwidth allocation algorithms in which sensor nodes autonomously determine packet priorities based on mission needs and local bandwidth information in real-time; and 4) remote network management and reprogramming tools. The space and in-situ control components of the system will be integrated such that each element is capable of autonomously tasking the other. Sensor-web data acquisition and dissemination will be accomplished through the use of the Open Geospatial Consortium Sensorweb Enablement protocols. The three-year project will demonstrate end-to-end system performance with the in-situ test-bed at Mount St. Helens and NASA's EO-1 platform. ??2008 IEEE.

Autonomic Management of Space Missions. Chapter 12

NASA Technical Reports Server (NTRS)

Hinchey, Michael G.; Rash, James L.; Truszkowski, Walt; Rouff, Christopher A.; Sterritt, Roy

2006-01-01

With NASA s renewed commitment to outer space exploration, greater emphasis is being placed on both human and robotic exploration. Even when humans are involved in the exploration, human tending of assets becomes cost-prohibitive or in many cases is simply not feasible. In addition, certain exploration missions will require spacecraft that will be capable of venturing where humans cannot be sent. Early space missions were operated manually from ground control centers with little or no automated operations. In the mid-l980s, the high costs of satellite operations prompted NASA, and others, to begin automating as many functions as possible. In our context, a system is autonomous if it can achieve its goals without human intervention. A number of more-or-less automated ground systems exist today, but work continues with the goal being to reduce operations costs to even lower levels. Cost reductions can be achieved in a number of areas. Ground control and spacecraft operations are two such areas where greater autonomy can reduce costs. As a consequence, autonomy is increasingly seen as a critical approach for robotic missions and for some aspects of manned missions. Although autonomy will be critical for the success of future missions (and indeed will enable certain kinds of science data gathering approaches), missions imbued with autonomy must also exhibit autonomic properties. Exploitation of autonomy alone, without emphasis on autonomic properties, will leave spacecraft vulnerable to the dangerous environments in which they must operate. Without autonomic properties, a spacecraft may be unable to recognize negative environmental effects on its components and subsystems, or may be unable to take any action to ameliorate the effects. The spacecraft, though operating autonomously, may then sustain a degradation of performance of components or subsystems, and consequently may have a reduced potential for achieving mission objectives. In extreme cases, lack of autonomic properties could leave the spacecraft unable to recover from faults. Ensuring that exploration spacecraft have autonomic properties will increase the survivability and therefore the likelihood of success of these missions. In fact, over time, as mission requirements increased demands on spacecraft capabilities and longevity, designers have gradually built more autonomicity into spacecraft. For example, a spacecraft in low-earth orbit may experience an out-of-bounds perturbation of its attitude (orientation) due to increased drag caused by increased atmospheric density at its altitude as a result of a sufficiently large solar flare. If the spacecraft was designed to recognize the excessive attitude perturbation, it could decide to protect itself by going into a safe-hold mode where its internal configuration and operation are altered to conserve power and its coarse attitude is adjusted to point its solar panels toward the Sun to maximize power generation. This is an example of a simple type of autonomic behavior that has actually occurred. Future mission concepts will be increasingly dependent on space system survivability enabled by more advanced types of autonomic behaviors

Power management and distribution considerations for a lunar base

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Coleman, Anthony S.

1991-01-01

Design philosophies and technology needs for the power management and distribution (PMAD) portion of a lunar base power system are discussed. A process is described whereby mission planners may proceed from a knowledge of the PMAD functions and mission performance requirements to a definition of design options and technology needs. Current research efforts at the NASA LRC to meet the PMAD system needs for a Lunar base are described. Based on the requirements, the lunar base PMAD is seen as best being accomplished by a utility like system, although with some additional demands including autonomous operation and scheduling and accurate, predictive modeling during the design process.

SPINDLE: A 2-Stage Nuclear-Powered Cryobot for Ocean World Exploration

NASA Astrophysics Data System (ADS)

Stone, W.; Hogan, B.; Siegel, V. L.; Howe, T.; Howe, S.; Harman, J.; Richmond, K.; Flesher, C.; Clark, E.; Lelievre, S.; Moor, J.; Rothhammer, B.

2016-12-01

SPINDLE (Sub-glacial Polar Ice Navigation, Descent, and Lake Exploration) is a 2-stage autonomous vehicle system consisting of a robotic ice-penetrating carrier vehicle (cryobot) and a marsupial, hovering autonomous underwater vehicle (HAUV). The cryobot will descend through an ice body into a sub-ice aqueous environment and deploy the HAUV to conduct long range reconnaissance, life search, and sample collection. The HAUV will return to, and auto-dock with, the cryobot at the conclusion of the mission for subsequent data uplink and sample return to the surface. The SPINDLE cryobot has been currently designed for a 1.5 kilometer penetration through a terrestrial ice sheet and the HAUV has been designed for persistent exploration and science presence in for deployments up to a kilometer radius from the cryobot. Importantly, the cryobot is bi-directional and vertically controllable both in an ice sheet as well as following breakthrough into a subglacial water cavity / ocean. The vehicle has been designed for long-duration persistent science in subglacial cavities and to allow for subsequent return-to-surface at a much later date or subsequent season. Engineering designs for the current SPINDLE cryobot will be presented in addition to current designs for autonomous rendezvous, docking, and storing of the HAUV system into the cryobot for subsequent recovery of the entire system to the surface. Taken to completion in a three-phase program, SPINDLE will deliver an integrated and field-tested system that will be directly transferable into a Flagship-class mission to either the hypothesized shallow lakes of Europa, the sub-surface ocean of Ganymede, or the geyser/plume sources on both Europa and Enceladus. We present the results of several parallel laboratory investigations into advanced power transmission systems (laser, high voltage) as well as onboard systems that enable the SPINDLE vehicle to access any subglacial lake on earth while using non-nuclear surrogate, surface-based power systems and accounting for full re-freeze of the hole behind the cryobot. We additionally present new designs for a compatible nuclear drop-in power source and include preliminary design results for both radio-thermal and compact fission power plant designs that would be used for actual ocean world missions.

Hyperthyroidism is characterized by both increased sympathetic and decreased vagal modulation of heart rate: evidence from spectral analysis of heart rate variability.

PubMed

Chen, Jin-Long; Chiu, Hung-Wen; Tseng, Yin-Jiun; Chu, Woei-Chyn

2006-06-01

The clinical manifestations of hyperthyroidism resemble those of the hyperadrenergic state. This study was designed to evaluate the impact of hyperthyroidism on the autonomic nervous system (ANS) and to investigate the relationship between serum thyroid hormone concentrations and parameters of spectral heart rate variability (HRV) analysis in hyperthyroidism. Thirty-two hyperthyroid Graves' disease patients (mean age 31 years) and 32 sex-, age-, and body mass index (BMI)-matched normal control subjects were recruited to receive one-channel electrocardiogram (ECG) recording. The cardiac autonomic nervous function was evaluated by the spectral analysis of HRV, which indicates the autonomic modulation of the sinus node. The correlation coefficients between serum thyroid hormone concentrations and parameters of the spectral HRV analysis were also computed. The hyperthyroid patients revealed significant differences (P < 0.001) compared with the controls in the following HRV parameters: a decrease in total power (TP), very low frequency power (VLF), low frequency power (LF), high frequency power (HF), and HF in normalized units (HF%); and an increase in LF in normalized units (LF%) and in the ratio of LF to HF (LF/HF). After correction of hyperthyroidism in 28 patients, all of the above parameters were restored to levels comparable to those of the controls. In addition, serum thyroid hormone concentrations showed significant correlations with spectral HRV parameters. Hyperthyroidism is in a sympathovagal imbalanced state, characterized by both increased sympathetic and decreased vagal modulation of the heart rate. These autonomic dysfunctions can be detected simultaneously by spectral analysis of HRV, and the spectral HRV parameters could reflect the disease severity in hyperthyroid patients.

Gender differences in autonomic cardiovascular regulation: spectral, hormonal, and hemodynamic indexes

NASA Technical Reports Server (NTRS)

Evans, J. M.; Ziegler, M. G.; Patwardhan, A. R.; Ott, J. B.; Kim, C. S.; Leonelli, F. M.; Knapp, C. F.

2001-01-01

The autonomic nervous system drives variability in heart rate, vascular tone, cardiac ejection, and arterial pressure, but gender differences in autonomic regulation of the latter three parameters are not well documented. In addition to mean values, we used spectral analysis to calculate variability in arterial pressure, heart rate (R-R interval, RRI), stroke volume, and total peripheral resistance (TPR) and measured circulating levels of catecholamines and pancreatic polypeptide in two groups of 25 +/- 1.2-yr-old, healthy men and healthy follicular-phase women (40 total subjects, 10 men and 10 women per group). Group 1 subjects were studied supine, before and after beta- and muscarinic autonomic blockades, administered singly and together on separate days of study. Group 2 subjects were studied supine and drug free with the additional measurement of skin perfusion. In the unblocked state, we found that circulating levels of epinephrine and total spectral power of stroke volume, TPR, and skin perfusion ranged from two to six times greater in men than in women. The difference (men > women) in spectral power of TPR was maintained after beta- and muscarinic blockades, suggesting that the greater oscillations of vascular resistance in men may be alpha-adrenergically mediated. Men exhibited muscarinic buffering of mean TPR whereas women exhibited beta-adrenergic buffering of mean TPR as well as TPR and heart rate oscillations. Women had a greater distribution of RRI power in the breathing frequency range and a less negative slope of ln RRI power vs. ln frequency, both indicators that parasympathetic stimuli were the dominant influence on women's heart rate variability. The results of our study suggest a predominance of sympathetic vascular regulation in men compared with a dominant parasympathetic influence on heart rate regulation in women.

The Use of Hydrogen as a Fuel for Engines in the Energy Cycle of Remote Production Facilities

NASA Astrophysics Data System (ADS)

Ivanov, M. F.; Kiverin, A. D.; Smygalina, A. E.; Zaichenko, V. M.

2018-01-01

The approach to using hydrogen as fuel, which ensures the smooth operation of autonomous power systems that use renewable energy sources (wind or solar power installations) with the stochastic mode of power generation, has been presented. The fundamental possibility of implementing the nondetonation combustion of hydrogen via the addition of ecologically clean components or a small percentage of methane has been demonstrated by methods of mathematical modeling.

Model-based reasoning for power system management using KATE and the SSM/PMAD

NASA Technical Reports Server (NTRS)

Morris, Robert A.; Gonzalez, Avelino J.; Carreira, Daniel J.; Mckenzie, F. D.; Gann, Brian

1993-01-01

The overall goal of this research effort has been the development of a software system which automates tasks related to monitoring and controlling electrical power distribution in spacecraft electrical power systems. The resulting software system is called the Intelligent Power Controller (IPC). The specific tasks performed by the IPC include continuous monitoring of the flow of power from a source to a set of loads, fast detection of anomalous behavior indicating a fault to one of the components of the distribution systems, generation of diagnosis (explanation) of anomalous behavior, isolation of faulty object from remainder of system, and maintenance of flow of power to critical loads and systems (e.g. life-support) despite fault conditions being present (recovery). The IPC system has evolved out of KATE (Knowledge-based Autonomous Test Engineer), developed at NASA-KSC. KATE consists of a set of software tools for developing and applying structure and behavior models to monitoring, diagnostic, and control applications.

Nanotechnology at NASA Ames

NASA Technical Reports Server (NTRS)

Srivastava, Deepak; Meyyappan, Meyya; Yan, Jerry (Technical Monitor)

2000-01-01

Advanced miniaturization, a key thrust area to enable new science and exploration missions, provides ultrasmall sensors, power sources, communication, navigation, and propulsion systems with very low mass, volume, and power consumption. Revolutions in electronics and computing will allow reconfigurable, autonomous, 'thinking' spacecraft. Nanotechnology presents a whole new spectrum of opportunities to build device components and systems for entirely new space architectures: (1) networks of ultrasmall probes on planetary surfaces; (2) micro-rovers that drive, hop, fly, and burrow; and (3) collections of microspacecraft making a variety of measurements.

An ocean bottom seismic observatory with near real-time telemetry

NASA Astrophysics Data System (ADS)

Berger, J.; Laske, G.; Babcock, J.; Orcutt, J.

2016-02-01

We describe a new technology that can provide near real-time telemetry of sensor data from the ocean bottom without a moored buoy or a cable to shore. The breakthrough technology that makes this system possible is an autonomous surface vehicle called a Wave Glider developed by Liquid Robotics, Inc. of Sunnyvale, CA, which harvests wave and solar energy for motive and electrical power. We present results from several deployments of a prototype system that demonstrate the feasibility of this concept. We also demonstrated that a wave glider could tow a suitably designed ocean bottom package with acceptable loss of speed. With further development such a system could be deployed autonomously and provide real-time telemetry of data from seafloor sensors.

A New Signaling Architecture THREP with Autonomous Radio-Link Control for Wireless Communications Systems

NASA Astrophysics Data System (ADS)

Hirono, Masahiko; Nojima, Toshio

This paper presents a new signaling architecture for radio-access control in wireless communications systems. Called THREP (for THREe-phase link set-up Process), it enables systems with low-cost configurations to provide tetherless access and wide-ranging mobility by using autonomous radio-link controls for fast cell searching and distributed call management. A signaling architecture generally consists of a radio-access part and a service-entity-access part. In THREP, the latter part is divided into two steps: preparing a communication channel, and sustaining it. Access control in THREP is thus composed of three separated parts, or protocol phases. The specifications of each phase are determined independently according to system requirements. In the proposed architecture, the first phase uses autonomous radio-link control because we want to construct low-power indoor wireless communications systems. Evaluation of channel usage efficiency and hand-over loss probability in the personal handy-phone system (PHS) shows that THREP makes the radio-access sub-system operations in a practical application model highly efficient, and the results of a field experiment show that THREP provides sufficient protection against severe fast CNR degradation in practical indoor propagation environments.

Power sources for autonomous underwater vehicles

NASA Astrophysics Data System (ADS)

Hasvold, Øistein; Størkersen, Nils J.; Forseth, Sissel; Lian, Torleif

The paper addresses the general requirements for power sources for AUVs, including battery and semi-fuel cell design and safety considerations. The focus is on the last AUV in the HUGIN family: the HUGIN 1000 mine reconnaissance system. For this AUV, FFI recently developed a pressure tolerant lithium ion battery based on commercially available polymer cells. The Royal Norwegian Navy has been operating HUGIN 1000 since February 2004.

Low power data acquisition unit for autonomous geophysical instrumentation

NASA Astrophysics Data System (ADS)

Prystai, Andrii

2017-04-01

The development of an autonomous instrumentation for field research is always a challenge which needs knowledge and application of recent advances in technology and components production. Using this information a super-low power, low-cost, stand-alone GPS time synchronized data acquisition unit was created. It comprises an extended utilization of the microcontroller modules and peripherals and special firmware with flexible PLL parameters. The present report is devoted to a discussion of synchronization mode of data sampling in autonomous field instruments with possibility of GPS random breaks. In the result the achieved sampling timing accuracy is better than ± 60 ns without phase jumps and distortion plus fixed shift depending on the sample rate. The main application of the system is for simultaneous measurement of several channels from magnetic and electric sensors in field conditions for magneto-telluric instruments. First utilization of this system was in the new developed versions of LEMI-026 magnetometer and LEMI-423 field station, where it was applied for digitizing of up to 6 analogue channels with 32-bit resolution in the range ± 2.5V, digital filtration (LPF) and maximum sample rate 4kS/s. It is ready for record in 5 minutes after being turned on. Recently, this system was successfully utilized with the drone-portable magnetometers destined for the search of metallic objects, like UXO, in rural areas, research of engineering underground structure and for mapping ore bodies. The successful tests of drone-portable system were made and tests results are also discussed.

The Need for Intelligent Control of Space Power Systems

NASA Technical Reports Server (NTRS)

May, Ryan David; Soeder, James F.; Beach, Raymond F.; McNelis, Nancy B.

2013-01-01

As manned spacecraft venture farther from Earth, the need for reliable, autonomous control of vehicle subsystems becomes critical. This is particularly true for the electrical power system which is critical to every other system. Autonomy can not be achieved by simple scripting techniques due to the communication latency times and the difficulty associated with failures (or combinations of failures) that need to be handled in as graceful a manner as possible to ensure system availability. Therefore an intelligent control system must be developed that can respond to disturbances and failures in a robust manner and ensure that critical system loads are served and all system constraints are respected.

2015 Marine Corps Security Environment Forecast: Futures 2030-2045

DTIC Science & Technology

2015-01-01

The technologies that make the iPhone “smart” were publically funded—the Internet, wireless networks, the global positioning system, microelectronics...Energy Revolution (63 percent);  Internet of Things (ubiquitous sensors embedded in interconnected computing devices) (50 percent);  “Sci-Fi...Neuroscience & artificial intelligence - Sensors /control systems -Power & energy -Human-robot interaction Robots/autonomous systems will become part of the

TARDEC Overview: Ground Vehicle Power and Mobility

DTIC Science & Technology

2011-02-04

Fuel & Water Distribution • Force Sustainment • Construction Equipment • Bridging • Assured Mobility Systems Robotics • TALON • PackBot • MARCbot...Equipment • Mechanical Countermine Equipment • Tactical Bridging Intelligent Ground Systems • Autonomous Robotics Systems • Safe Operations...Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT) • Electro-chemical Analysis and Research Lab (EARL) • Battery Lab • Air

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Technical Reports Server (NTRS)

Krotkov, Eric; Simmons, Reid

1992-01-01

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Astrophysics Data System (ADS)

Krotkov, Eric; Simmons, Reid

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Evaluation of high-voltage, high-power, solid-state remote power controllers for amps

NASA Technical Reports Server (NTRS)

Callis, Charles P.

1987-01-01

The Electrical Power Branch at Marshall Space Flight Center has a Power System Development Facility where various power circuit breadboards are tested and evaluated. This project relates to the evaluation of a particular remote power controller (RPC) energizing high power loads. The Facility equipment permits the thorough testing and evaluation of high-voltage, high-power solid-state remote power controllers. The purpose is to evaluate a Type E, 30 Ampere, 200 V dc remote power controller. Three phases of the RPC evaluation are presented. The RPC is evaluated within a low-voltage, low-power circuit to check its operational capability. The RPC is then evaluated while performing switch/circuit breaker functions within a 200 V dc, 30 Ampere power circuit. The final effort of the project relates to the recommended procedures for installing these RPC's into the existing Autonomously Managed Power System (AMPS) breadboard/test facility at MSFC.

Multiport power router and its impact on future smart grids

NASA Astrophysics Data System (ADS)

Kado, Yuichi; Shichijo, Daiki; Wada, Keiji; Iwatsuki, Katsumi

2016-07-01

We propose a Y configuration power router as a unit cell to easily construct a power delivery system that can meet many types of user requirements. The Y configuration power router controls the direction and magnitude of power flows between three ports regardless of DC or AC. We constructed a prototype three-way isolated DC/DC converter that is the core unit of the Y configuration power router. The electrical insulation between three ports assures safety and reliability for power network systems. We then tested the operation of power flow control. The experimental results revealed that our methodology based on a governing equation was appropriate to control the power flow of the three-way DC/DC converter. In addition, a distribution network composed of power routers had the ability to easily enable interchanges of electrical power between autonomous microgrid cells. We also explored the requirements for communication between energy routers to achieve dynamic adjustments of energy flows in a coordinated manner and their impact on resilient power grid systems.

Complexity, Robustness, and Multistability in Network Systems with Switching Topologies: A Hierarchical Hybrid Control Approach

DTIC Science & Technology

2015-05-22

sensor networks for managing power levels of wireless networks ; air and ground transportation systems for air traffic control and payload transport and... network systems, large-scale systems, adaptive control, discontinuous systems 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF...cover a broad spectrum of ap- plications including cooperative control of unmanned air vehicles, autonomous underwater vehicles, distributed sensor

Integrating Sensory/Actuation Systems in Agricultural Vehicles

PubMed Central

Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

2014-01-01

In recent years, there have been major advances in the development of new and more powerful perception systems for agriculture, such as computer-vision and global positioning systems. Due to these advances, the automation of agricultural tasks has received an important stimulus, especially in the area of selective weed control where high precision is essential for the proper use of resources and the implementation of more efficient treatments. Such autonomous agricultural systems incorporate and integrate perception systems for acquiring information from the environment, decision-making systems for interpreting and analyzing such information, and actuation systems that are responsible for performing the agricultural operations. These systems consist of different sensors, actuators, and computers that work synchronously in a specific architecture for the intended purpose. The main contribution of this paper is the selection, arrangement, integration, and synchronization of these systems to form a whole autonomous vehicle for agricultural applications. This type of vehicle has attracted growing interest, not only for researchers but also for manufacturers and farmers. The experimental results demonstrate the success and performance of the integrated system in guidance and weed control tasks in a maize field, indicating its utility and efficiency. The whole system is sufficiently flexible for use in other agricultural tasks with little effort and is another important contribution in the field of autonomous agricultural vehicles. PMID:24577525

Integrating sensory/actuation systems in agricultural vehicles.

PubMed

Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

2014-02-26

In recent years, there have been major advances in the development of new and more powerful perception systems for agriculture, such as computer-vision and global positioning systems. Due to these advances, the automation of agricultural tasks has received an important stimulus, especially in the area of selective weed control where high precision is essential for the proper use of resources and the implementation of more efficient treatments. Such autonomous agricultural systems incorporate and integrate perception systems for acquiring information from the environment, decision-making systems for interpreting and analyzing such information, and actuation systems that are responsible for performing the agricultural operations. These systems consist of different sensors, actuators, and computers that work synchronously in a specific architecture for the intended purpose. The main contribution of this paper is the selection, arrangement, integration, and synchronization of these systems to form a whole autonomous vehicle for agricultural applications. This type of vehicle has attracted growing interest, not only for researchers but also for manufacturers and farmers. The experimental results demonstrate the success and performance of the integrated system in guidance and weed control tasks in a maize field, indicating its utility and efficiency. The whole system is sufficiently flexible for use in other agricultural tasks with little effort and is another important contribution in the field of autonomous agricultural vehicles.

Curiosity's Autonomous Surface Safing Behavior Design

NASA Technical Reports Server (NTRS)

Neilson, Tracy A.; Manning, Robert M.

2013-01-01

The safing routines on all robotic deep-space vehicles are designed to put the vehicle in a power and thermally safe configuration, enabling communication with the mission operators on Earth. Achieving this goal is made a little more difficult on Curiosity because the power requirements for the core avionics and the telecommunication equipment exceed the capability of the single power source, the Multi-Mission Radioisotope Thermoelectric Generator. This drove the system design to create an operational mode, called "sleep mode", where the vehicle turns off most of the loads in order to charge the two Li-ion batteries. The system must keep the vehicle safe from over-heat and under-heat conditions, battery cell failures, under-voltage conditions, and clock failures, both while the computer is running and while the system is sleeping. The other goal of a safing routine is to communicate. On most spacecraft, this simply involves turning on the receiver and transmitter continuously. For Curiosity, Earth is above the horizon only a part of the day for direct communication to the Earth, and the orbiter overpass opportunities only occur a few times a day. The design must robustly place the Rover in a communicable condition at the correct time. This paper discusses Curiosity's autonomous safing behavior and describes how the vehicle remains power and thermally safe while sleeping, as well as a description of how the Rover communicates with the orbiters and Earth at specific times.

Secure VM for Monitoring Industrial Process Controllers

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dasgupta, Dipankar; Ali, Mohammad Hassan; Abercrombie, Robert K

2011-01-01

In this paper, we examine the biological immune system as an autonomic system for self-protection, which has evolved over millions of years probably through extensive redesigning, testing, tuning and optimization process. The powerful information processing capabilities of the immune system, such as feature extraction, pattern recognition, learning, memory, and its distributive nature provide rich metaphors for its artificial counterpart. Our study focuses on building an autonomic defense system, using some immunological metaphors for information gathering, analyzing, decision making and launching threat and attack responses. In order to detection Stuxnet like malware, we propose to include a secure VM (or dedicatedmore » host) to the SCADA Network to monitor behavior and all software updates. This on-going research effort is not to mimic the nature but to explore and learn valuable lessons useful for self-adaptive cyber defense systems.« less

New Autonomous Motors of Metal-Organic Framework (MOF) Powered by Reorganization of Self-Assembled Peptides at interfaces

PubMed Central

Ikezoe, Yasuhiro; Washino, Gosuke; Uemura, Takashi; Kitagawa, Susumu; Matsui, Hiroshi

2012-01-01

There have developed a variety of microsystems that harness energy and convert it to mechanical motion. Here we developed new autonomous biochemical motors by integrating metal-organic framework (MOF) and self-assembling peptides. MOF is applied as an energy-storing cell that assembles peptides inside nanoscale pores of the coordination framework. The robust assembling nature of peptides enables reconfiguring their assemblies at the water-MOF interface, which is converted to fuel energy. Re-organization of hydrophobic peptides could create the large surface tension gradient around the MOF and it efficiently powers the translation motion of MOF. As a comparison, the velocity of normalized by volume for the DPA-MOF particle is faster and the kinetic energy per the unit mass of fuel is more than twice as large as the one for previous gel motor systems. This demonstration opens the new application of MOF and reconfigurable molecular self-assembly and it may evolve into the smart autonomous motor that mimic bacteria to swim and harvest target chemicals by integrating recognition units. PMID:23104155

Comparison of advanced rechargeable batteries for autonomous underwater vehicles

DOE Office of Scientific and Technical Information (OSTI.GOV)

Descroix, J.P.; Chagnon, G.

1994-12-31

For AUV to be promising in the field of military oceanic and scientific missions, it is of great importance that power sources must meet the system needs. In view of this, this article will address the present and near term options for electric power sources. Evaluation is based on a hypothetical AUV. It is expected that considerable results will be achieved with respect to the possible options and cost needed in the manufacture of such power sources. 5 refs.

Galileo spacecraft power management and distribution system

NASA Technical Reports Server (NTRS)

Detwiler, R. C.; Smith, R. L.

1990-01-01

The Galileo PMAD (power management and distribution system) is described, and the design drivers that established the final as-built hardware are discussed. The spacecraft is powered by two general-purpose heat-source-radioisotope thermoelectric generators. Power bus regulation is provided by a shunt regulator. Galileo PMAD distributes a 570-W beginning of mission (BOM) power source to a user complement of some 137 load elements. Extensive use of pyrotechnics requires two pyro switching subassemblies. They initiate 148 squibs which operate the 47 pyro devices on the spacecraft. Detection and correction of faults in the Galileo PMAD is an autonomous feature dictated by requirements for long life and reliability in the absence of ground-based support. Volatile computer memories in the spacecraft command and data system and attitude control system require a continuous source of backup power during all anticipated power bus fault scenarios. Power for the Jupiter Probe is conditioned, isolated, and controlled by a Probe interface subassembly. Flight performance of the spacecraft and the PMAD has been successful to date, with no major anomalies.

Pulse wave velocity and cardiac autonomic function in type 2 diabetes mellitus.

PubMed

Chorepsima, Stamatina; Eleftheriadou, Ioanna; Tentolouris, Anastasios; Moyssakis, Ioannis; Protogerou, Athanasios; Kokkinos, Alexandros; Sfikakis, Petros P; Tentolouris, Nikolaos

2017-05-19

Increased carotid-femoral pulse wave velocity (PWV) has been associated with incident cardiovascular disease, independently of traditional risk factors. Cardiac autonomic dysfunction is a common complication of diabetes and has been associated with reduced aortic distensibility. However, the association of cardiac autonomic dysfunction with PWV is not known. In this study we examined the association between cardiac autonomic function and PWV in subjects with type 2 diabetes mellitus. A total of 290 patients with type 2 diabetes were examined. PWV was measured at the carotid-femoral segment with applanation tonometry. Central mean arterial blood pressure (MBP) was determined by the same apparatus. Participants were classified as having normal (n = 193) or abnormal (n = 97) PWV values using age-corrected values. Cardiac autonomic nervous system activity was determined by measurement of parameters of heart rate variability (HRV). Subjects with abnormal PWV were older, had higher arterial blood pressure and higher heart rate than those with normal PWV. Most of the values of HRV were significantly lower in subjects with abnormal than in those with normal PWV. Multivariate analysis, after controlling for various confounding factors, demonstrated that abnormal PWV was associated independently only with peripheral MBP [odds ratio (OR) 1.049, 95% confidence intervals (CI) 1.015-1.085, P = 0.005], central MBP (OR 1.052, 95% CI 1.016-1.088, P = 0.004), log total power (OR 0.490, 95% CI 0.258-0.932, P = 0.030) and log high frequency power (OR 0.546, 95% CI 0.301-0.991, P = 0.047). In subjects with type 2 diabetes, arterial blood pressure and impaired cardiac autonomic function is associated independently with abnormal PWV.

RoMPS concept review automatic control of space robot, volume 2

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1991-01-01

Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form and include: (1) system concept; (2) Hitchhiker Interface Requirements; (3) robot axis control concepts; (4) Autonomous Experiment Management System; (5) Zymate Robot Controller; (6) Southwest SC-4 Computer; (7) oven control housekeeping data; and (8) power distribution.

CAMELOT 2

NASA Technical Reports Server (NTRS)

1988-01-01

The design parameters of a space vehicle resulting from studies conducted at the University of Michigan are presented. The vehicle is identified as a Circulating Autonomous Mars-Earth Luxury Orbital Transport (CAMELOT). This report documents the results of the current study based on several key changes in the spacecraft systems and layout. Subjects discussed are propulsion, docking, power systems, habitat design, and orbital assembly.

Recycle Requirements for NASA's 30 cm Xenon Ion Thruster

NASA Technical Reports Server (NTRS)

Pinero, Luis R.; Rawlin, Vincent K.

1994-01-01

Electrical breakdowns have been observed during ion thruster operation. These breakdowns, or arcs, can be caused by several conditions. In flight systems, the power processing unit must be designed to handle these faults autonomously. This has a strong impact on power processor requirements and must be understood fully for the power processing unit being designed for the NASA Solar Electric Propulsion Technology Application Readiness program. In this study, fault conditions were investigated using a NASA 30 cm ion thruster and a power console. Power processing unit output specifications were defined based on the breakdown phenomena identified and characterized.

A Novel Control Strategy for Autonomous Operation of Isolated Microgrid with Prioritized Loads

NASA Astrophysics Data System (ADS)

Kumar, R. Hari; Ushakumari, S.

2018-05-01

Maintenance of power balance between generation and demand is one of the most critical requirements for the stable operation of a power system network. To mitigate the power imbalance during the occurrence of any disturbance in the system, fast acting algorithms are inevitable. This paper proposes a novel algorithm for load shedding and network reconfiguration in an isolated microgrid with prioritized loads and multiple islands, which will help to quickly restore the system in the event of a fault. The performance of the proposed algorithm is enhanced using genetic algorithm and its effectiveness is illustrated with simulation results on modified Consortium for Electric Reliability Technology Solutions (CERTS) microgrid.

Biologically inspired collision avoidance system for unmanned vehicles

NASA Astrophysics Data System (ADS)

Ortiz, Fernando E.; Graham, Brett; Spagnoli, Kyle; Kelmelis, Eric J.

2009-05-01

In this project, we collaborate with researchers in the neuroscience department at the University of Delaware to develop an Field Programmable Gate Array (FPGA)-based embedded computer, inspired by the brains of small vertebrates (fish). The mechanisms of object detection and avoidance in fish have been extensively studied by our Delaware collaborators. The midbrain optic tectum is a biological multimodal navigation controller capable of processing input from all senses that convey spatial information, including vision, audition, touch, and lateral-line (water current sensing in fish). Unfortunately, computational complexity makes these models too slow for use in real-time applications. These simulations are run offline on state-of-the-art desktop computers, presenting a gap between the application and the target platform: a low-power embedded device. EM Photonics has expertise in developing of high-performance computers based on commodity platforms such as graphic cards (GPUs) and FPGAs. FPGAs offer (1) high computational power, low power consumption and small footprint (in line with typical autonomous vehicle constraints), and (2) the ability to implement massively-parallel computational architectures, which can be leveraged to closely emulate biological systems. Combining UD's brain modeling algorithms and the power of FPGAs, this computer enables autonomous navigation in complex environments, and further types of onboard neural processing in future applications.

Heart rate variability is differentially altered in multiple sclerosis: implications for acute, worsening and progressive disability.

PubMed

Studer, Valeria; Rocchi, Camilla; Motta, Caterina; Lauretti, Benedetta; Perugini, Jacopo; Brambilla, Laura; Pareja-Gutierrez, Lorena; Camera, Giorgia; Barbieri, Francesca Romana; Marfia, Girolama A; Centonze, Diego; Rossi, Silvia

2017-01-01

Sympathovagal imbalance has been associated with poor prognosis in chronic diseases, but there is conflicting evidence in multiple sclerosis. The objective of this study was to investigate the autonomic nervous system dysfunction correlation with inflammation and progression in multiple sclerosis. Heart rate variability was analysed in 120 multiple sclerosis patients and 60 healthy controls during supine rest and head-up tilt test; the normalised units of low frequency and high frequency power were considered to assess sympathetic and vagal components, respectively. Correlation analyses with clinical and radiological markers of disease activity and progression were performed. Sympathetic dysfunction was closely related to the progression of disability in multiple sclerosis: progressive patients showed altered heart rate variability with respect to healthy controls and relapsing-remitting patients, with higher rest low frequency power and lacking the expected low frequency power increase during the head-up tilt test. In relapsing-remitting patients, disease activity, even subclinical, was associated with lower rest low frequency power, whereas stable relapsing-remitting patients did not differ from healthy controls. Less sympathetic reactivity and higher low frequency power at rest were associated with incomplete recovery from relapse. Autonomic balance appears to be intimately linked with both the inflammatory activity of multiple sclerosis, which is featured by an overall hypoactivity of the sympathetic nervous system, and its compensatory plastic processes, which appear inefficient in case of worsening and progressive multiple sclerosis.

Extension of the supercritical carbon dioxide brayton cycle to low reactor power operation: investigations using the coupled anl plant dynamics code-SAS4A/SASSYS-1 liquid metal reactor code system.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Moisseytsev, A.; Sienicki, J. J.

2012-05-10

Significant progress has been made on the development of a control strategy for the supercritical carbon dioxide (S-CO{sub 2}) Brayton cycle enabling removal of power from an autonomous load following Sodium-Cooled Fast Reactor (SFR) down to decay heat levels such that the S-CO{sub 2} cycle can be used to cool the reactor until decay heat can be removed by the normal shutdown heat removal system or a passive decay heat removal system such as Direct Reactor Auxiliary Cooling System (DRACS) loops with DRACS in-vessel heat exchangers. This capability of the new control strategy eliminates the need for use of amore » separate shutdown heat removal system which might also use supercritical CO{sub 2}. It has been found that this capability can be achieved by introducing a new control mechanism involving shaft speed control for the common shaft joining the turbine and two compressors following reduction of the load demand from the electrical grid to zero. Following disconnection of the generator from the electrical grid, heat is removed from the intermediate sodium circuit through the sodium-to-CO{sub 2} heat exchanger, the turbine solely drives the two compressors, and heat is rejected from the cycle through the CO{sub 2}-to-water cooler. To investigate the effectiveness of shaft speed control, calculations are carried out using the coupled Plant Dynamics Code-SAS4A/SASSYS-1 code for a linear load reduction transient for a 1000 MWt metallic-fueled SFR with autonomous load following. No deliberate motion of control rods or adjustment of sodium pump speeds is assumed to take place. It is assumed that the S-CO{sub 2} turbomachinery shaft speed linearly decreases from 100 to 20% nominal following reduction of grid load to zero. The reactor power is calculated to autonomously decrease down to 3% nominal providing a lengthy window in time for the switchover to the normal shutdown heat removal system or for a passive decay heat removal system to become effective. However, the calculations reveal that the compressor conditions are calculated to approach surge such that the need for a surge control system for each compressor is identified. Thus, it is demonstrated that the S-CO{sub 2} cycle can operate in the initial decay heat removal mode even with autonomous reactor control. Because external power is not needed to drive the compressors, the results show that the S-CO{sub 2} cycle can be used for initial decay heat removal for a lengthy interval in time in the absence of any off-site electrical power. The turbine provides sufficient power to drive the compressors. Combined with autonomous reactor control, this represents a significant safety advantage of the S-CO{sub 2} cycle by maintaining removal of the reactor power until the core decay heat falls to levels well below those for which the passive decay heat removal system is designed. The new control strategy is an alternative to a split-shaft layout involving separate power and compressor turbines which had previously been identified as a promising approach enabling heat removal from a SFR at low power levels. The current results indicate that the split-shaft configuration does not provide any significant benefits for the S-CO{sub 2} cycle over the current single-shaft layout with shaft speed control. It has been demonstrated that when connected to the grid the single-shaft cycle can effectively follow the load over the entire range. No compressor speed variation is needed while power is delivered to the grid. When the system is disconnected from the grid, the shaft speed can be changed as effectively as it would be with the split-shaft arrangement. In the split-shaft configuration, zero generator power means disconnection of the power turbine, such that the resulting system will be almost identical to the single-shaft arrangement. Without this advantage of the split-shaft configuration, the economic benefits of the single-shaft arrangement, provided by just one turbine and lower losses at the design point, are more important to the overall cycle performance. Therefore, the single-shaft configuration shall be retained as the reference arrangement for S-CO{sub 2} cycle power converter preconceptual designs. Improvements to the ANL Plant Dynamics Code have been carried out. The major code improvement is the introduction of a restart capability which simplifies investigation of control strategies for very long transients. Another code modification is transfer of the entire code to a new Intel Fortran complier; the execution of the code using the new compiler was verified by demonstrating that the same results are obtained as when the previous Compaq Visual Fortran compiler was used.« less

Space Station power system autonomy demonstration

NASA Technical Reports Server (NTRS)

Kish, James A.; Dolce, James L.; Weeks, David J.

1988-01-01

The Systems Autonomy Demonstration Program (SADP) represents NASA's major effort to demonstrate, through a series of complex ground experiments, the application and benefits of applying advanced automation technologies to the Space Station project. Lewis Research Center (LeRC) and Marshall Space Flight Center (MSFC) will first jointly develop an autonomous power system using existing Space Station testbed facilities at each center. The subsequent 1990 power-thermal demonstration will then involve the cooperative operation of the LeRC/MSFC power system with the Johnson Space Center (JSC's) thermal control and DMS/OMS testbed facilities. The testbeds and expert systems at each of the NASA centers will be interconnected via communication links. The appropriate knowledge-based technology will be developed for each testbed and applied to problems requiring intersystem cooperation. Primary emphasis will be focused on failure detection and classification, system reconfiguration, planning and scheduling of electrical power resources, and integration of knowledge-based and conventional control system software into the design and operation of Space Station testbeds.

Bio-Nanobattery Development and Characterization

NASA Technical Reports Server (NTRS)

King, Glen C.; Choi, Sang H.; Chu, Sang-Hyon; Kim, Jae-Woo; Watt, Gerald D.; Lillehei, Peter T.; Park, Yeonjoon; Elliott, James R.

2005-01-01

A bio-nanobattery is an electrical energy storage device that utilizes organic materials and processes on an atomic, or nanometer-scale. The bio-nanobattery under development at NASA s Langley Research Center provides new capabilities for electrical power generation, storage, and distribution as compared to conventional power storage systems. Most currently available electronic systems and devices rely on a single, centralized power source to supply electrical power to a specified location in the circuit. As electronic devices and associated components continue to shrink in size towards the nanometer-scale, a single centralized power source becomes impractical. Small systems, such as these, will require distributed power elements to reduce Joule heating, to minimize wiring quantities, and to allow autonomous operation of the various functions performed by the circuit. Our research involves the development and characterization of a bio-nanobattery using ferritins reconstituted with both an iron core (Fe-ferritin) and a cobalt core (Co-ferritin). Synthesis and characterization of the Co-ferritin and Fe-ferritin electrodes were performed, including reducing capability and the half-cell electrical potentials. Electrical output of nearly 0.5 V for the battery cell was measured. Ferritin utilizing other metallic cores were also considered to increase the overall electrical output. Two dimensional ferritin arrays were produced on various substrates to demonstrate the feasibility of a thin-film nano-scaled power storage system for distributed power storage applications. The bio-nanobattery will be ideal for nanometerscaled electronic applications, due to the small size, high energy density, and flexible thin-film structure. A five-cell demonstration article was produced for concept verification and bio-nanobattery characterization. Challenges to be addressed include the development of a multi-layered thin-film, increasing the energy density, dry-cell bionanobattery development, and selection of ferritin core materials to allow the broadest range of applications. The potential applications for the distributed power system include autonomously-operating intelligent chips, flexible thin-film electronic circuits, nanoelectromechanical systems (NEMS), ultra-high density data storage devices, nanoelectromagnetics, quantum electronic devices, biochips, nanorobots for medical applications and mechanical nano-fabrication, etc.

Effect of HeartMate left ventricular assist device on cardiac autonomic nervous activity.

PubMed

Kim, S Y; Montoya, A; Zbilut, J P; Mawulawde, K; Sullivan, H J; Lonchyna, V A; Terrell, M R; Pifarré, R

1996-02-01

Clinical performance of a left ventricular assist device is assessed via hemodynamic parameters and end-organ function. This study examined effect of a left ventricular assist device on human neurophysiology. This study evaluated the time course change of cardiac autonomic activity of 3 patients during support with a left ventricular assist device before cardiac transplantation. Cardiac autonomic activity was determined by power spectral analysis of short-term heart rate variability. The heart rate variability before cardiac transplantation was compared with that on the day before left ventricular assist device implantation. The standard deviation of the mean of the R-R intervals of the electrocardiogram, an index of vagal activity, increased to 27 +/- 7 ms from 8 +/- 0.6 ms. The modulus of power spectral components increased. Low frequency (sympathetic activity) and high frequency power (vagal activity) increased by a mean of 9 and 22 times of each baseline value (low frequency power, 5.2 +/- 3.0 ms2; high frequency power, 2.1 +/- 0.7 ms2). The low over high frequency power ratio decreased substantially, indicating an improvement of cardiac sympatho-vagal balance. The study results suggest that left ventricular assist device support before cardiac transplantation may exert a favorable effect on cardiac autonomic control in patients with severe heart failure.

Autonomous stair-climbing with miniature jumping robots.

PubMed

Stoeter, Sascha A; Papanikolopoulos, Nikolaos

2005-04-01

The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Interplay of ICP and IXP over the Internet with power-law features

NASA Astrophysics Data System (ADS)

Fan, Zhongyan; Tang, Wallace Kit-Sang

The Internet is the largest artificial network consisting of billions of IP devices, managed by tens of thousands of autonomous systems (ASes). Due to its importance, the Internet has received much attention and its topological features, mainly in AS-level, have been widely explored from the complex network perspective. However, most of the previous studies assume a homogeneous model in which nodes are indistinguishable in nature. It may be good for a general study of topological structure, but unfortunately it fails to reflect the functionality. The Internet ecology is in fact heterogeneous and highly complex. It consists of various elements such as Internet Exchange Points (IXPs), Internet Content Providers (ICPs), and normal Autonomous System (ASes), realizing different roles in the Internet. In this paper, we propose level-structured network models for investigating how ICP performs under the AS-topology with power-law features and how IXP enhances its performance from a complex network perspective. Based on real data, our results reveal that the power-law nature of the Internet facilitates content delivery not only in efficiency but also in path redundancy. Moreover, the proposed multi-level framework is able to clearly illustrate the significant benefits gained by ICP from IXP peerings.

Design and evaluation of cellular power converter architectures

NASA Astrophysics Data System (ADS)

Perreault, David John

Power electronic technology plays an important role in many energy conversion and storage applications, including machine drives, power supplies, frequency changers and UPS systems. Increases in performance and reductions in cost have been achieved through the development of higher performance power semiconductor devices and integrated control devices with increased functionality. Manufacturing techniques, however, have changed little. High power is typically achieved by paralleling multiple die in a sing!e package, producing the physical equivalent of a single large device. Consequently, both the device package and the converter in which the device is used continue to require large, complex mechanical structures, and relatively sophisticated heat transfer systems. An alternative to this approach is the use of a cellular power converter architecture, which is based upon the parallel connection of a large number of quasi-autonomous converters, called cells, each of which is designed for a fraction of the system rating. The cell rating is chosen such that single-die devices in inexpensive packages can be used, and the cell fabricated with an automated assembly process. The use of quasi-autonomous cells means that system performance is not compromised by the failure of a cell. This thesis explores the design of cellular converter architectures with the objective of achieving improvements in performance, reliability, and cost over conventional converter designs. New approaches are developed and experimentally verified for highly distributed control of cellular converters, including methods for ripple cancellation and current-sharing control. The performance of these techniques are quantified, and their dynamics are analyzed. Cell topologies suitable to the cellular architecture are investigated, and their use for systems in the 5-500 kVA range is explored. The design, construction, and experimental evaluation of a 6 kW cellular switched-mode rectifier is also addressed. This cellular system implements entirely distributed control, and achieves performance levels unattainable with an equivalent single converter. (Copies available exclusively from MIT Libraries, Rm. 14-0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax 617-253-1690.)

Ferrite Loaded Coils for Improved Wireless Power Transfer Efficiency

DTIC Science & Technology

2015-09-01

visible in yellow, from [4]. ..........................................................................................4  Figure 4.  The Odyssey AUV ...47  Figure 35.  System mockup of AUV in docking/charging station...42  xii THIS PAGE INTENTIONALLY LEFT BLANK xiii LIST OF ACRONYMS AND ABBREVIATIONS AUV Autonomous Underwater Vehicle CST

A photovoltaic-driven and energy-autonomous CMOS implantable sensor.

PubMed

Ayazian, Sahar; Akhavan, Vahid A; Soenen, Eric; Hassibi, Arjang

2012-08-01

An energy-autonomous, photovoltaic (PV)-driven and MRI-compatible CMOS implantable sensor is presented. On-chip P+/N-well diode arrays are used as CMOS-compatible PV cells to harvest μW's of power from the light that penetrates into the tissue. In this 2.5 mm × 2.5 mm sub-μW integrated system, the in-vivo physiological signals are first measured by using a subthreshold ring oscillator-based sensor, the acquired data is then modulated into a frequency-shift keying (FSK) signal, and finally transmitted neuromorphically to the skin surface by using a pair of polarized electrodes.

Autonomous Planning and Replanning for Mine-Sweeping Unmanned Underwater Vehicles

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.

2010-01-01

This software generates high-quality plans for carrying out mine-sweeping activities under resource constraints. The autonomous planning and replanning system for unmanned underwater vehicles (UUVs) takes as input a set of prioritized mine-sweep regions, and a specification of available UUV resources including available battery energy, data storage, and time available for accomplishing the mission. Mine-sweep areas vary in location, size of area to be swept, and importance of the region. The planner also works with a model of the UUV, as well as a model of the power consumption of the vehicle when idle and when moving.

Ruptured blebs and racing hearts: autonomic cardiac changes in neurosurgeons during microsurgical clipping of aneurysms.

PubMed

Ganne, Chaitanya; Talkad, Sathyaprabha N; Srinivas, Dwarakanath; Somanna, Sampath

2016-08-01

In this study, we intend to evaluate the autonomic changes occurring in neurosurgeons and thus the stress during microsurgical clipping of aneurysms. The aim of the current study is to evaluate the heart rate variability (HRV) of the neurosurgeons during microsurgical clipping of aneurysm by using continuous real time monitoring of the ECG intraoperatively. Lead II ECG was recorded using Bioharness(®) (Zephyr Technologies, Annapolis, MD) in 4 healthy neurosurgeons who performed 29 microsurgical clipping of aneurysms. ECG from 21 surgeries was analysed (LabChart(®) software, ADInstruments, Dunedin, New Zealand) across five stages: Baseline (BL), sylvian fissure dissection (SFD), perianeurysmal dissection (PAD), clipping of the aneurysm (CLIP) and haemostasis (HEMO). There was a reduction in TP and an increased LF/HF ratio in spite of suppression of both LF and HF powers. Contrary to the common understanding that the sympathetic limb of the autonomic system mostly mediates responses during stress and anxiety, we found that there was a significant contribution of the parasympathetic system too.

Flight Testing a Real-Time Hazard Detection System for Safe Lunar Landing on the Rocket-Powered Morpheus Vehicle

NASA Technical Reports Server (NTRS)

Trawny, Nikolas; Huertas, Andres; Luna, Michael E.; Villalpando, Carlos Y.; Martin, Keith E.; Carson, John M.; Johnson, Andrew E.; Restrepo, Carolina; Roback, Vincent E.

2015-01-01

The Hazard Detection System (HDS) is a component of the ALHAT (Autonomous Landing and Hazard Avoidance Technology) sensor suite, which together provide a lander Guidance, Navigation and Control (GN&C) system with the relevant measurements necessary to enable safe precision landing under any lighting conditions. The HDS consists of a stand-alone compute element (CE), an Inertial Measurement Unit (IMU), and a gimbaled flash LIDAR sensor that are used, in real-time, to generate a Digital Elevation Map (DEM) of the landing terrain, detect candidate safe landing sites for the vehicle through Hazard Detection (HD), and generate hazard-relative navigation (HRN) measurements used for safe precision landing. Following an extensive ground and helicopter test campaign, ALHAT was integrated onto the Morpheus rocket-powered terrestrial test vehicle in March 2014. Morpheus and ALHAT then performed five successful free flights at the simulated lunar hazard field constructed at the Shuttle Landing Facility (SLF) at Kennedy Space Center, for the first time testing the full system on a lunar-like approach geometry in a relevant dynamic environment. During these flights, the HDS successfully generated DEMs, correctly identified safe landing sites and provided HRN measurements to the vehicle, marking the first autonomous landing of a NASA rocket-powered vehicle in hazardous terrain. This paper provides a brief overview of the HDS architecture and describes its in-flight performance.

Surface Nuclear Power for Human Mars Missions

NASA Technical Reports Server (NTRS)

Mason, Lee S.

1999-01-01

The Design Reference Mission for NASA's human mission to Mars indicates the desire for in-situ propellant production and bio-regenerative life systems to ease Earth launch requirements. These operations, combined with crew habitation and science, result in surface power requirements approaching 160 kilowatts. The power system, delivered on an early cargo mission, must be deployed and operational prior to crew departure from Earth. The most mass efficient means of satisfying these requirements is through the use of nuclear power. Studies have been performed to identify a potential system concept using a mobile cart to transport the power system away from the Mars lander and provide adequate separation between the reactor and crew. The studies included an assessment of reactor and power conversion technology options, selection of system and component redundancy, determination of optimum separation distance, and system performance sensitivity to some key operating parameters. The resulting system satisfies the key mission requirements including autonomous deployment, high reliability, and cost effectiveness at a overall system mass of 12 tonnes and a stowed volume of about 63 cu m.

Agent-based power sharing scheme for active hybrid power sources

NASA Astrophysics Data System (ADS)

Jiang, Zhenhua

The active hybridization technique provides an effective approach to combining the best properties of a heterogeneous set of power sources to achieve higher energy density, power density and fuel efficiency. Active hybrid power sources can be used to power hybrid electric vehicles with selected combinations of internal combustion engines, fuel cells, batteries, and/or supercapacitors. They can be deployed in all-electric ships to build a distributed electric power system. They can also be used in a bulk power system to construct an autonomous distributed energy system. An important aspect in designing an active hybrid power source is to find a suitable control strategy that can manage the active power sharing and take advantage of the inherent scalability and robustness benefits of the hybrid system. This paper presents an agent-based power sharing scheme for active hybrid power sources. To demonstrate the effectiveness of the proposed agent-based power sharing scheme, simulation studies are performed for a hybrid power source that can be used in a solar car as the main propulsion power module. Simulation results clearly indicate that the agent-based control framework is effective to coordinate the various energy sources and manage the power/voltage profiles.

Development of Deep-tow Autonomous Cable Seismic (ACS) for Seafloor Massive Sulfides (SMSs) Exploration.

NASA Astrophysics Data System (ADS)

Asakawa, Eiichi; Murakami, Fumitoshi; Tsukahara, Hitoshi; Saito, Shutaro; Lee, Sangkyun; Tara, Kenji; Kato, Masafumi; Jamali Hondori, Ehsan; Sumi, Tomonori; Kadoshima, Kazuyuki; Kose, Masami

2017-04-01

Within the EEZ of Japan, numerous surveys exploring ocean floor resources have been conducted. The exploration targets are gas hydrates, mineral resources (manganese, cobalt or rare earth) and especially seafloor massive sulphide (SMS) deposits. These resources exist in shallow subsurface areas in deep waters (>1500m). For seismic explorations very high resolution images are required. These cannot be effectively obtained with conventional marine seismic techniques. Therefore we have been developing autonomous seismic survey systems which record the data close to the seafloor to preserve high frequency seismic energy. Very high sampling rate (10kHz) and high accurate synchronization between recording systems and shot time are necessary. We adopted Cs-base atomic clock considering its power consumption. At first, we developed a Vertical Cable Seismic (VCS) system that uses hydrophone arrays moored vertically from the ocean bottom to record close to the target area. This system has been successfully applied to SMS exploration. Specifically it fixed over known sites to assess the amount of reserves with the resultant 3D volume. Based on the success of VCS, we modified the VCS system to use as a more efficient deep-tow seismic survey system. Although there are other examples of deep-tow seismic systems, signal transmission cables present challenges in deep waters. We use our autonomous recording system to avoid these problems. Combining a high frequency piezoelectric source (Sub Bottom Profiler:SBP) that automatically shots with a constant interval, we achieve the high resolution deep-tow seismic without data transmission/power cable to the board. Although the data cannot be monitored in real-time, the towing system becomes very simple. We have carried out survey trial, which showed the systems utility as a high-resolution deep-tow seismic survey system. Furthermore, the frequency ranges of deep-towed source (SBP) and surface towed sparker are 700-2300Hz and 10-200Hz respectively. Therefore we can use these sources simultaneously and distinguish the records of each source in the data processing stage. We have developed new marine seismic survey systems with autonomous recording for the exploration of the ocean floor resources. The applications are vertical cable seismic (VCS) and deep-tow seismic (ACS). These enable us the recording close to the seafloor and give the high resolution results with a simple, cost-effective configuration.

Active Collision Avoidance for Planetary Landers

NASA Technical Reports Server (NTRS)

Rickman, Doug; Hannan, Mike; Srinivasan, Karthik

2014-01-01

Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be miles from the mission objective, or, mission objectives may be tailored to suit landing sites. Future robotic exploration missions should be capable of autonomously identifying a safe landing target within a specified target area selected by mission requirements. Such autonomous landing sites must (1) 'see' the surface, (2) identify a target, and (3) land the vehicle. Recent advances in radar technology have resulted in small, lightweight, low power radars that are used for collision avoidance and cruise control systems in automobiles. Such radar systems can be adapted for use as active hazard avoidance systems for planetary landers. The focus of this CIF proposal is to leverage earlier work on collision avoidance systems for MSFC's Mighty Eagle lander and evaluate the use of automotive radar systems for collision avoidance in planetary landers.

Overview of the Autonomic Nervous System

MedlinePlus

... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

The Role of Autonomic Function in Exercise-induced Endogenous Analgesia: A Case-control Study in Myalgic Encephalomyelitis/Chronic Fatigue Syndrome and Healthy People.

PubMed

Oosterwijck, Jessica Van; Marusic, Uros; De Wandele, Inge; Paul, Lorna; Meeus, Mira; Moorkens, Greta; Lambrecht, Luc; Danneels, Lieven; Nijs, Jo

2017-03-01

Patients with myalgic encephalomyelitis / chronic fatigue syndrome (ME/CFS) are unable to activate brain-orchestrated endogenous analgesia (or descending inhibition) in response to exercise. This physiological impairment is currently regarded as one factor explaining post-exertional malaise in these patients. Autonomic dysfunction is also a feature of ME/CFS. This study aims to examine the role of the autonomic nervous system in exercise-induced analgesia in healthy people and those with ME/CFS, by studying the recovery of autonomic parameters following aerobic exercise and the relation to changes in self-reported pain intensity. A controlled experimental study. The study was conducted at the Human Physiology lab of a University. Twenty women with ME/CFS- and 20 healthy, sedentary controls performed a submaximal bicycle exercise test known as the Aerobic Power Index with continuous cardiorespiratory monitoring. Before and after the exercise, measures of autonomic function (i.e., heart rate variability, blood pressure, and respiration rate) were performed continuously for 10 minutes and self-reported pain levels were registered. The relation between autonomous parameters and self-reported pain parameters was examined using correlation analysis. Some relationships of moderate strength between autonomic and pain measures were found. The change (post-exercise minus pre-exercise score) in pain severity was correlated (r = .580, P = .007) with the change in diastolic blood pressure in the healthy group. In the ME/CFS group, positive correlations between the changes in pain severity and low frequency (r = .552, P = .014), and between the changes in bodily pain and diastolic blood pressure (r = .472, P = .036), were seen. In addition, in ME/CHFS the change in headache severity was inversely correlated (r = -.480, P = .038) with the change in high frequency heart rate variability. Based on the cross-sectional design of the study, no firm conclusions can be drawn on the causality of the relations. Reduced parasympathetic reactivation during recovery from exercise is associated with the dysfunctional exercise-induced analgesia in ME/CFS. Poor recovery of diastolic blood pressure in response to exercise, with blood pressure remaining elevated, is associated with reductions of pain following exercise in ME/CFS, suggesting a role for the arterial baroreceptors in explaining dysfunctional exercise-induced analgesia in ME/CFS patients.Key words: Aerobic exercise, aerobic power index, autonomic nervous system, exercise-induced analgesia, exercise-induced hypoalgesia, fibromyalgia, heart rate variability, stress-induced analgesia, pain.

Automation of the space station core module power management and distribution system

NASA Technical Reports Server (NTRS)

Weeks, David J.

1988-01-01

Under the Advanced Development Program for Space Station, Marshall Space Flight Center has been developing advanced automation applications for the Power Management and Distribution (PMAD) system inside the Space Station modules for the past three years. The Space Station Module Power Management and Distribution System (SSM/PMAD) test bed features three artificial intelligence (AI) systems coupled with conventional automation software functioning in an autonomous or closed-loop fashion. The AI systems in the test bed include a baseline scheduler/dynamic rescheduler (LES), a load shedding management system (LPLMS), and a fault recovery and management expert system (FRAMES). This test bed will be part of the NASA Systems Autonomy Demonstration for 1990 featuring cooperating expert systems in various Space Station subsystem test beds. It is concluded that advanced automation technology involving AI approaches is sufficiently mature to begin applying the technology to current and planned spacecraft applications including the Space Station.

Infrastructure for thulium-170 isotope power systems for autonomous underwater vehicle fleets

DOE Office of Scientific and Technical Information (OSTI.GOV)

Walter, C.E.

1991-07-01

The radioisotope thulium-170 is a safe and environmentally benign heat source for providing the high endurance and energy densities needed by advanced power systems for autonomous underwater vehicles (AUV). Thulium Isotope Power (TIP) systems have an endurance of {approximately}3000 h, and gravimetric and volumetric energy densities of 3 {times} 10{sup 4} Wh/kg and 3 {times} 10{sup 8} Wh/m{sup 3}, respectively. These energy densities are more than 200 times higher than those currently provided by Ag-Zn battery technology. In order to capitalize on these performance levels with about one hundred AUVs in continuous use, it will be necessary to establish anmore » infrastructure for isotope production and heat-source refurbishment. The infrastructure cost is not trivial, and studies are needed to determine its optimum configuration. The major component of the projected infrastructure is the nuclear reactor used to produce Tm- 170 by neutron absorption in Tm-169. The reactor design should ideally be optimized for TM-170 production. Using the byproduct waste'' heat beneficially would help defray the cost of isotope production. However, generating electric power with the reactor would compromise both the cost of electricity and the isotope production capacity. A coastal location for the reactor would be most convenient from end-use considerations, and the waste'' heat could be used to desalinate seawater in water-thirsty states. 13 refs., 6 figs., 2 tabs.« less

Mobile System for Precise Aero Delivery with Global Reach Network Capability

DTIC Science & Technology

2009-08-30

No intention / need for taking advantage of networking with other agents. The Atair’s Onyx Micro Light ( Onyx ML) delivery system (www.atair.com... onyx ) (Fig.9a) is a precision airdrop system designed to address the requirements of the Joint Precision Airdrop System MLW (JPADS-MLW) system of the...autonomous powered paraglider (LEAPP) developed under contract with DARPA (Fig.9b). a) b) Fig. 9. Onyx ML with mock sensor payload release

Enabling Autonomous Rover Science through Dynamic Planning and Scheduling

NASA Technical Reports Server (NTRS)

Estlin, Tara A.; Gaines, Daniel; Chouinard, Caroline; Fisher, Forest; Castano, Rebecca; Judd, Michele; Nesnas, Issa

2005-01-01

This paper describes how dynamic planning and scheduling techniques can be used onboard a rover to autonomously adjust rover activities in support of science goals. These goals could be identified by scientists on the ground or could be identified by onboard data-analysis software. Several different types of dynamic decisions are described, including the handling of opportunistic science goals identified during rover traverses, preserving high priority science targets when resources, such as power, are unexpectedly over-subscribed, and dynamically adding additional, ground-specified science targets when rover actions are executed more quickly than expected. After describing our specific system approach, we discuss some of the particular challenges we have examined to support autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations.

Small Body Exploration Technologies as Precursors for Interstellar Robotics

NASA Astrophysics Data System (ADS)

Noble, R. J.; Sykes, M. V.

The scientific activities undertaken to explore our Solar System will be very similar to those required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution, as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of the technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.

Small Body Exploration Technologies as Precursors for Interstellar Robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Noble, Robert; /SLAC; Sykes, Mark V.

The scientific activities undertaken to explore our Solar System will be the same as required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of themore » technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.« less

An Autonomous Wireless Sensor Node With Asynchronous ECG Monitoring in 0.18 μ m CMOS.

PubMed

Mansano, Andre L; Li, Yongjia; Bagga, Sumit; Serdijn, Wouter A

2016-06-01

The design of a 13.56 MHz/402 MHz autonomous wireless sensor node with asynchronous ECG monitoring for near field communication is presented. The sensor node consists of an RF energy harvester (RFEH), a power management unit, an ECG readout, a data encoder and an RF backscattering transmitter. The energy harvester supplies the system with 1.25 V and offers a power conversion efficiency of 19% from a -13 dBm RF source at 13.56 MHz. The power management unit regulates the output voltage of the RFEH to supply the ECG readout with VECG = 0.95 V and the data encoder with VDE = 0.65 V . The ECG readout comprises an analog front-end (low noise amplifier and programmable voltage to current converter) and an asynchronous level crossing ADC with 8 bits resolution. The ADC output is encoded by a pulse generator that drives a backscattering transmitter at 402 MHz. The total power consumption of the sensor node circuitry is 9.7 μ W for a data rate of 90 kb/s and a heart rate of 70 bpm. The chip has been designed in a 0.18 μm CMOS process and shows superior RF input power sensitivity and lower power consumption when compared to previous works.

Long Term Analysis of Adaptive Low-Power Instrument Platform Power and Battery Performance

NASA Astrophysics Data System (ADS)

Edwards, T.; Bowman, J. R.; Clauer, C. R.

2017-12-01

Operation of the Autonomous Adaptive Low-Power Instrument Platform (AAL-PIP) by the Magnetosphere-Ionosphere Science Team (MIST) at Virginia Tech has been ongoing for about 10 years. These instrument platforms are deployed on the East Antarctic Plateau in remote locations that are difficult to access regularly. The systems have been designed to operate unattended for at least 5 years. During the Austral summer, the systems charge batteries using solar panels and power is provided by the batteries during the winter months. If the voltage goes below a critical level, the systems go into hibernation and wait for voltage from the solar panels to initiate a restart sequence to begin operation and battery charging. Our first system was deployed on the East Antarctic Plateau in 2008 and we report here on an analysis of the power and battery performance over multiple years and provide an estimate for how long these systems can operate before major battery maintenance must be performed.

A systems engineering approach to automated failure cause diagnosis in space power systems

NASA Technical Reports Server (NTRS)

Dolce, James L.; Faymon, Karl A.

1987-01-01

Automatic failure-cause diagnosis is a key element in autonomous operation of space power systems such as Space Station's. A rule-based diagnostic system has been developed for determining the cause of degraded performance. The knowledge required for such diagnosis is elicited from the system engineering process by using traditional failure analysis techniques. Symptoms, failures, causes, and detector information are represented with structured data; and diagnostic procedural knowledge is represented with rules. Detected symptoms instantiate failure modes and possible causes consistent with currently held beliefs about the likelihood of the cause. A diagnosis concludes with an explanation of the observed symptoms in terms of a chain of possible causes and subcauses.

A Self-Powered and Autonomous Fringing Field Capacitive Sensor Integrated into a Micro Sprinkler Spinner to Measure Soil Water Content.

PubMed

da Costa, Eduardo Ferreira; de Oliveira, Nestor E; Morais, Flávio J O; Carvalhaes-Dias, Pedro; Duarte, Luis Fernando C; Cabot, Andreu; Siqueira Dias, J A

2017-03-12

We present here the design and fabrication of a self-powered and autonomous fringing field capacitive sensor to measure soil water content. The sensor is manufactured using a conventional printed circuit board and includes a porous ceramic. To read the sensor, we use a circuit that includes a 10 kHz triangle wave generator, an AC amplifier, a precision rectifier and a microcontroller. In terms of performance, the sensor's capacitance (measured in a laboratory prototype) increases up to 5% when the volumetric water content of the porous ceramic changed from 3% to 36%, resulting in a sensitivity of S = 15.5 pF per unity change. Repeatability tests for capacitance measurement showed that the θ v sensor's root mean square error is 0.13%. The average current consumption of the system (sensor and signal conditioning circuit) is less than 1.5 μ A, which demonstrates its suitability for being powered by energy harvesting systems. We developed a complete irrigation control system that integrates the sensor, an energy harvesting module composed of a microgenerator installed on the top of a micro sprinkler spinner, and a DC/DC converter circuit that charges a 1 F supercapacitor. The energy harvesting module operates only when the micro sprinkler spinner is irrigating the soil, and the supercapacitor is fully charged to 5 V in about 3 h during the first irrigation. After the first irrigation, with the supercap fully charged, the system can operate powered only by the supercapacitor for approximately 23 days, without any energy being harvested.

A Self-Powered and Autonomous Fringing Field Capacitive Sensor Integrated into a Micro Sprinkler Spinner to Measure Soil Water Content

PubMed Central

da Costa, Eduardo Ferreira; de Oliveira, Nestor E.; Morais, Flávio J. O.; Carvalhaes-Dias, Pedro; Duarte, Luis Fernando C.; Cabot, Andreu; Siqueira Dias, J. A.

2017-01-01

We present here the design and fabrication of a self-powered and autonomous fringing field capacitive sensor to measure soil water content. The sensor is manufactured using a conventional printed circuit board and includes a porous ceramic. To read the sensor, we use a circuit that includes a 10 kHz triangle wave generator, an AC amplifier, a precision rectifier and a microcontroller. In terms of performance, the sensor’s capacitance (measured in a laboratory prototype) increases up to 5% when the volumetric water content of the porous ceramic changed from 3% to 36%, resulting in a sensitivity of S=15.5 pF per unity change. Repeatability tests for capacitance measurement showed that the θv sensor’s root mean square error is 0.13%. The average current consumption of the system (sensor and signal conditioning circuit) is less than 1.5 μA, which demonstrates its suitability for being powered by energy harvesting systems. We developed a complete irrigation control system that integrates the sensor, an energy harvesting module composed of a microgenerator installed on the top of a micro sprinkler spinner, and a DC/DC converter circuit that charges a 1 F supercapacitor. The energy harvesting module operates only when the micro sprinkler spinner is irrigating the soil, and the supercapacitor is fully charged to 5 V in about 3 h during the first irrigation. After the first irrigation, with the supercap fully charged, the system can operate powered only by the supercapacitor for approximately 23 days, without any energy being harvested. PMID:28287495

Two-Phase Thermal Switching System for a Small, Extended Duration Lunar Surface Science Platform

NASA Technical Reports Server (NTRS)

Bugby, David C.; Farmer, Jeffery T.; OConnor, Brian F.; Wirzburger, Melissa J.; Abel, Elisabeth D.; Stouffer, Chuck J.

2010-01-01

This paper describes a novel thermal control system for the Warm Electronics Box (WEB) on board a small lunar surface lander intended to support science activities anywhere on the lunar surface for an extended duration of up to 6 years. Virtually all lander electronics, which collectively dissipate about 60 W in the reference mission, are contained within the WEB. These devices must be maintained below 323 K (with a goal of 303 K) during the nearly 15-earth-day lunar day, when surface temperatures can reach 390K, and above 263 K during the nearly 15-earth-day lunar night, when surface temperatures can reach 100K. Because of the large temperature swing from lunar day-to-night, a novel thermal switching system was required that would be able to provide high conductance from WEB to radiator(s) during the hot lunar day and low (or negligible) conductance during the cold lunar night. The concept that was developed consists of ammonia variable conductance heat pipes (VCHPs) to collect heat from WEB components and a polymer wick propylene loop heat pipe (LHP) to transport the collected heat to the radiator(s). The VCHPs autonomously maximize transport when the WEB is warm and autonomously shut down when the WEB gets cold. The LHP autonomously shuts down when the VCHPs shut down. When the environment transitions from lunar night to day, the VCHPs and LHP autonomously turn back on. Out of 26 analyzed systems, this novel arrangement was able to best achieve the combined goals of zero control power, autonomous operation, long life, low complexity, low T, and landed tilt tolerance.

Zero-power autonomous buoyancy system controlled by microbial gas production

NASA Astrophysics Data System (ADS)

Wu, Peter K.; Fitzgerald, Lisa A.; Biffinger, Justin C.; Spargo, Barry J.; Houston, Brian H.; Bucaro, Joseph A.; Ringeisen, Bradley R.

2011-05-01

A zero-power ballast control system that could be used to float and submerge a device solely using a gas source was built and tested. This system could be used to convey sensors, data loggers, and communication devices necessary for water quality monitoring and other applications by periodically maneuvering up and down a water column. Operational parameters for the system such as duration of the submerged and buoyant states can be varied according to its design. The gas source can be of any origin, e.g., compressed air, underwater gas vent, gas produced by microbes, etc. The zero-power ballast system was initially tested using a gas pump and further tested using gas produced by Clostridium acetobutylicum. Using microbial gas production as the only source of gas and no electrical power during operation, the system successfully floated and submerged periodically with a period of 30 min for at least 24 h. Together with microbial fuel cells, this system opens up possibilities for underwater monitoring systems that could function indefinitely.

Compact Autonomous Hemispheric Vision System

NASA Technical Reports Server (NTRS)

Pingree, Paula J.; Cunningham, Thomas J.; Werne, Thomas A.; Eastwood, Michael L.; Walch, Marc J.; Staehle, Robert L.

2012-01-01

Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

First Results from a Hardware-in-the-Loop Demonstration of Closed-Loop Autonomous Formation Flying

NASA Technical Reports Server (NTRS)

Gill, E.; Naasz, Bo; Ebinuma, T.

2003-01-01

A closed-loop system for the demonstration of autonomous satellite formation flying technologies using hardware-in-the-loop has been developed. Making use of a GPS signal simulator with a dual radio frequency outlet, the system includes two GPS space receivers as well as a powerful onboard navigation processor dedicated to the GPS-based guidance, navigation, and control of a satellite formation in real-time. The closed-loop system allows realistic simulations of autonomous formation flying scenarios, enabling research in the fields of tracking and orbit control strategies for a wide range of applications. The autonomous closed-loop formation acquisition and keeping strategy is based on Lyapunov's direct control method as applied to the standard set of Keplerian elements. This approach not only assures global and asymptotic stability of the control but also maintains valuable physical insight into the applied control vectors. Furthermore, the approach can account for system uncertainties and effectively avoids a computationally expensive solution of the two point boundary problem, which renders the concept particularly attractive for implementation in onboard processors. A guidance law has been developed which strictly separates the relative from the absolute motion, thus avoiding the numerical integration of a target trajectory in the onboard processor. Moreover, upon using precise kinematic relative GPS solutions, a dynamical modeling or filtering is avoided which provides for an efficient implementation of the process on an onboard processor. A sample formation flying scenario has been created aiming at the autonomous transition of a Low Earth Orbit satellite formation from an initial along-track separation of 800 m to a target distance of 100 m. Assuming a low-thrust actuator which may be accommodated on a small satellite, a typical control accuracy of less than 5 m has been achieved which proves the applicability of autonomous formation flying techniques to formations of satellites as close as 50 m.

Analysis of the stability of PTW riders in autonomous braking scenarios.

PubMed

Symeonidis, Ioannis; Kavadarli, Gueven; Erich, Schuller; Graw, Matthias; Peldschus, Steffen

2012-11-01

While fatalities of car occupants in the EU decreased remarkably over the last decade, Powered Two Wheelers (PTWs) fatalities still increase following the increase of PTW ownership. Autonomous braking systems have been implemented in several types of vehicles and are presently addressed by research in the field of PTWs. A major concern in this context is the rider stability. Experiments with volunteers were performed in order to find out whether autonomous braking for PTWs will produce a greater instability of the rider in comparison to manual braking. The PTW's braking conditions were simulated in a laboratory with a motorcycle mock-up mounted on a sled, which was accelerated with an average of 0.35 g. The motion of the rider was captured in autonomous braking scenarios with and without pre-warning as well as in manual braking scenarios. No significant differences between the scenarios were found with respect to maximum forward displacement of the volunteer's torso and head (p<0.05). By performing clustering analysis on two kinematic parameters, two different strategies of the volunteers were identified. They were not related to the braking scenarios. A relation of the clusters with the initial posture represented by the elbow angle was revealed (p<0.05). It is concluded that autonomous braking at low deceleration will not cause significant instabilities of the rider in comparison to manual braking in idealized laboratory conditions. Based on this, further research into the development and implementation of autonomous braking systems for PTWs, e.g. by extensive riding tests, seems valuable. Copyright © 2011 Elsevier Ltd. All rights reserved.

An Optimized Autonomous Space In-situ Sensorweb (OASIS) for Volcano Monitoring

NASA Astrophysics Data System (ADS)

Song, W.; Shirazi, B.; Lahusen, R.; Chien, S.; Kedar, S.; Webb, F.

2006-12-01

In response to NASA's announced requirement for Earth hazard monitoring sensor-web technology, we are developing a prototype real-time Optimized Autonomous Space In-situ Sensorweb. The prototype will be focused on volcano hazard monitoring at Mount St. Helens, which has been in continuous eruption since October 2004. The system is designed to be flexible and easily configurable for many other applications as well. The primary goals of the project are: 1) integrating complementary space (i.e., Earth Observing One (EO- 1) satellite) and in-situ (ground-based) elements into an interactive, autonomous sensor-web; 2) advancing sensor-web power and communication resource management technology; and 3) enabling scalability for seamless infusion of future space and in-situ assets into the sensor-web. To meet these goals, we are developing: 1) a test-bed in-situ array with smart sensor nodes capable of making autonomous data acquisition decisions; 2) efficient self-organization algorithm of sensor-web topology to support efficient data communication and command control; 3) smart bandwidth allocation algorithms in which sensor nodes autonomously determine packet priorities based on mission needs and local bandwidth information in real- time; and 4) remote network management and reprogramming tools. The space and in-situ control components of the system will be integrated such that each element is capable of triggering the other. Sensor-web data acquisition and dissemination will be accomplished through the use of SensorML language standards for geospatial information. The three-year project will demonstrate end-to-end system performance with the in-situ test-bed at Mount St. Helens and NASA's EO-1 platform.

Eyeball pressure stimulation induces subtle sympathetic activation in patients with a history of moderate or severe traumatic brain injury.

PubMed

Wang, Ruihao; Hösl, Katharina M; Ammon, Fabian; Markus, Jörg; Koehn, Julia; Roy, Sankanika; Liu, Mao; de Rojas Leal, Carmen; Muresanu, Dafin; Flanagan, Steven R; Hilz, Max J

2018-06-01

After traumatic brain injury (TBI), there may be persistent central-autonomic-network (CAN) dysfunction causing cardiovascular-autonomic dysregulation. Eyeball-pressure-stimulation (EPS) normally induces cardiovagal activation. In patients with a history of moderate or severe TBI (post-moderate-severe-TBI), we determined whether EPS unveils cardiovascular-autonomic dysregulation. In 51 post-moderate-severe-TBI patients (32.7 ± 10.5 years old, 43.1 ± 33.4 months post-injury), and 30 controls (29.1 ± 9.8 years), we recorded respiration, RR-intervals (RRI), systolic and diastolic blood-pressure (BPsys, BPdia), before and during EPS (120 sec; 30 mmHg), using an ocular-pressure-device (Okulopressor®). We calculated spectral-powers of mainly sympathetic low (LF: 0.04-0.15 Hz) and parasympathetic high (HF: 0.15-0.5 Hz) frequency RRI-fluctuations, sympathetically mediated LF-powers of BPsys, and calculated normalized (nu) LF- and HF-powers of RRI. We compared parameters between groups before and during EPS by repeated-measurement-analysis-of-variance with post-hoc analysis (significance: p < 0.05). At rest, sympathetically mediated LF-BPsys-powers were significantly lower in the patients than the controls. During EPS, only controls significantly increased RRIs and parasympathetically mediated HFnu-RRI-powers, but decreased LF-RRI-powers, LFnu-RRI-powers, and LF-BPsys-powers; in contrast, the patients slightly though significantly increased BPsys upon EPS, without changing any other parameter. In post-moderate-severe-TBI patients, autonomic BP-modulation was already compromised at rest. During EPS, our patients failed to activate cardiovagal modulation but slightly increased BPsys, indicating persistent CAN dysregulation. Our findings unveil persistence of subtle cardiovascular-autonomic dysregulation even years after TBI. Copyright © 2018 International Federation of Clinical Neurophysiology. Published by Elsevier B.V. All rights reserved.

Molecular implementation of simple logic programs.

PubMed

Ran, Tom; Kaplan, Shai; Shapiro, Ehud

2009-10-01

Autonomous programmable computing devices made of biomolecules could interact with a biological environment and be used in future biological and medical applications. Biomolecular implementations of finite automata and logic gates have already been developed. Here, we report an autonomous programmable molecular system based on the manipulation of DNA strands that is capable of performing simple logical deductions. Using molecular representations of facts such as Man(Socrates) and rules such as Mortal(X) <-- Man(X) (Every Man is Mortal), the system can answer molecular queries such as Mortal(Socrates)? (Is Socrates Mortal?) and Mortal(X)? (Who is Mortal?). This biomolecular computing system compares favourably with previous approaches in terms of expressive power, performance and precision. A compiler translates facts, rules and queries into their molecular representations and subsequently operates a robotic system that assembles the logical deductions and delivers the result. This prototype is the first simple programming language with a molecular-scale implementation.

Autonomous Electrothermal Facility for Oil Recovery Intensification Fed by Wind Driven Power Unit

NASA Astrophysics Data System (ADS)

Belsky, Aleksey A.; Dobush, Vasiliy S.

2017-10-01

This paper describes the structure of autonomous facility fed by wind driven power unit for intensification of viscous and heavy crude oil recovery by means of heat impact on productive strata. Computer based service simulation of this facility was performed. Operational energy characteristics were obtained for various operational modes of facility. The optimal resistance of heating element of the downhole heater was determined for maximum operating efficiency of wind power unit.

Effects of psychological stress test on the cardiac response of public safety workers: alternative parameters to autonomic balance

NASA Astrophysics Data System (ADS)

Huerta-Franco, M. R.; Vargas-Luna, F. M.; Delgadillo-Holtfort, I.

2015-01-01

It is well known that public safety workers (PSW) face many stressful situations that yield them as high-risk population for suffering chronic stress diseases. In this multidisciplinary research the cardiac response to induced psychological stress by a short duration Stroop test was evaluated in 20 female and 19 male PSW, in order to compare traditionally used cardiac response parameters with alternative ones. Electrocardiograms have been recorded using the Eindhoven electrodes configuration for 1 min before, 3 min during and 1 min after the test. Signals analysis has been performed for the heart rate and the power spectra of its variability and of the variability of the amplitude of the R-wave, i.e. the highest peak of the electrocardiographic signal periodic sequence. The results demonstrated that the traditional autonomic balance index shows no significant differences between stages. In contrast, the median of the area of the power spectrum of the R-wave amplitude variability in the frequency region dominated by the autonomous nervous system (0.04-to-0.4 Hz) is the more sensitive parameter. Moreover, this parameter allows to identify gender differences consistent with those encountered in other studies.

Autonomic control of ultradian and circadian rhythms of blood pressure, heart rate, and baroreflex sensitivity in spontaneously hypertensive rats.

PubMed

Oosting, J; Struijker-Boudier, H A; Janssen, B J

1997-04-01

To examine the influence of the autonomic nervous system on ultradian and circadian rhythms of blood pressure, heart rate and baroreflex sensitivity of heart rate (BRS) in spontaneously hypertensive rats (SHR). Spontaneous fluctuations in blood pressure, heart rate and BRS in SHR were recorded continuously for 24 h using a computerized system and compared with those in Wistar-Kyoto (WKY) rats. Furthermore, 24 h recordings were performed in SHR during cardiac autonomic blockade by metoprolol and methyl-atropine, vascular autonomic blockade by prazosin, ganglionic blockade by hexamethonium and vagal stimulation by a low dose of scopolamine. The magnitudes of the ultradian fluctuations in blood pressure, heart rate and BRS were assessed by wide-band spectral analysis techniques. The BRS was lower in SHR than it was in WKY rats throughout the 24 h cycle. In both strains high values were found during the light, resting period, whereas low values were found during the first hours of the dark, active period. The circadian rhythmicity of the blood pressure in SHR was abolished completely during the infusions of prazosin and hexamethonium. In contrast, the circadian rhythmicities of the blood pressure and heart rate were not altered by infusions of metoprolol, methyl-atropine and the low dose of scopolamine. Power spectra of the blood pressure and heart rate lacked predominant peaks at ultradian frequencies and showed 1/f characteristics. In the absence of autonomic tone, the ultradian fluctuations in heart rate, but not in blood pressure, were decreased. The ultradian BRS spectra had no 1/f shape, but showed a major peak at approximately equal to 20 min for 71% of the WKY rats and 42% of the SHR. The influence of the autonomic nervous system on the blood pressure and heart rats in SHR is frequency-dependent. The circadian, but not ultradian, blood pressure rhythmicity is controlled by vascular autonomic activity. Conversely, the circadian, but not ultradian, heart rate rhythmicity is independent of autonomic tone. In rats, just as in humans, the trough in baroreflex sensitivity occurred after the sleeping period, when locomotor activity is resumed.

Hybrid PV/Wind Power Systems Incorporating Battery Storage and Considering the Stochastic Nature of Renewable Resources

NASA Astrophysics Data System (ADS)

Barnawi, Abdulwasa Bakr

Hybrid power generation system and distributed generation technology are attracting more investments due to the growing demand for energy nowadays and the increasing awareness regarding emissions and their environmental impacts such as global warming and pollution. The price fluctuation of crude oil is an additional reason for the leading oil producing countries to consider renewable resources as an alternative. Saudi Arabia as the top oil exporter country in the word announced the "Saudi Arabia Vision 2030" which is targeting to generate 9.5 GW of electricity from renewable resources. Two of the most promising renewable technologies are wind turbines (WT) and photovoltaic cells (PV). The integration or hybridization of photovoltaics and wind turbines with battery storage leads to higher adequacy and redundancy for both autonomous and grid connected systems. This study presents a method for optimal generation unit planning by installing a proper number of solar cells, wind turbines, and batteries in such a way that the net present value (NPV) is minimized while the overall system redundancy and adequacy is maximized. A new renewable fraction technique (RFT) is used to perform the generation unit planning. RFT was tested and validated with particle swarm optimization and HOMER Pro under the same conditions and environment. Renewable resources and load randomness and uncertainties are considered. Both autonomous and grid-connected system designs were adopted in the optimal generation units planning process. An uncertainty factor was designed and incorporated in both autonomous and grid connected system designs. In the autonomous hybrid system design model, the strategy including an additional amount of operation reserve as a percent of the hourly load was considered to deal with resource uncertainty since the battery storage system is the only backup. While in the grid-connected hybrid system design model, demand response was incorporated to overcome the impact of uncertainty and perform energy trading between the hybrid grid utility and main grid utility in addition to the designed uncertainty factor. After the generation unit planning was carried out and component sizing was determined, adequacy evaluation was conducted by calculating the loss of load expectation adequacy index for different contingency criteria considering probability of equipment failure. Finally, a microgrid planning was conducted by finding the proper size and location to install distributed generation units in a radial distribution network.

Self-powered Imbibing Microfluidic Pump by Liquid Encapsulation: SIMPLE.

PubMed

Kokalj, Tadej; Park, Younggeun; Vencelj, Matjaž; Jenko, Monika; Lee, Luke P

2014-11-21

Reliable, autonomous, internally self-powered microfluidic pumps are in critical demand for rapid point-of-care (POC) devices, integrated molecular-diagnostic platforms, and drug delivery systems. Here we report on a Self-powered Imbibing Microfluidic Pump by Liquid Encapsulation (SIMPLE), which is disposable, autonomous, easy to use and fabricate, robust, and cost efficient, as a solution for self-powered microfluidic POC devices. The imbibition pump introduces the working liquid which is sucked into a porous material (paper) upon activation. The suction of the working liquid creates a reduced pressure in the analytical channel and induces the sequential sample flow into the microfluidic circuits. It requires no external power or control and can be simply activated by a fingertip press. The flow rate can be programmed by defining the shape of utilized porous material: by using three different paper shapes with circular section angles 20°, 40° and 60°, three different volume flow rates of 0.07 μL s(-1), 0.12 μL s(-1) and 0.17 μL s(-1) are demonstrated at 200 μm × 600 μm channel cross-section. We established the SIMPLE pumping of 17 μL of sample; however, the sample volume can be increased to several hundreds of μL. To demonstrate the design, fabrication, and characterization of SIMPLE, we used a simple, robust and cheap foil-laminating fabrication technique. The SIMPLE can be integrated into hydrophilic or hydrophobic materials-based microfluidic POC devices. Since it is also applicable to large-scale manufacturing processes, we anticipate that a new chapter of a cost effective, disposable, autonomous POC diagnostic chip is addressed with this technical innovation.

MER surface fault protection system

NASA Technical Reports Server (NTRS)

Neilson, Tracy

2005-01-01

The Mars Exploration Rovers surface fault protection design was influenced by the fact that the solar-powered rovers must recharge their batteries during the day to survive the night. the rovers needed to autonomously maintain thermal stability, initiate safe and reliable communication with orbiting assets or directly to Earth, while maintaining energy balance. This paper will describe the system fault protection design for the surface phase of the mission.

Sympathovagal response to orthostatism in overt and in subclinical hyperthyroidism.

PubMed

Goichot, B; Brandenberger, G; Vinzio, S; Perrin, A E; Geny, B; Schlienger, J L; Simon, C

2004-04-01

Heart rate variability (HRV) is a measure of the physiological variation of R-R intervals, reflecting the sympathovagal balance. In both overt and subclinical hyperthyroidism, a relative increase in sympathetic activity has been demonstrated, mainly due to a decrease in vagal activity. The modifications of HRV during orthostatism in normal subjects resemble those seen in hyperthyroidism. We have studied the response of 19 patients with overt hyperthyroidism and 12 with subclinical hyperthyroidism during orthostatism using HRV and compared the results to those of 32 healthy controls. In the three groups, the R-R intervals decreased in the same proportion after orthostatism. The low frequency power (LF)/[LF + high frequency power (HF)] ratio, which reflects the sympathetic tone, also increased in the same proportion in the three groups. However, the mechanisms of the modulation of the sympathovagal balance during orthostatism were different among the three groups. In controls, the relative increase of sympathetic tone after orthostatism was due principally to a decrease in vagal tone (reflected by decreased power in the HF band), while in overt hyperthyroidism, where the power in the HF band was already minimal in the lying position, there was a clear increase in the LF band power during orthostatism. The results were intermediate in the subclinical hyperthyroidism group, reflecting a continuum of effects of the thyroid hormone excess on the autonomic nervous system. Our study shows that despite an apparent normal cardiovascular adaptation to orthostatism in hyperthyroidism, the modulation of the autonomic nervous system is profoundly modified.

Autonomous Vehicle Systems: Implications for Maritime Operations, Warfare Capabilities, and Command and Control

DTIC Science & Technology

2010-06-01

speed doubles approximately every 18 months, Nick Bostrom published a study in 1998 that equated computer processing power to that of the human...bits, this equates to 1017 operations per second, or 1011 millions of instructions per second (MIPS), for human brain performance ( Bostrom , 1998). In...estimates based off Moore’s Law put realistic, affordable computer processing power equal to that of humans somewhere in the 2020–2025 timeframe ( Bostrom

A power-efficient analog integrated circuit for amplification and detection of neural signals.

PubMed

Borghi, T; Bonfanti, A; Gusmeroli, R; Zambra, G; Spinelli, A S

2008-01-01

We present a neural amplifier that optimizes the trade-off between power consumption and noise performance down to the best so far reported. In the perspective of realizing a fully autonomous implantable system we also address the problem of spike detection by using a new simple algorithm and we discuss the implementation with analog integrated circuits. Implemented in 0.35-microm CMOS technology and with total current consumption of about 20 microA, the whole circuit occupies an area of 0.18 mm(2). Reduced power consumption and small area make it suited to be used in chronic multichannel recording systems for neural prosthetics and neuroscience experiments.

Experimental Study and Optimization of Thermoelectricity-Driven Autonomous Sensors for the Chimney of a Biomass Power Plant

NASA Astrophysics Data System (ADS)

Rodríguez, A.; Astrain, D.; Martínez, A.; Aranguren, P.

2014-06-01

In the work discussed in this paper a thermoelectric generator was developed to harness waste heat from the exhaust gas of a boiler in a biomass power plant and thus generate electric power to operate a flowmeter installed in the chimney, to make it autonomous. The main objective was to conduct an experimental study to optimize a previous design obtained after computational work based on a simulation model for thermoelectric generators. First, several places inside and outside the chimney were considered as sites for the thermoelectricity-driven autonomous sensor. Second, the thermoelectric generator was built and tested to assess the effect of the cold-side heat exchanger on the electric power, power consumption by the flowmeter, and transmission frequency. These tests provided the best configuration for the heat exchanger, which met the transmission requirements for different working conditions. The final design is able to transmit every second and requires neither batteries nor electric wires. It is a promising application in the field of thermoelectric generation.

Ambulatory ECG and analysis of heart rate variability in Parkinson's disease.

PubMed

Haapaniemi, T H; Pursiainen, V; Korpelainen, J T; Huikuri, H V; Sotaniemi, K A; Myllylä, V V

2001-03-01

Cardiovascular reflex tests have shown both sympathetic and parasympathetic failure in Parkinson's disease. These tests, however, describe the autonomic responses during a restricted time period and have great individual variability, providing a limited view of the autonomic cardiac control mechanisms. Thus, they do not reflect tonic autonomic regulation. The aim was to examine tonic autonomic cardiovascular regulation in untreated patients with Parkinson's disease. 24 Hour ambulatory ECG was recorded in 54 untreated patients with Parkinson's disease and 47 age matched healthy subjects. In addition to the traditional spectral (very low frequency, VLF; low frequency, LF; high frequency, HF) and non-spectral components of heart rate variability, instantaneous beat to beat variability (SD1) and long term continuous variability (SD2) derived from Poincaré plots, and the slope of the power law relation were analysed. All spectral components (p<0.01) and the slope of the power-law relation (p<0.01) were lower in the patients with Parkinson's disease than in the control subjects. The Unified Parkinson's disease rating scale total and motor scores had a negative correlation with VLF and LF power spectrum values and the power law relation slopes. Patients with mild hypokinesia had higher HF values than patients with more severe hypokinesia. Tremor and rigidity were not associated with the HR variability parameters. Parkinson's disease causes dysfunction of the diurnal autonomic cardiovascular regulation as demonstrated by the spectral measures of heart rate variability and the slope of the power law relation. This dysfunction seems to be more profound in patients with more severe Parkinson's disease.

An ambulatory recording system for the assessment of autonomic changes across multiple days

NASA Astrophysics Data System (ADS)

Sollers, John J., III; Yonezawa, Yoshiharu; Silver, Rebecca A.; Merritt, Marcellus M.; Thayer, Julian F.

2005-05-01

Recent evidence indicates that poor autonomic regulation, indexed by decreased heart period variability (HPV), is associated with decreased working memory. HPV analyses are computed on the interbeat interval time series derived from the electrocardiogram (EKG). Unfortunately, the duration of the data collection and the issue of the size of ambulatory monitors with sufficient storage capacity for multi-day records is somewhat problematic. In the present paper we describe a system that allows for the collection of large amounts of high quality data using a small data collection device. The recording system consists of a miniature, single-module electrocardiogram-recording device. This module consists of an integrated three-electrode device that is attached to the chest of the subject. A low power 8-bit micro-controller detects the R-spike and stores the time between R-spikes in milliseconds on a 512 KB EEPROM. This system can record continuously for over four days. This system will allow the recording of cardio-dynamics in the field and provide highly reliable data across multiple days. The use of this device to assess physiological function in military operations would allow researchers to examine longer data records across several contexts and to understand the role of changes in autonomic function as they relate to performance.

About possibilities of clearing near-Earth space from dangerous debris by a spaceborne laser system with an autonomous cw chemical HF laser

DOE Office of Scientific and Technical Information (OSTI.GOV)

Avdeev, A V; Bashkin, A S; Katorgin, Boris I

2011-07-31

The possibility of clearing hazardous near-Earth space debris using a spaceborne laser station with a large autonomous cw chemical HF laser is substantiated and the requirements to its characteristics (i.e., power and divergence of laser radiation, pulse duration in the repetitively pulsed regime, repetition rate and total time of laser action on space debris, necessary to remove them from the orbits of the protected spacecrafts) are determined. The possibility of launching the proposed spaceborne laser station to the orbit with the help of a 'Proton-M' carrier rocket is considered. (laser applications)

Autonomous Mission Operations for Sensor Webs

NASA Astrophysics Data System (ADS)

Underbrink, A.; Witt, K.; Stanley, J.; Mandl, D.

2008-12-01

We present interim results of a 2005 ROSES AIST project entitled, "Using Intelligent Agents to Form a Sensor Web for Autonomous Mission Operations", or SWAMO. The goal of the SWAMO project is to shift the control of spacecraft missions from a ground-based, centrally controlled architecture to a collaborative, distributed set of intelligent agents. The network of intelligent agents intends to reduce management requirements by utilizing model-based system prediction and autonomic model/agent collaboration. SWAMO agents are distributed throughout the Sensor Web environment, which may include multiple spacecraft, aircraft, ground systems, and ocean systems, as well as manned operations centers. The agents monitor and manage sensor platforms, Earth sensing systems, and Earth sensing models and processes. The SWAMO agents form a Sensor Web of agents via peer-to-peer coordination. Some of the intelligent agents are mobile and able to traverse between on-orbit and ground-based systems. Other agents in the network are responsible for encapsulating system models to perform prediction of future behavior of the modeled subsystems and components to which they are assigned. The software agents use semantic web technologies to enable improved information sharing among the operational entities of the Sensor Web. The semantics include ontological conceptualizations of the Sensor Web environment, plus conceptualizations of the SWAMO agents themselves. By conceptualizations of the agents, we mean knowledge of their state, operational capabilities, current operational capacities, Web Service search and discovery results, agent collaboration rules, etc. The need for ontological conceptualizations over the agents is to enable autonomous and autonomic operations of the Sensor Web. The SWAMO ontology enables automated decision making and responses to the dynamic Sensor Web environment and to end user science requests. The current ontology is compatible with Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE) Sensor Model Language (SensorML) concepts and structures. The agents are currently deployed on the U.S. Naval Academy MidSTAR-1 satellite and are actively managing the power subsystem on-orbit without the need for human intervention.

Assessing the potential benefits of the motorcycle autonomous emergency braking using detailed crash reconstructions.

PubMed

Savino, Giovanni; Giovannini, Federico; Baldanzini, Niccolò; Pierini, Marco; Rizzi, Matteo

2013-01-01

The aim of this study was to assess the feasibility and quantitative potential benefits of a motorcycle autonomous emergency braking (MAEB) system in fatal rear-end crashes. A further aim was to identify possible criticalities of this safety system in the field of powered 2-wheelers (PTWs; e.g., any additional risk introduced by the system itself). Seven relevant cases from the Swedish national in-depth fatal crash database were selected. All crashes involved car-following in which a non-anti-lock braking system (ABS)-equipped motorcycle was the bullet vehicle. Those crashes were reconstructed in a virtual environment with Prescan, simulating the road scenario, the vehicles involved, their precrash trajectories, ABS, and, alternatively, MAEB. The MAEB chosen as reference for the investigation was developed within the European Commission-funded Powered Two-Wheeler Integrated Safety (PISa) project and further detailed in later studies, with the addition of the ABS functionality. The boundary conditions of each simulation varied within a range compatible with the uncertainty of the in-depth data and also included a range of possible rider behaviors including the actual one. The benefits of the MAEB were evaluated by comparing the simulated impact speed in each configuration (no ABS/MAEB, ABS only, MAEB). The MAEB proved to be beneficial in a large number of cases. When applicable, the benefits of the system were in line with the expected values. When not applicable, there was no clear evidence of an increased risk for the rider due to the system. MAEB represents an innovative safety device in the field of PTWs, and the feasibility of such a system was investigated with promising results. Nevertheless, this technology is not mature yet for PTW application. Research in the field of passenger cars does not directly apply to PTWs because the activation logic of a braking system is more challenging on PTWs. The deployment of an autonomous deceleration would affect the vehicle dynamics, thus requesting an additional control action of the rider to keep the vehicle stable. In addition, the potential effectiveness of the MAEB should be investigated on a wider set of crash scenarios in order also to avoid false triggering of the autonomous braking.

A deletion in the alpha2B-adrenergic receptor gene and autonomic nervous function in central obesity.

PubMed

Sivenius, Katariina; Niskanen, Leo; Laakso, Markku; Uusitupa, Matti

2003-08-01

We investigated the impact of a three-amino acid deletion (12Glu9) polymorphism in the alpha(2B)-adrenergic receptor gene on autonomic nervous function. The short form (Glu(9)/Glu(9)) of the polymorphism has previously been associated with a reduced basal metabolic rate in obese subjects. Because autonomic nervous function participates in the regulation of energy metabolism, there could be a link between this polymorphism and autonomic nervous function. Data of a 10-year follow-up study with 126 nondiabetic control subjects and 84 type 2 diabetic patients were used to determine the effects of the 12Glu9 polymorphism on autonomic nervous function. A deep breathing test and an orthostatic test were used to investigate parasympathetic and sympathetic autonomic nervous function. In addition, cardiovascular autonomic function was studied using power spectral analysis of heart rate variability. No significant differences were found in the frequency of the 12Glu9 deletion polymorphism between nondiabetic and diabetic subjects. The nondiabetic men with the Glu(9)/Glu(9) genotype, especially those with abdominal obesity, had significantly lower total and low-frequency power values in the power spectral analysis when compared with other men. Furthermore, in a longitudinal analysis of 10 years, the decrease in parasympathetic function was greater in nondiabetic men with the Glu(9)/Glu(9) genotype than in the men with the Glu(9)/Glu(12) or Glu(12)/Glu(12) genotypes. The results of the present study suggest that the 12Glu9 polymorphism of the alpha(2B)-adrenergic receptor gene modulates autonomic nervous function in Finnish nondiabetic men. In the nondiabetic men with the Glu(9)/Glu(9) genotype, the general autonomic tone is depressed, and vagal activity especially becomes impaired with time. Furthermore, this association is accentuated by central obesity.

Aromatherapy Benefits Autonomic Nervous System Regulation for Elementary School Faculty in Taiwan

PubMed Central

Chang, Kang-Ming; Shen, Chuh-Wei

2011-01-01

Workplace stress-related illness is a serious issue, and consequently many stress reduction methods have been investigated. Aromatherapy is especially for populations that work under high stress. Elementary school teachers are a high-stress working population in Taiwan. In this study, fifty-four elementary school teachers were recruited to evaluate aromatherapy performance on stress reduction. Bergamot essential oil was used for aromatherapy spray for 10 minutes. Blood pressure and autonomic nervous system parameters were recorded 5 minutes before and after the application of the aroma spray. Results showed that there were significant decreases in blood pressure, heart rate, LF power percentage, and LF/HF while there were increases in heart rate variability and HF power percentage (P < .001∗∗∗) after application of the aromatherapy spray. Further analysis was investigated by dividing subjects into three background variables (position variables, age variables, gender variables) and anxiety degree groups. All parameters were significantly different for most subgroups, except for the substitute teachers and the light-anxiety group. Parasympathetic nervous system activation was measured after aromatherapy in this study. It encouraged further study for other stress working population by aromatherapy. PMID:21584196

Aromatherapy benefits autonomic nervous system regulation for elementary school faculty in taiwan.

PubMed

Chang, Kang-Ming; Shen, Chuh-Wei

2011-01-01

Workplace stress-related illness is a serious issue, and consequently many stress reduction methods have been investigated. Aromatherapy is especially for populations that work under high stress. Elementary school teachers are a high-stress working population in Taiwan. In this study, fifty-four elementary school teachers were recruited to evaluate aromatherapy performance on stress reduction. Bergamot essential oil was used for aromatherapy spray for 10 minutes. Blood pressure and autonomic nervous system parameters were recorded 5 minutes before and after the application of the aroma spray. Results showed that there were significant decreases in blood pressure, heart rate, LF power percentage, and LF/HF while there were increases in heart rate variability and HF power percentage (P < .001(∗∗∗)) after application of the aromatherapy spray. Further analysis was investigated by dividing subjects into three background variables (position variables, age variables, gender variables) and anxiety degree groups. All parameters were significantly different for most subgroups, except for the substitute teachers and the light-anxiety group. Parasympathetic nervous system activation was measured after aromatherapy in this study. It encouraged further study for other stress working population by aromatherapy.

Solar Weather Ice Monitoring Station (SWIMS). A low cost, extreme/harsh environment, solar powered, autonomous sensor data gathering and transmission system

NASA Astrophysics Data System (ADS)

Chetty, S.; Field, L. A.

2013-12-01

The Arctic ocean's continuing decrease of summer-time ice is related to rapidly diminishing multi-year ice due to the effects of climate change. Ice911 Research aims to develop environmentally respectful materials that when deployed will increase the albedo, enhancing the formation and/preservation of multi-year ice. Small scale deployments using various materials have been done in Canada, California's Sierra Nevada Mountains and a pond in Minnesota to test the albedo performance and environmental characteristics of these materials. SWIMS is a sophisticated autonomous sensor system being developed to measure the albedo, weather, water temperature and other environmental parameters. The system (SWIMS) employs low cost, high accuracy/precision sensors, high resolution cameras, and an extreme environment command and data handling computer system using satellite and terrestrial wireless communication. The entire system is solar powered with redundant battery backup on a floating buoy platform engineered for low temperature (-40C) and high wind conditions. The system also incorporates tilt sensors, sonar based ice thickness sensors and a weather station. To keep the costs low, each SWIMS unit measures incoming and reflected radiation from the four quadrants around the buoy. This allows data from four sets of sensors, cameras, weather station, water temperature probe to be collected and transmitted by a single on-board solar powered computer. This presentation covers the technical, logistical and cost challenges in designing, developing and deploying these stations in remote, extreme environments. Image captured by camera #3 of setting sun on the SWIMS station One of the images captured by SWIMS Camera #4

Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

NASA Astrophysics Data System (ADS)

Porter, Robert D.

2002-09-01

The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

Are autonomous cities our urban future?

PubMed

Norman, Barbara

2018-05-29

Cities are rapidly expanding in size, wealth and power, with some now larger than nation states. Smart city solutions and strong global urban networks are developing to manage massive urban growth. However, cities exist within a wider system and it may take more than technological advances, innovation and city autonomy to develop a sustainable urban future.

A power propulsion system based on a second-generation thermionic NPS of the ``Topaz'' type

NASA Astrophysics Data System (ADS)

Gryaznov, Georgi M.; Zhabotinski, Eugene E.; Andreev, Pavel V.; Zaritski, Gennadie a.; Koroteev, Anatoly S.; Martishin, Viktor M.; Akimov, Vladimir N.; Ponomarev-Stepnoi, Nikolai N.; Usov, Veniamin A.; Britt, Edward J.

1992-01-01

The paper considers the concept of power propulsion systems-universal space platforms (USPs) on the basis of second-generation thermionic nuclear power system (NPSs) and stationary plasma electric thrusters (SPETs). The composition and the principles of layout of such a system, based on a thermionic NPS with a continuous power of up to 30 kWe allowing power augmentation by a factor of 2-2.5 as long as during a year, as well as SPETs with a specific impulse of at least 20 km/s and a propulsion efficiency of 0.6-0.7 are discussed. The layouts and the basic parameters are presented for a power propulsion system ensuring cargo transportation from an initial radiation-safe 800 km high orbit into a geostationary one using the ``Zenit'' and ``Proton'' launch systems for injection into an initial orbit. It is shown that the mass of mission-oriented equipment in the geostationary orbit in the cases under consideration ranges from 2500 to 5500 kg on condition that the flight time is not longer than a year. The power propulsion system can be applied to autonomous power supply of various spacecraft including remote power delivery. It can be also used for deep space exploration.

Exergetic analysis of autonomous power complex for drilling rig

NASA Astrophysics Data System (ADS)

Lebedev, V. A.; Karabuta, V. S.

2017-10-01

The article considers the issue of increasing the energy efficiency of power equipment of the drilling rig. At present diverse types of power plants are used in power supply systems. When designing and choosing a power plant, one of the main criteria is its energy efficiency. The main indicator in this case is the effective efficiency factor calculated by the method of thermal balances. In the article, it is suggested to use the exergy method to determine energy efficiency, which allows to perform estimations of the thermodynamic perfection degree of the system by the example of a gas turbine plant: relative estimation (exergetic efficiency factor) and an absolute estimation. An exergetic analysis of the gas turbine plant operating in a simple scheme was carried out using the program WaterSteamPro. Exergy losses in equipment elements are calculated.

Autonomous spacecraft attitude control using magnetic torquing only

NASA Technical Reports Server (NTRS)

Musser, Keith L.; Ebert, Ward L.

1989-01-01

Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.

[Stress and autonomic dysregulation in patients with fibromyalgia syndrome].

PubMed

Friederich, H-C; Schellberg, D; Mueller, K; Bieber, C; Zipfel, S; Eich, W

2005-06-01

The aim of the present study was to evaluate to what extent the orthostatic dysregulation of FMS patients can be attributed primarily to reduced baroreceptor-mediated activation of the sympathetic nervous system and whether a hyporeactive sympathetic nervous system can also be confirmed for mental stress. A total of 28 patients with primary FMS were examined and compared with 15 healthy subjects. Diagnostic investigations of the autonomic nervous system were based on measuring HRV in frequency range and assessing spontaneous baroreflex sensitivity (sBRS) under mental stress and passive orthostatism. Both under orthostatic and mental stress FMS patients exhibited reduced activation of the sympathetic nervous system as measured by the spectral power of HRV in the low-frequency range and the mean arterial blood pressure or heart rate. The present study provided no indications for dysregulation of sBRS. The results obtained confirm the hypothesis of a hyporeactive stress system in FMS patients for both peripherally and centrally mediated stimulation of the sympathetic nervous system.

A Robust Compositional Architecture for Autonomous Systems

NASA Technical Reports Server (NTRS)

Brat, Guillaume; Deney, Ewen; Farrell, Kimberley; Giannakopoulos, Dimitra; Jonsson, Ari; Frank, Jeremy; Bobby, Mark; Carpenter, Todd; Estlin, Tara

2006-01-01

Space exploration applications can benefit greatly from autonomous systems. Great distances, limited communications and high costs make direct operations impossible while mandating operations reliability and efficiency beyond what traditional commanding can provide. Autonomous systems can improve reliability and enhance spacecraft capability significantly. However, there is reluctance to utilizing autonomous systems. In part this is due to general hesitation about new technologies, but a more tangible concern is that of reliability of predictability of autonomous software. In this paper, we describe ongoing work aimed at increasing robustness and predictability of autonomous software, with the ultimate goal of building trust in such systems. The work combines state-of-the-art technologies and capabilities in autonomous systems with advanced validation and synthesis techniques. The focus of this paper is on the autonomous system architecture that has been defined, and on how it enables the application of validation techniques for resulting autonomous systems.

Research Update: Nanogenerators for self-powered autonomous wireless sensors

NASA Astrophysics Data System (ADS)

Khan, Usman; Hinchet, Ronan; Ryu, Hanjun; Kim, Sang-Woo

2017-07-01

Largely distributed networks of sensors based on the small electronics have great potential for health care, safety, and environmental monitoring. However, in order to have a maintenance free and sustainable operation, such wireless sensors have to be self-powered. Among various energies present in our environment, mechanical energy is widespread and can be harvested for powering the sensors. Piezoelectric and triboelectric nanogenerators (NGs) have been recently introduced for mechanical energy harvesting. Here we introduce the architecture and operational modes of self-powered autonomous wireless sensors. Thereafter, we review the piezoelectric and triboelectric NGs focusing on their working mechanism, structures, strategies, and materials.

Eyeball Pressure Stimulation Unveils Subtle Autonomic Cardiovascular Dysfunction in Persons with a History of Mild Traumatic Brain Injury.

PubMed

Hilz, Max J; Aurnhammer, Felix; Flanagan, Steven R; Intravooth, Tassanai; Wang, Ruihao; Hösl, Katharina M; Pauli, Elisabeth; Koehn, Julia

2015-11-15

After mild traumatic brain injury (mTBI), patients have increased long-term mortality rates, persisting even beyond 13 years. Pathophysiology is unclear. Yet, central autonomic network dysfunction may contribute to cardiovascular dysregulation and increased mortality. Purely parasympathetic cardiovascular challenge by eyeball pressure stimulation (EP), might unveil subtle autonomic dysfunction in post-mTBI patients. We investigated whether mild EP shows autonomic cardiovascular dysregulation in post-mTBI patients. In 24 patients (34 ± 12 years; 5-86 months post-injury) and 27 controls (30 ± 11 years), we monitored respiration, electrocardiographic RR intervals (RRI), systolic and diastolic blood pressure (BPsys, BPdia) before and during 2 min of 30 mm Hg EP, applied by an ophthalmologic ocular pressure device (Okulopressor(®)). We calculated spectral powers of RRI in the mainly sympathetic low frequency (LF; 0.04-0.15 Hz) and parasympathetic high frequency (HF; 0.15-0.5 Hz) ranges, and of BP in the sympathetic LF range, the RRI-LF/HF ratio as index of the sympathetic-parasympathetic balance, normalized (nu) RRI-LF- and HF-powers, and LF- and HF-powers after natural logarithmic transformation (ln). Parameters before and during EP in post-mTBI patients and controls were compared by repeated measurement analysis of variance with post hoc analysis (p < 0.05). During EP, BPsys and BPdia increased in post-mTBI patients. Only in controls but not in post-mTBI patients, EP increased RRI-HFnu-powers and decreased RRI-LF-powers, RRI-LFnu-powers, BPsys-LF-powers, BPsys-lnLF-powers and BPdia-lnLF-powers. RRI-LF/HF ratios slightly increased in post-mTBI patients but slightly decreased in controls upon EP. Even with only mild EP, our controls showed normal EP responses and shifted sympathetic-parasympathetic balance towards parasympathetic predominance. In contrast, our post-mTBI patients could not increase parasympathetic heart rate modulation but increased BP upon EP, indicating a paradox sympathetic activation. The findings support the hypothesis that central autonomic dysfunction might contribute to an increased cardiovascular risk, even years after mTBI.

Autonomous exoskeleton reduces metabolic cost of walking.

PubMed

Mooney, Luke M; Rouse, Elliott J; Herr, Hugh M

2014-01-01

We developed an autonomous powered leg exoskeleton capable of providing large amounts of positive mechanical power to the wearer during powered plantarflexion phase of walking. The autonomous exoskeleton consisted of a winch actuator fasted to the shin which pulled on fiberglass struts attached to a boot. The fiberglass struts formed a rigid extension of the foot when the proximal end of the strut was pulled in forward by the winch actuator. This lightweight, geometric transmission allowed the electric winch actuator to efficiently produce biological levels of power at the ankle joint. The exoskeleton was powered and controlled by lithium polymer batteries and motor controller worn around the waist. Preliminary testing on two subjects walking at 1.4 m/s resulted in the exoskeleton reducing the metabolic cost of walking by 6-11% as compared to not wearing the device. The exoskeleton provided a peak mechanical power of over 180 W at each ankle (mean standard ± deviation) and an average positive mechanical power of 27 ± 1 W total to both ankles, while electrically using 75-89 W of electricity. The batteries (800 g) used in this experiment are estimated to be capable of providing this level of assistance for up to 7 km of walking.

Depolymerization-powered autonomous motors using biocompatible fuel.

PubMed

Zhang, Hua; Duan, Wentao; Liu, Lei; Sen, Ayusman

2013-10-23

We report the design of autonomous motors powered by the rapid depolymerization reaction of poly(2-ethyl cyanoacrylate) (PECA), an FDA-approved polymer. Motors were fabricated in two different length scales, 3 cm and 300 μm. The motion of the motors is induced by self-generated surface tension gradients along their bodies. The motors are capable of moving in various media, including salt solutions and artificial serum.

Fractional order fuzzy control of hybrid power system with renewable generation using chaotic PSO.

PubMed

Pan, Indranil; Das, Saptarshi

2016-05-01

This paper investigates the operation of a hybrid power system through a novel fuzzy control scheme. The hybrid power system employs various autonomous generation systems like wind turbine, solar photovoltaic, diesel engine, fuel-cell, aqua electrolyzer etc. Other energy storage devices like the battery, flywheel and ultra-capacitor are also present in the network. A novel fractional order (FO) fuzzy control scheme is employed and its parameters are tuned with a particle swarm optimization (PSO) algorithm augmented with two chaotic maps for achieving an improved performance. This FO fuzzy controller shows better performance over the classical PID, and the integer order fuzzy PID controller in both linear and nonlinear operating regimes. The FO fuzzy controller also shows stronger robustness properties against system parameter variation and rate constraint nonlinearity, than that with the other controller structures. The robustness is a highly desirable property in such a scenario since many components of the hybrid power system may be switched on/off or may run at lower/higher power output, at different time instants. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Development method of Hybrid Energy Storage System, including PEM fuel cell and a battery

NASA Astrophysics Data System (ADS)

Ustinov, A.; Khayrullina, A.; Borzenko, V.; Khmelik, M.; Sveshnikova, A.

2016-09-01

Development of fuel cell (FC) and hydrogen metal-hydride storage (MH) technologies continuously demonstrate higher efficiency rates and higher safety, as hydrogen is stored at low pressures of about 2 bar in a bounded state. A combination of a FC/MH system with an electrolyser, powered with a renewable source, allows creation of an almost fully autonomous power system, which could potentially replace a diesel-generator as a back-up power supply. However, the system must be extended with an electro-chemical battery to start-up the FC and compensate the electric load when FC fails to deliver the necessary power. Present paper delivers the results of experimental and theoretical investigation of a hybrid energy system, including a proton exchange membrane (PEM) FC, MH- accumulator and an electro-chemical battery, development methodology for such systems and the modelling of different battery types, using hardware-in-the-loop approach. The economic efficiency of the proposed solution is discussed using an example of power supply of a real town of Batamai in Russia.

Doppler Lidar System Design via Interdisciplinary Design Concept at NASA Langley Research Center - Part III

NASA Technical Reports Server (NTRS)

Barnes, Bruce W.; Sessions, Alaric M.; Beyon, Jeffrey; Petway, Larry B.

2014-01-01

Optimized designs of the Navigation Doppler Lidar (NDL) instrument for Autonomous Landing Hazard Avoidance Technology (ALHAT) were accomplished via Interdisciplinary Design Concept (IDEC) at NASA Langley Research Center during the summer of 2013. Three branches in the Engineering Directorate and three students were involved in this joint task through the NASA Langley Aerospace Research Summer Scholars (LARSS) Program. The Laser Remote Sensing Branch (LRSB), Mechanical Systems Branch (MSB), and Structural and Thermal Systems Branch (STSB) were engaged to achieve optimal designs through iterative and interactive collaborative design processes. A preliminary design iteration was able to reduce the power consumption, mass, and footprint by removing redundant components and replacing inefficient components with more efficient ones. A second design iteration reduced volume and mass by replacing bulky components with excessive performance with smaller components custom-designed for the power system. The existing power system was analyzed to rank components in terms of inefficiency, power dissipation, footprint and mass. Design considerations and priorities are compared along with the results of each design iteration. Overall power system improvements are summarized for design implementations.

Power Sources for Micro-Autonomous Vehicles- Challenges and Prospects

NASA Technical Reports Server (NTRS)

Narayan, S. R.; Kisor, A.; Valdez, T. I.; Manohara, H.

2009-01-01

Micro-autonomous vehicle systems are expected to have expanded role in military missions by providing full spectrum intelligence, surveillance and reconnaissance support on the battlefield, suppression of enemy defenses, and enabling co-operative (swarm-like) configurations. Of the numerous demanding requirements of autonomy, sensing, navigation, mobility, etc., meeting the requirement of mission duration or endurance is a very challenging one. This requirement is demanding because of the constraints of mass and volume that limit the quantity of energy that can be stored on-board. Energy is required for mobility, payload operation, information processing, and communication. Mobility requirements typically place an extraordinary demand on the specific energy (Wh/kg) and specific power (W/kg) of the power source; the actual distribution of the energy between mobility and other system functions could vary substantially with the mission type. The power requirements for continuous mobility can vary from 100-1000 W/kg depending on the terrain, ground speed and flight speed. Even with the power source accounting for 30% of the mass of the vehicle, the best of rechargeable batteries can provide only up to 1-2 hours of run-time for a continuous power demand at 100W/kg. In the case of micro-aerial vehicles with flight speed requirements in the range of 5-15 m s-1, the mission times rarely exceed 20 minutes [2]. Further, the power required during take-off and hover can be twice or thrice that needed for steady level flight, and thus the number and sequence of such events is also limited by the mass and size of the power source. For operations such as "perch and stare" or "silent watch" the power demand is often only a tenth of that required during continuous flight. Thus, variation in power demand during various phases of the mission importantly affects the power source selection.

Biologically-Inspired Concepts for Autonomic Self-Protection in Multiagent Systems

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2006-01-01

Biologically-inspired autonomous and autonomic systems (AAS) are essentially concerned with creating self-directed and self-managing systems based on metaphors &om nature and the human body, such as the autonomic nervous system. Agent technologies have been identified as a key enabler for engineering autonomy and autonomicity in systems, both in terms of retrofitting into legacy systems and in designing new systems. Handing over responsibility to systems themselves raises concerns for humans with regard to safety and security. This paper reports on the continued investigation into a strand of research on how to engineer self-protection mechanisms into systems to assist in encouraging confidence regarding security when utilizing autonomy and autonomicity. This includes utilizing the apoptosis and quiescence metaphors to potentially provide a self-destruct or self-sleep signal between autonomic agents when needed, and an ALice signal to facilitate self-identification and self-certification between anonymous autonomous agents and systems.

Control Strategies for Distributed Energy Resources to Maximize the Use of Wind Power in Rural Microgrids

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lu, Shuai; Elizondo, Marcelo A.; Samaan, Nader A.

2011-10-10

The focus of this paper is to design control strategies for distributed energy resources (DERs) to maximize the use of wind power in a rural microgrid. In such a system, it may be economical to harness wind power to reduce the consumption of fossil fuels for electricity production. In this work, we develop control strategies for DERs, including diesel generators, energy storage and demand response, to achieve high penetration of wind energy in a rural microgrid. Combinations of centralized (direct control) and decentralized (autonomous response) control strategies are investigated. Detailed dynamic models for a rural microgrid are built to conductmore » simulations. The system response to large disturbances and frequency regulation are tested. It is shown that optimal control coordination of DERs can be achieved to maintain system frequency while maximizing wind power usage and reducing the wear and tear on fossil fueled generators.« less

Smart Inverter Control and Operation for Distributed Energy Resources

NASA Astrophysics Data System (ADS)

Tazay, Ahmad F.

The motivation of this research is to carry out the control and operation of smart inverters and voltage source converters (VSC) for distributed energy resources (DERs) such as photovoltaic (PV), battery, and plug-in hybrid electric vehicles (PHEV). The main contribution of the research includes solving a couple of issues for smart grids by controlling and implementing multifunctions of VSC and smart inverter as well as improving the operational scheme of the microgrid. The work is mainly focused on controlling and operating of smart inverter since it promises a new technology for the future microgrid. Two major applications of the smart inverter will be investigated in this work based on the connection modes: microgrid at grid-tied mode and autonomous mode. In grid-tied connection, the smart inverter and VSC are used to integrate DER such as Photovoltaic (PV) and battery to provide suitable power to the system by controlling the supplied real and reactive power. The role of a smart inverter at autonomous mode includes supplying a sufficient voltage and frequency, mitigate abnormal condition of the load as well as equally sharing the total load's power. However, the operational control of the microgrid still has a major issue on the operation of the microgrid. The dissertation is divided into two main sections which are: 1. Low-level control of a single smart Inverter. 2. High-level control of the microgrid. The first part investigates a comprehensive research for a smart inverter and VSC technology at the two major connections of the microgrid. This involves controlling and modeling single smart inverter and VSC to solve specific issues of microgrid as well as improve the operation of the system. The research provides developed features for smart inverter comparing with a conventional voltage sourced converter (VSC). The two main connections for a microgrid have been deeply investigated to analyze a better way to develop and improve the operational procedure of the microgrid as well as solve specific issues of connecting the microgrid to the system. A detailed procedure for controlling VSC and designing an optimal operation of the controller is also covered in the first part of the dissertation. This section provides an optimal operation for controlling motor drive and demonstrates issues when motor load exists at an autonomous microgrid. It also provides a solution for specific issues at operating a microgrid at autonomous mode as well as improving the structural design for the grid-tied microgrid. The solution for autonomous microgrid includes changing the operational state of the switching pattern of the smart inverter to solve the issue of a common mode voltage (CMV) that appears across the motor load. It also solves the issue of power supplying to large loads, such as induction motors. The last section of the low-level section involves an improvement of the performance and operation of the PV charging station for a plug-in hybrid electric vehicle (PHEV) at grid-tied mode. This section provides a novel structure and smart controller for PV charging station using three-phase hybrid boost converter topology. It also provides a form of applications of a multifunction smart inverter using PV charging station. The second part of the research is focusing on improving the performance of the microgrid by integrating several smart inverters to form a microgrid. It investigates the issue of connecting DER units with the microgrid at real applications. One of the common issues of the microgrid is the circulating current which is caused by poor reactive power sharing accuracy. When more than two DER units are connected in parallel, a microgrid is forming be generating required power for the load. When the microgrid is operated at autonomous mode, all DER units participate in generating voltage and frequency as well as share the load's power. This section provides a smart and novel controlling technique to solve the issue of unequal power sharing. The feature of the smart inverter is realized by the communication link between smart inverters and the main operator. The analysis and derivation of the problem are presented in this section. The dissertation has led to two accepted conference papers, one accepted transaction IEEE manuscript, and one submitted IET transaction manuscript. The future work aims to improve the current work by investigating the performance of the smart inverter at real applications.

Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2004-01-01

Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides an opportunity to consider other biological systems and principles in seeking new design strategies. This paper reports on one such investigation; utilizing the apoptosis metaphor of biological systems to provide a dynamic health indicator signal between autonomic agents.

Scatterplot analysis of EEG slow-wave magnitude and heart rate variability: an integrative exploration of cerebral cortical and autonomic functions.

PubMed

Kuo, Terry B J; Yang, Cheryl C H

2004-06-15

To explore interactions between cerebral cortical and autonomic functions in different sleep-wake states. Active waking (AW), quiet sleep (QS), and paradoxical sleep (PS) of adult male Wistar-Kyoto rats (WKY) on their daytime sleep were compared. Ten WKY. All rats had electrodes implanted for polygraphic recordings. One week later, a 6-hour daytime sleep-wakefulness recording session was performed. A scatterplot analysis of electroencephalogram (EEG) slow-wave magnitude (0.5-4 Hz) and heart rate variability (HRV) was applied in each rat. The EEG slow-wave-RR interval scatterplot from all of the recordings revealed a propeller-like pattern. If the scatterplot was divided into AW, PS, and QS according to the corresponding EEG mean power frequency and nuchal electromyogram, the EEG slow wave-RR interval relationship became nil, negative, and positive for AW, PS, and QS, respectively. A significant negative relationship was found for EEG slow-wave and high-frequency power of HRV (HF) coupling during PS and for EEG slow wave and low-frequency power of HRV to HF ratio (LF/HF) coupling during QS. The optimal time lags for the slow wave-LF/HF relationship were different between PS and QS. Bradycardia noted in QS and PS was related to sympathetic suppression and vagal excitation, respectively. The EEG slow wave-HRV scatterplot may provide unique insights into studies of sleep, and such a relationship may delineate the sleep-state-dependent fluctuations in autonomic nervous system activity.

Increased heart rate variability during nondirective meditation.

PubMed

Nesvold, Anders; Fagerland, Morten W; Davanger, Svend; Ellingsen, Øyvind; Solberg, Erik E; Holen, Are; Sevre, Knut; Atar, Dan

2012-08-01

Meditation practices are in use for relaxation and stress reduction. Some studies indicate beneficial cardiovascular health effects of meditation. The effects on the autonomous nervous system seem to vary among techniques. The purpose of the present study was to identify autonomic nerve activity changes during nondirective meditation. Heart rate variability (HRV), blood pressure variability (BPV), and baroreflex sensitivity (BRS) were monitored in 27 middle-aged healthy participants of both genders, first during 20 min regular rest with eyes closed, thereafter practising Acem meditation for 20 min. Haemodynamic and autonomic data were collected continuously (beat-to-beat) and non-invasively. HRV and BPV parameters were estimated by power spectral analyses, computed by an autoregressive model. Spontaneous activity of baroreceptors were determined by the sequence method. Primary outcomes were changes in HRV, BPV, and BRS between rest and meditation. HRV increased in the low-frequency (LF) and high-frequency (HF) bands during meditation, compared with rest (p = 0.014, 0.013, respectively). Power spectral density of the RR-intervals increased as well (p = 0.012). LF/HF ratio decreased non-significantly, and a reduction of LF-BPV power was observed during meditation (p < 0.001). There was no significant difference in BRS. Respiration and heart rates remained unchanged. Blood pressure increased slightly during meditation. There is an increased parasympathetic and reduced sympathetic nerve activity and increased overall HRV, while practising the technique. Hence, nondirective meditation by the middle aged may contribute towards a reduction of cardiovascular risk.

Autonomous Control of Nuclear Power Plants

DOE Office of Scientific and Technical Information (OSTI.GOV)

Basher, H.

2003-10-20

A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that maymore » be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors.« less

Managing autonomy levels in the SSM/PMAD testbed. [Space Station Power Management and Distribution

NASA Technical Reports Server (NTRS)

Ashworth, Barry R.

1990-01-01

It is pointed out that when autonomous operations are mixed with those of a manual nature, concepts concerning the boundary of operations and responsibility become clouded. The space station module power management and distribution (SSM/PMAD) automation testbed has the need for such mixed-mode capabilities. The concept of managing the SSM/PMAD testbed in the presence of changing levels of autonomy is examined. A knowledge-based approach to implementing autonomy management in the distributed SSM/PMAD utilizing a centralized planning system is presented. Its knowledge relations and system-wide interactions are discussed, along with the operational nature of the currently functioning SSM/PMAD knowledge-based systems.

Robust multi-model control of an autonomous wind power system

NASA Astrophysics Data System (ADS)

Cutululis, Nicolas Antonio; Ceanga, Emil; Hansen, Anca Daniela; Sørensen, Poul

2006-09-01

This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. Copyright

What Would a Socially Just Education System Look like?

ERIC Educational Resources Information Center

Nandy, Lisa

2012-01-01

The Coalition came to power in 2010 with a radical, controversial vision for education and set about transforming the UK landscape. The Secretary of State described how, in future, autonomous schools and colleges would compete with one another to raise standards, high performers would expand and others improve or disappear. His aim is for children…

Autonomous target tracking of UAVs based on low-power neural network hardware

NASA Astrophysics Data System (ADS)

Yang, Wei; Jin, Zhanpeng; Thiem, Clare; Wysocki, Bryant; Shen, Dan; Chen, Genshe

2014-05-01

Detecting and identifying targets in unmanned aerial vehicle (UAV) images and videos have been challenging problems due to various types of image distortion. Moreover, the significantly high processing overhead of existing image/video processing techniques and the limited computing resources available on UAVs force most of the processing tasks to be performed by the ground control station (GCS) in an off-line manner. In order to achieve fast and autonomous target identification on UAVs, it is thus imperative to investigate novel processing paradigms that can fulfill the real-time processing requirements, while fitting the size, weight, and power (SWaP) constrained environment. In this paper, we present a new autonomous target identification approach on UAVs, leveraging the emerging neuromorphic hardware which is capable of massively parallel pattern recognition processing and demands only a limited level of power consumption. A proof-of-concept prototype was developed based on a micro-UAV platform (Parrot AR Drone) and the CogniMemTMneural network chip, for processing the video data acquired from a UAV camera on the y. The aim of this study was to demonstrate the feasibility and potential of incorporating emerging neuromorphic hardware into next-generation UAVs and their superior performance and power advantages towards the real-time, autonomous target tracking.

INL Autonomous Navigation System

DOE Office of Scientific and Technical Information (OSTI.GOV)

2005-03-30

The INL Autonomous Navigation System provides instructions for autonomously navigating a robot. The system permits high-speed autonomous navigation including obstacle avoidance, waypoing navigation and path planning in both indoor and outdoor environments.

Application of parallelized software architecture to an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Shakya, Rahul; Wright, Adam; Shin, Young Ho; Momin, Orko; Petkovsek, Steven; Wortman, Paul; Gautam, Prasanna; Norton, Adam

2011-01-01

This paper presents improvements made to Q, an autonomous ground vehicle designed to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2010 IGVC, Q was upgraded with a new parallelized software architecture and a new vision processor. Improvements were made to the power system reducing the number of batteries required for operation from six to one. In previous years, a single state machine was used to execute the bulk of processing activities including sensor interfacing, data processing, path planning, navigation algorithms and motor control. This inefficient approach led to poor software performance and made it difficult to maintain or modify. For IGVC 2010, the team implemented a modular parallel architecture using the National Instruments (NI) LabVIEW programming language. The new architecture divides all the necessary tasks - motor control, navigation, sensor data collection, etc. into well-organized components that execute in parallel, providing considerable flexibility and facilitating efficient use of processing power. Computer vision is used to detect white lines on the ground and determine their location relative to the robot. With the new vision processor and some optimization of the image processing algorithm used last year, two frames can be acquired and processed in 70ms. With all these improvements, Q placed 2nd in the autonomous challenge.

Ultra-low power sensor for autonomous non-invasive voltage measurement in IoT solutions for energy efficiency

NASA Astrophysics Data System (ADS)

Villani, Clemente; Balsamo, Domenico; Brunelli, Davide; Benini, Luca

2015-05-01

Monitoring current and voltage waveforms is fundamental to assess the power consumption of a system and to improve its energy efficiency. In this paper we present a smart meter for power consumption which does not need any electrical contact with the load or its conductors, and which can measure both current and voltage. Power metering becomes easier and safer and it is also self-sustainable because an energy harvesting module based on inductive coupling powers the entire device from the output of the current sensor. A low cost 32-bit wireless CPU architecture is used for data filtering and processing, while a wireless transceiver sends data via the IEEE 802.15.4 standard. We describe in detail the innovative contact-less voltage measurement system, which is based on capacitive coupling and on an algorithm that exploits two pre-processing channels. The system self-calibrates to perform precise measurements regardless the cable type. Experimental results demonstrate accuracy in comparison with commercial high-cost instruments, showing negligible deviations.

Field test of an autonomous wind-diesel power plant

NASA Astrophysics Data System (ADS)

Fritzsche, A.; Knoebel, U.; Ruckert, W.

1985-09-01

An autonomous power plant composed of a wind energy converter and a diesel generator was tested in laboratory and in the field to assess the wind energy supply as a noninfluenceable parameter in the regulation of the mono and bivalent operation of the power plant, for control of the dynamic behavior of the electrical components, for tuning of the regulation expenditure with comfort requirements, and for model evaluation of energy cost analysis. The interaction between meteorological, technical, economic and energy policy aspects was assessed. The relationship between economical use and comfort limits technical improvement. Development of the concept of a bivalent power supply with wind and diesel is recommended.

The SSM/PMAD automated test bed project

NASA Technical Reports Server (NTRS)

Lollar, Louis F.

1991-01-01

The Space Station Module/Power Management and Distribution (SSM/PMAD) autonomous subsystem project was initiated in 1984. The project's goal has been to design and develop an autonomous, user-supportive PMAD test bed simulating the SSF Hab/Lab module(s). An eighteen kilowatt SSM/PMAD test bed model with a high degree of automated operation has been developed. This advanced automation test bed contains three expert/knowledge based systems that interact with one another and with other more conventional software residing in up to eight distributed 386-based microcomputers to perform the necessary tasks of real-time and near real-time load scheduling, dynamic load prioritizing, and fault detection, isolation, and recovery (FDIR).

Augmentation of the space station module power management and distribution breadboard

NASA Technical Reports Server (NTRS)

Walls, Bryan; Hall, David K.; Lollar, Louis F.

1991-01-01

The space station module power management and distribution (SSM/PMAD) breadboard models power distribution and management, including scheduling, load prioritization, and a fault detection, identification, and recovery (FDIR) system within a Space Station Freedom habitation or laboratory module. This 120 VDC system is capable of distributing up to 30 kW of power among more than 25 loads. In addition to the power distribution hardware, the system includes computer control through a hierarchy of processes. The lowest level consists of fast, simple (from a computing standpoint) switchgear that is capable of quickly safing the system. At the next level are local load center processors, (LLP's) which execute load scheduling, perform redundant switching, and shed loads which use more than scheduled power. Above the LLP's are three cooperating artificial intelligence (AI) systems which manage load prioritizations, load scheduling, load shedding, and fault recovery and management. Recent upgrades to hardware and modifications to software at both the LLP and AI system levels promise a drastic increase in speed, a significant increase in functionality and reliability, and potential for further examination of advanced automation techniques. The background, SSM/PMAD, interface to the Lewis Research Center test bed, the large autonomous spacecraft electrical power system, and future plans are discussed.

Survivability design for a hybrid underwater vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Biao; Wu, Chao; Li, Xiang

A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports themore » survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.« less

Technologies for Human Exploration

NASA Technical Reports Server (NTRS)

Drake, Bret G.

2014-01-01

Access to Space, Chemical Propulsion, Advanced Propulsion, In-Situ Resource Utilization, Entry, Descent, Landing and Ascent, Humans and Robots Working Together, Autonomous Operations, In-Flight Maintenance, Exploration Mobility, Power Generation, Life Support, Space Suits, Microgravity Countermeasures, Autonomous Medicine, Environmental Control.

Linking an Anxiety-Related Personality Trait to Cardiac Autonomic Regulation in Well-Defined Healthy Adults: Harm Avoidance and Resting Heart Rate Variability.

PubMed

Kao, Lien-Cheng; Liu, Yu-Wen; Tzeng, Nian-Sheng; Kuo, Terry B J; Huang, San-Yuan; Chang, Chuan-Chia; Chang, Hsin-An

2016-07-01

Anxiety trait, anxiety and depression states have all been reported to increase risks for cardiovascular disease (CVD), possibly through altering cardiac autonomic regulation. Our aim was to investigate whether the relationship between harm avoidance (HA, an anxiety-related personality trait) and cardiac autonomic regulation is independent of anxiety and depression states in healthy adults. We recruited 535 physically and mentally healthy volunteers. Participants completed the Beck Anxiety Inventory (BAI), Beck Depression Inventory (BDI) and Tri-dimensional Personality Questionnaire. Participants were divided into high or low HA groups as discriminated by the quartile value. Cardiac autonomic function was evaluated by measuring heart rate variability (HRV). We obtained the time and frequency-domain indices of HRV including variance (total HRV), the low-frequency power (LF; 0.05-0.15 Hz), which may reflect baroreflex function, the high-frequency power (HF; 0.15-0.40 Hz), which reflects cardiac parasympathetic activity, as well as the LF/HF ratio. The BDI and HA scores showed associations with HRV parameters. After adjustment for the BDI scores and other control variables, HA is still associated with reduced variance, LF and HF power. Compared with the participants with low HA, those with high HA displayed significant reductions in variance, LF and HF power and a significant increase in their LF/HF ratio. This study highlights the independent role of HA in contributing to decreased autonomic cardiac regulation in healthy adults and provides a potential underlying mechanism for anxiety trait to confer increased risk for CVD.

Linking an Anxiety-Related Personality Trait to Cardiac Autonomic Regulation in Well-Defined Healthy Adults: Harm Avoidance and Resting Heart Rate Variability

PubMed Central

Kao, Lien-Cheng; Liu, Yu-Wen; Tzeng, Nian-Sheng; Kuo, Terry B. J.; Huang, San-Yuan

2016-01-01

Objective Anxiety trait, anxiety and depression states have all been reported to increase risks for cardiovascular disease (CVD), possibly through altering cardiac autonomic regulation. Our aim was to investigate whether the relationship between harm avoidance (HA, an anxiety-related personality trait) and cardiac autonomic regulation is independent of anxiety and depression states in healthy adults. Methods We recruited 535 physically and mentally healthy volunteers. Participants completed the Beck Anxiety Inventory (BAI), Beck Depression Inventory (BDI) and Tri-dimensional Personality Questionnaire. Participants were divided into high or low HA groups as discriminated by the quartile value. Cardiac autonomic function was evaluated by measuring heart rate variability (HRV). We obtained the time and frequency-domain indices of HRV including variance (total HRV), the low-frequency power (LF; 0.05–0.15 Hz), which may reflect baroreflex function, the high-frequency power (HF; 0.15–0.40 Hz), which reflects cardiac parasympathetic activity, as well as the LF/HF ratio. Results The BDI and HA scores showed associations with HRV parameters. After adjustment for the BDI scores and other control variables, HA is still associated with reduced variance, LF and HF power. Compared with the participants with low HA, those with high HA displayed significant reductions in variance, LF and HF power and a significant increase in their LF/HF ratio. Conclusion This study highlights the independent role of HA in contributing to decreased autonomic cardiac regulation in healthy adults and provides a potential underlying mechanism for anxiety trait to confer increased risk for CVD. PMID:27482240

Online Cable Tester and Rerouter

NASA Technical Reports Server (NTRS)

Lewis, Mark; Medelius, Pedro

2012-01-01

Hardware and algorithms have been developed to transfer electrical power and data connectivity safely, efficiently, and automatically from an identified damaged/defective wire in a cable to an alternate wire path. The combination of online cable testing capabilities, along with intelligent signal rerouting algorithms, allows the user to overcome the inherent difficulty of maintaining system integrity and configuration control, while autonomously rerouting signals and functions without introducing new failure modes. The incorporation of this capability will increase the reliability of systems by ensuring system availability during operations.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Thomas, H. P.; Basso, T. S.; Kroposki, B.

The Department of Energy (DOE) Distributed Power Program (DPP) is conducting work to complete, validate in the field, and support the development of a national interconnection standard for distributed energy resources (DER), and to address the institutional and regulatory barriers slowing the commercial adoption of DER systems. This work includes support for the IEEE standards, including P1547 Standard for Interconnecting Distributed Resources with Electric Power Systems, P1589 Standard for Conformance Test Procedures for Equipment Interconnecting Distributed Resources with Electric Power Systems, and the P1608 Application Guide. Work is also in progress on system integration research and development (R&D) on themore » interface and control of DER with local energy systems. Additional efforts are supporting high-reliability power for industry, evaluating innovative concepts for DER applications, and exploring plug-and-play interface and control technologies for intelligent autonomous interconnection systems. This paper summarizes (1) the current status of the IEEE interconnection standards and application guides in support of DER, and (2) the R&D in progress at the National Renewable Energy Laboratory (NREL) for interconnection and system integration and application of distributed energy resources.« less

Intelligent electrical outlet for collective load control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lentine, Anthony L.; Ford, Justin R.; Spires, Shannon V.

Various technologies described herein pertain to an electrical outlet that autonomously manages loads in a microgrid. The electrical outlet can provide autonomous load control in response to variations in electrical power generation supply in the microgrid. The electrical outlet includes a receptacle, a sensor operably coupled to the receptacle, and an actuator configured to selectively actuate the receptacle. The sensor measures electrical parameters at the receptacle. Further, a processor autonomously controls the actuator based at least in part on the electrical parameters measured at the receptacle, electrical parameters from one or more disparate electrical outlets in the microgrid, and amore » supply of generated electric power in the microgrid at a given time.« less

Radar based autonomous sensor module

NASA Astrophysics Data System (ADS)

Styles, Tim

2016-10-01

Most surveillance systems combine camera sensors with other detection sensors that trigger an alert to a human operator when an object is detected. The detection sensors typically require careful installation and configuration for each application and there is a significant burden on the operator to react to each alert by viewing camera video feeds. A demonstration system known as Sensing for Asset Protection with Integrated Electronic Networked Technology (SAPIENT) has been developed to address these issues using Autonomous Sensor Modules (ASM) and a central High Level Decision Making Module (HLDMM) that can fuse the detections from multiple sensors. This paper describes the 24 GHz radar based ASM, which provides an all-weather, low power and license exempt solution to the problem of wide area surveillance. The radar module autonomously configures itself in response to tasks provided by the HLDMM, steering the transmit beam and setting range resolution and power levels for optimum performance. The results show the detection and classification performance for pedestrians and vehicles in an area of interest, which can be modified by the HLDMM without physical adjustment. The module uses range-Doppler processing for reliable detection of moving objects and combines Radar Cross Section and micro-Doppler characteristics for object classification. Objects are classified as pedestrian or vehicle, with vehicle sub classes based on size. Detections are reported only if the object is detected in a task coverage area and it is classified as an object of interest. The system was shown in a perimeter protection scenario using multiple radar ASMs, laser scanners, thermal cameras and visible band cameras. This combination of sensors enabled the HLDMM to generate reliable alerts with improved discrimination of objects and behaviours of interest.

Power quality control of an autonomous wind-diesel power system based on hybrid intelligent controller.

PubMed

Ko, Hee-Sang; Lee, Kwang Y; Kang, Min-Jae; Kim, Ho-Chan

2008-12-01

Wind power generation is gaining popularity as the power industry in the world is moving toward more liberalized trade of energy along with public concerns of more environmentally friendly mode of electricity generation. The weakness of wind power generation is its dependence on nature-the power output varies in quite a wide range due to the change of wind speed, which is difficult to model and predict. The excess fluctuation of power output and voltages can influence negatively the quality of electricity in the distribution system connected to the wind power generation plant. In this paper, the authors propose an intelligent adaptive system to control the output of a wind power generation plant to maintain the quality of electricity in the distribution system. The target wind generator is a cost-effective induction generator, while the plant is equipped with a small capacity energy storage based on conventional batteries, heater load for co-generation and braking, and a voltage smoothing device such as a static Var compensator (SVC). Fuzzy logic controller provides a flexible controller covering a wide range of energy/voltage compensation. A neural network inverse model is designed to provide compensating control amount for a system. The system can be optimized to cope with the fluctuating market-based electricity price conditions to lower the cost of electricity consumption or to maximize the power sales opportunities from the wind generation plant.

The Environment Friendly Power Source for Power Supply of Mobile Communication Base Stations

NASA Astrophysics Data System (ADS)

Rudenko, N. V.; Ershov, V. V.; Evstafiev, V. V.

2017-05-01

The article describes the technical proposals to improve environmental and resource characteristics of the autonomous power supply systems of mobile communication base stations based on renewable energy sources, while ensuring the required reliability and security of power supply. These include: the replacement of diesel-generator with clean energy source - an electrochemical generator based on hydrogen fuel cells; the use of wind turbines with a vertical axis; use of specialized batteries. Based on the analysis of the know technical solutions, the structural circuit diagram of the hybrid solar-wind-hydrogen power plant and the basic principles of the algorithm of its work were proposed. The implementation of these proposals will improve the environmental and resource characteristics.

Compact drilling and sample system

NASA Technical Reports Server (NTRS)

Gillis-Smith, Greg R.; Petercsak, Doug

1998-01-01

The Compact Drilling and Sample System (CDSS) was developed to drill into terrestrial, cometary, and asteroid material in a cryogenic, vacuum environment in order to acquire subsurface samples. Although drills were used by the Apollo astronauts some 20 years ago, this drill is a fraction of the mass and power and operates completely autonomously, able to drill, acquire, transport, dock, and release sample containers in science instruments. The CDSS has incorporated into its control system the ability to gather science data about the material being drilled by measuring drilling rate per force applied and torque. This drill will be able to optimize rotation and thrust in order to achieve the highest drilling rate possible in any given sample. The drill can be commanded to drill at a specified force, so that force imparted on the rover or lander is limited. This paper will discuss the cryo dc brush motors, carbide gears, cryogenic lubrication, quick-release interchangeable sampling drill bits, percussion drilling and the control system developed to achieve autonomous, cryogenic, vacuum, lightweight drilling.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

Kenyon, Samuel H.; Creary, D.; Thi, Dan; Maynard, Jeffrey

2005-05-01

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

Autonomous Laser-Powered Vehicle

NASA Technical Reports Server (NTRS)

Stone, William C. (Inventor); Hogan, Bartholomew P. (Inventor)

2017-01-01

An autonomous laser-powered vehicle designed to autonomously penetrate through ice caps of substantial (e.g., kilometers) thickness by melting a path ahead of the vehicle as it descends. A high powered laser beam is transmitted to the vehicle via an onboard bare fiber spooler. After the beam enters through the dispersion optics, the beam expands into a cavity. A radiation shield limits backscatter radiation from heating the optics. The expanded beam enters the heat exchanger and is reflected by a dispersion mirror. Forward-facing beveled circular grooves absorb the reflected radiant energy preventing the energy from being reflected back towards the optics. Microchannels along the inner circumference of the beam dump heat exchanger maximize heat transfer. Sufficient amount of fiber is wound on the fiber spooler to permit not only a descent but also to permit a sample return mission by inverting the vehicle and melting its way back to the surface.

Asteroid Exploration with Autonomic Systems

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Rash, James; Rouff, Christopher; Hinchey, Mike

2004-01-01

NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. The prospective ANTS (Autonomous Nano Technology Swarm) mission comprises autonomous agents including worker agents (small spacecra3) designed to cooperate in asteroid exploration under the overall authoriq of at least one ruler agent (a larger spacecraft) whose goal is to cause science data to be returned to Earth. The ANTS team (ruler plus workers and messenger agents), but not necessarily any individual on the team, will exhibit behaviors that qualify it as an autonomic system, where an autonomic system is defined as a system that self-reconfigures, self-optimizes, self-heals, and self-protects. Autonomic system concepts lead naturally to realistic, scalable architectures rich in capabilities and behaviors. In-depth consideration of a major mission like ANTS in terms of autonomic systems brings new insights into alternative definitions of autonomic behavior. This paper gives an overview of the ANTS mission and discusses the autonomic properties of the mission.

Room Temperature Operable Autonomously Moving Bio-Microrobot Powered by Insect Dorsal Vessel Tissue

PubMed Central

Akiyama, Yoshitake; Hoshino, Takayuki; Iwabuchi, Kikuo; Morishima, Keisuke

2012-01-01

Living muscle tissues and cells have been attracting attention as potential actuator candidates. In particular, insect dorsal vessel tissue (DVT) seems to be well suited for a bio-actuator since it is capable of contracting autonomously and the tissue itself and its cells are more environmentally robust under culturing conditions compared with mammalian tissues and cells. Here we demonstrate an autonomously moving polypod microrobot (PMR) powered by DVT excised from an inchworm. We fabricated a prototype of the PMR by assembling a whole DVT onto an inverted two-row micropillar array. The prototype moved autonomously at a velocity of 3.5×10−2 µm/s, and the contracting force of the whole DVT was calculated as 20 µN. Based on the results obtained by the prototype, we then designed and fabricated an actual PMR. We were able to increase the velocity significantly for the actual PMR which could move autonomously at a velocity of 3.5 µm/s. These results indicate that insect DVT has sufficient potential as the driving force for a bio-microrobot that can be utilized in microspaces. PMID:22808004

Tailoring the response of Autonomous Reactivity Control (ARC) systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Qvist, Staffan A.; Hellesen, Carl; Gradecka, Malwina

The Autonomous Reactivity Control (ARC) system was developed to ensure inherent safety of Generation IV reactors while having a minimal impact on reactor performance and economic viability. In this study we present the transient response of fast reactor cores to postulated accident scenarios with and without ARC systems installed. Using a combination of analytical methods and numerical simulation, the principles of ARC system design that assure stability and avoids oscillatory behavior have been identified. A comprehensive transient analysis study for ARC-equipped cores, including a series of Unprotected Loss of Flow (ULOF) and Unprotected Loss of Heat Sink (ULOHS) simulations, weremore » performed for Argonne National Laboratory (ANL) Advanced Burner Reactor (ABR) designs. With carefully designed ARC-systems installed in the fuel assemblies, the cores exhibit a smooth non-oscillatory transition to stabilization at acceptable temperatures following all postulated transients. To avoid oscillations in power and temperature, the reactivity introduced per degree of temperature change in the ARC system needs to be kept below a certain threshold the value of which is system dependent, the temperature span of actuation needs to be as large as possible.« less

Comparative efficacy of ways of long-term usage of start-up boilers in the scheme of nuclear power plant

NASA Astrophysics Data System (ADS)

Khroustalev, V. A.; Simonyan, A. A.

2017-11-01

There was carried out an analysis of technical characteristics of boiler houses in a number of Russian NPPs. We justified the possibility of their usage for autonomous generation of electrical energy and improvement of maneuvering properties of power complexes as a single object of regulation, as well as the possibility of increasing the total generation capacity of NPP power units during peak hours. Then the selection of the main equipment of house boiler for its autonomous work was done. There were composed basic thermal diagrams of the power complex on the basis of NPP start-up boiler (SUB) and the satellite turbine. The article also considers some options of reconstruction of SUB into the heat-recovery boiler. The developed power complexes are designed to be used on the basis of the two-loop NPP with pressurized power reactors (PWR). They can be applied with serial and projected domestic NPP units with the aim of getting more power, improving the plant capacity factor (PCF), as well as with the aim of NPP participation in the regulation of the load curve above the nominal value with partial replacement of new construction. The power complexes can be a relevant solution in the light of the energy strategy of the Russian Federation, which is aimed at, firstly, further improvement of efficiency and safety at the NPP, and, secondly, solving the problem of adequate maneuverability and ensuring the adjustment range limits in power systems with high share of nuclear power plants. Implementation of new hybrid thermal diagrams allows simultaneous increase in the safety of NPP, and usage of nuclear power plants emergency frequency control in power systems by fast load drop and rise by -4÷+2 % of the nominal value. Due to the usage of different fuels in power complexes, uranium loading in the core of reactor facilities and gas in SUB, there was proposed and formalized the criterion of “thermoeconomic index”. This criterion represents the ratio of the gross receipt from the sale of electricity to the total cost of fuel of all kinds, spent on ensuring power efficiency.

Autonomous exoskeleton reduces metabolic cost of human walking during load carriage.

PubMed

Mooney, Luke M; Rouse, Elliott J; Herr, Hugh M

2014-05-09

Many soldiers are expected to carry heavy loads over extended distances, often resulting in physical and mental fatigue. In this study, the design and testing of an autonomous leg exoskeleton is presented. The aim of the device is to reduce the energetic cost of loaded walking. In addition, we present the Augmentation Factor, a general framework of exoskeletal performance that unifies our results with the varying abilities of previously developed exoskeletons. We developed an autonomous battery powered exoskeleton that is capable of providing substantial levels of positive mechanical power to the ankle during the push-off region of stance phase. We measured the metabolic energy consumption of seven subjects walking on a level treadmill at 1.5 m/s, while wearing a 23 kg vest. During the push-off portion of the stance phase, the exoskeleton applied positive mechanical power with an average across the gait cycle equal to 23 ± 2 W (11.5 W per ankle). Use of the autonomous leg exoskeleton significantly reduced the metabolic cost of walking by 36 ± 12 W, which was an improvement of 8 ± 3% (p = 0.025) relative to the control condition of not wearing the exoskeleton. In the design of leg exoskeletons, the results of this study highlight the importance of minimizing exoskeletal power dissipation and added limb mass, while providing substantial positive power during the walking gait cycle.

Autonomous exoskeleton reduces metabolic cost of human walking during load carriage

PubMed Central

2014-01-01

Background Many soldiers are expected to carry heavy loads over extended distances, often resulting in physical and mental fatigue. In this study, the design and testing of an autonomous leg exoskeleton is presented. The aim of the device is to reduce the energetic cost of loaded walking. In addition, we present the Augmentation Factor, a general framework of exoskeletal performance that unifies our results with the varying abilities of previously developed exoskeletons. Methods We developed an autonomous battery powered exoskeleton that is capable of providing substantial levels of positive mechanical power to the ankle during the push-off region of stance phase. We measured the metabolic energy consumption of seven subjects walking on a level treadmill at 1.5 m/s, while wearing a 23 kg vest. Results During the push-off portion of the stance phase, the exoskeleton applied positive mechanical power with an average across the gait cycle equal to 23 ± 2 W (11.5 W per ankle). Use of the autonomous leg exoskeleton significantly reduced the metabolic cost of walking by 36 ± 12 W, which was an improvement of 8 ± 3% (p = 0.025) relative to the control condition of not wearing the exoskeleton. Conclusions In the design of leg exoskeletons, the results of this study highlight the importance of minimizing exoskeletal power dissipation and added limb mass, while providing substantial positive power during the walking gait cycle. PMID:24885527

A Novel Quantitative Method for Diabetic Cardiac Autonomic Neuropathy Assessment in Type 1 Diabetic Mice

PubMed Central

Yang, Bufan; Posada-Quintero, Hugo F.; Siu, Kin L.; Rolle, Marsha; Brink, Peter; Birzgalis, Aija; Moore, Leon C.

2014-01-01

In this work, we used a sensitive and noninvasive computational method to assess diabetic cardiovascular autonomic neuropathy (DCAN) from pulse oximeter (photoplethysmographic; PPG) recordings from mice. The method, which could be easily applied to humans, is based on principal dynamic mode (PDM) analysis of heart rate variability (HRV). Unlike the power spectral density, PDM has been shown to be able to separately identify the activities of the parasympathetic and sympathetic nervous systems without pharmacological intervention. HRV parameters were measured by processing PPG signals from conscious 1.5- to 5-month-old C57/BL6 control mice and in Akita mice, a model of insulin-dependent type 1 diabetes, and compared with the gold-standard Western blot and immunohistochemical analyses. The PDM results indicate significant cardiac autonomic impairment in the diabetic mice in comparison to the controls. When tail-cuff PPG recordings were collected and analyzed starting from 1.5 months of age in both C57/Bl6 controls and Akita mice, onset of DCAN was seen at 3 months in the Akita mice, which persisted up to the termination of the recording at 5 months. Western blot and immunohistochemical analyses also showed a reduction in nerve density in Akita mice at 3 and 4 months as compared to the control mice, thus, corroborating our PDM data analysis of HRV records. Western blot analysis of autonomic nerve proteins corroborated the PPG-based HRV analysis via the PDM approach. In contrast, traditional HRV analysis (based on either the power spectral density or time-domain measures) failed to detect the nerve rarefaction. PMID:25097056

Ultrasonic wireless health monitoring

NASA Astrophysics Data System (ADS)

Petit, Lionel; Lefeuvre, Elie; Guyomar, Daniel; Richard, Claude; Guy, Philippe; Yuse, Kaori; Monnier, Thomas

2006-03-01

The integration of autonomous wireless elements in health monitoring network increases the reliability by suppressing power supplies and data transmission wiring. Micro-power piezoelectric generators are an attractive alternative to primary batteries which are limited by a finite amount of energy, a limited capacity retention and a short shelf life (few years). Our goal is to implement such an energy harvesting system for powering a single AWT (Autonomous Wireless Transmitter) using our SSH (Synchronized Switch Harvesting) method. Based on a non linear process of the piezoelement voltage, this SSH method optimizes the energy extraction from the mechanical vibrations. This AWT has two main functions : The generation of an identifier code by RF transmission to the central receiver and the Lamb wave generation for the health monitoring of the host structure. A damage index is derived from the variation between the transmitted wave spectrum and a reference spectrum. The same piezoelements are used for the energy harvesting function and the Lamb wave generation, thus reducing mass and cost. A micro-controller drives the energy balance and synchronizes the functions. Such an autonomous transmitter has been evaluated on a 300x50x2 mm 3 composite cantilever beam. Four 33x11x0.3 mm 3 piezoelements are used for the energy harvesting and for the wave lamb generation. A piezoelectric sensor is placed at the free end of the beam to track the transmitted Lamb wave. In this configuration, the needed energy for the RF emission is 0.1 mJ for a 1 byte-information and the Lamb wave emission requires less than 0.1mJ. The AWT can harvested an energy quantity of approximately 20 mJ (for a 1.5 Mpa lateral stress) with a 470 μF storage capacitor. This corresponds to a power density near to 6mW/cm 3. The experimental AWT energy abilities are presented and the damage detection process is discussed. Finally, some envisaged solutions are introduced for the implementation of the required data processing into an autonomous wireless receiver, in terms of reduction of the energy and memory costs.

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

NASA Technical Reports Server (NTRS)

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

Supplying the power requirements to a sensor network using radio frequency power transfer.

PubMed

Percy, Steven; Knight, Chris; Cooray, Francis; Smart, Ken

2012-01-01

Wireless power transmission is a method of supplying power to small electronic devices when there is no wired connection. One way to increase the range of these systems is to use a directional transmitting antenna, the problem with this approach is that power can only be transmitted through a narrow beam and directly forward, requiring the transmitter to always be aligned with the sensor node position. The work outlined in this article describes the design and testing of an autonomous radio frequency power transfer system that is capable of rotating the base transmitter to track the position of sensor nodes and transferring power to that sensor node. The system's base station monitors the node's energy levels and forms a charge queue to plan charging order and maintain energy levels of the nodes. Results show a radio frequency harvesting circuit with a measured S11 value of -31.5 dB and a conversion efficiency of 39.1%. Simulation and experimentation verified the level of power transfer and efficiency. The results of this work show a small network of three nodes with different storage types powered by a central base node.

Status report on the Small Secure Transportable Autonomous Reactor (SSTAR) /Lead-cooled Fast Reactor (LFR) and supporting research and development.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sienicki, J. J.; Moisseytsev, A.; Yang, W. S.

2008-06-23

This report provides an update on development of a pre-conceptual design for the Small Secure Transportable Autonomous Reactor (SSTAR) Lead-Cooled Fast Reactor (LFR) plant concept and supporting research and development activities. SSTAR is a small, 20 MWe (45 MWt), natural circulation, fast reactor plant for international deployment concept incorporating proliferation resistance for deployment in non-fuel cycle states and developing nations, fissile self-sufficiency for efficient utilization of uranium resources, autonomous load following making it suitable for small or immature grid applications, and a high degree of passive safety further supporting deployment in developing nations. In FY 2006, improvements have been mademore » at ANL to the pre-conceptual design of both the reactor system and the energy converter which incorporates a supercritical carbon dioxide Brayton cycle providing higher plant efficiency (44 %) and improved economic competitiveness. The supercritical CO2 Brayton cycle technology is also applicable to Sodium-Cooled Fast Reactors providing the same benefits. One key accomplishment has been the development of a control strategy for automatic control of the supercritical CO2 Brayton cycle in principle enabling autonomous load following over the full power range between nominal and essentially zero power. Under autonomous load following operation, the reactor core power adjusts itself to equal the heat removal from the reactor system to the power converter through the large reactivity feedback of the fast spectrum core without the need for motion of control rods, while the automatic control of the power converter matches the heat removal from the reactor to the grid load. The report includes early calculations for an international benchmarking problem for a LBE-cooled, nitride-fueled fast reactor core organized by the IAEA as part of a Coordinated Research Project on Small Reactors without Onsite Refueling; the calculations use the same neutronics computer codes and methodologies applied to SSTAR. Another section of the report details the SSTAR safety design approach which is based upon defense-in-depth providing multiple levels of protection against the release of radioactive materials and how the inherent safety features of the lead coolant, nitride fuel, fast neutron spectrum core, pool vessel configuration, natural circulation, and containment meet or exceed the requirements for each level of protection. The report also includes recent results of a systematic analysis by LANL of data on corrosion of candidate cladding and structural material alloys of interest to SSTAR by LBE and Pb coolants; the data were taken from a new database on corrosion by liquid metal coolants created at LANL. The analysis methodology that considers penetration of an oxidation front into the alloy and dissolution of the trailing edge of the oxide into the coolant enables the long-term corrosion rate to be extracted from shorter-term corrosion data thereby enabling an evaluation of alloy performance over long core lifetimes (e.g., 30 years) that has heretofore not been possible. A number of candidate alloy specimens with special treatments or coatings which might enhance corrosion resistance at the temperatures at which SSTAR would operate were analyzed following testing in the DELTA loop at LANL including steels that were treated by laser peening at LLNL; laser peening is an approach that alters the oxide-metal bonds which could potentially improve corrosion resistance. LLNL is also carrying out Multi-Scale Modeling of the Fe-Cr system with the goal of assisting in the development of cladding and structural materials having greater resistance to irradiation.« less

Why Computer-Based Systems Should be Autonomic

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

The objective of this paper is to discuss why computer-based systems should be autonomic, where autonomicity implies self-managing, often conceptualized in terms of being self-configuring, self-healing, self-optimizing, self-protecting and self-aware. We look at motivations for autonomicity, examine how more and more systems are exhibiting autonomic behavior, and finally look at future directions.

Sympathovagal imbalance in hyperthyroidism.

PubMed

Burggraaf, J; Tulen, J H; Lalezari, S; Schoemaker, R C; De Meyer, P H; Meinders, A E; Cohen, A F; Pijl, H

2001-07-01

We assessed sympathovagal balance in thyrotoxicosis. Fourteen patients with Graves' hyperthyroidism were studied before and after 7 days of treatment with propranolol (40 mg 3 times a day) and in the euthyroid state. Data were compared with those obtained in a group of age-, sex-, and weight-matched controls. Autonomic inputs to the heart were assessed by power spectral analysis of heart rate variability. Systemic exposure to sympathetic neurohormones was estimated on the basis of 24-h urinary catecholamine excretion. The spectral power in the high-frequency domain was considerably reduced in hyperthyroid patients, indicating diminished vagal inputs to the heart. Increased heart rate and mid-frequency/high-frequency power ratio in the presence of reduced total spectral power and increased urinary catecholamine excretion strongly suggest enhanced sympathetic inputs in thyrotoxicosis. All abnormal features of autonomic balance were completely restored to normal in the euthyroid state. beta-Adrenoceptor antagonism reduced heart rate in hyperthyroid patients but did not significantly affect heart rate variability or catecholamine excretion. This is in keeping with the concept of a joint disruption of sympathetic and vagal inputs to the heart underlying changes in heart rate variability. Thus thyrotoxicosis is characterized by profound sympathovagal imbalance, brought about by increased sympathetic activity in the presence of diminished vagal tone.

Challenges in verification and validation of autonomous systems for space exploration

NASA Technical Reports Server (NTRS)

Brat, Guillaume; Jonsson, Ari

2005-01-01

Space exploration applications offer a unique opportunity for the development and deployment of autonomous systems, due to limited communications, large distances, and great expense of direct operation. At the same time, the risk and cost of space missions leads to reluctance to taking on new, complex and difficult-to-understand technology. A key issue in addressing these concerns is the validation of autonomous systems. In recent years, higher-level autonomous systems have been applied in space applications. In this presentation, we will highlight those autonomous systems, and discuss issues in validating these systems. We will then look to future demands on validating autonomous systems for space, identify promising technologies and open issues.

Assessment of cardiac autonomic regulation and ventricular repolarization after off-pump coronary artery bypass grafting.

PubMed

Kalisnik, Jurij M; Avbelj, Viktor; Trobec, Roman; Ivaskovic, Daroslav; Vidmar, Gaj; Troise, Giovanni; Gersak, Borut

2006-01-01

Altered autonomic regulation precipitates cardiac arrhythmias and increases the risk of sudden cardiac death. This risk is further increased by changes in ventricular repolarization. Autonomic regulation is deranged in patients after myocardial on-pump revascularization. We aimed to clarify how off-pump coronary artery bypass grafting (CABG) affects postoperative cardiac autonomic regulation and ventricular repolarization within 4 weeks after CABG. Forty-two patients (mean age, 61.9 +/- 9.3 years; mean EURO score 2.6 +/- 1.9) were electively admitted for off-pump CABG. The electrocardiographic and respiratory waveform recordings were performed in the afternoon in the supine position for 10 minutes. Autonomic modulation was assessed using heart rate variability analysis. Power spectra were computed from 5-minute stable RR intervals using Fourier Transform analysis. Total power of spectra was defined in the range of 0.01 to 0.40 Hz, high-frequency power within 0.15 to 0.40 Hz, and low-frequency power within 0.04 to 0.15 Hz. Normalized power was defined as a ratio of power in each band/total power. The high- and low-frequency power as well as their normalized values indicated cardiac vagal and sympathetic modulation, respectively. Ventricular repolarization was assessed using QT interval, QT interval variability, and QT-RR interdependence analysis. QT intervals were determined from the beginning of the 5-minute segments. QT interval variability was evaluated by a T-wave template-matching algorithm. Pearson correlation between length of RR and QT interval was applied to study QT-RR characteristics. The results were tested for significance using the Fisher exact test, nonpaired t test, and analysis of variance; a P <.05 was considered significant. The frequency of arrhythmic events and heart rate increased from the fourth to the seventh postoperative day and returned to preoperative levels 4 weeks after CABG. Heart rate variability measures indicating autonomic modulation remained depressed even 4 weeks after the procedure. QT variability index increased from -1.2 +/- 0.5 to -0.8 +/- 0.4 on the fourth day after the operation (P <.05) and returned to -1.0 +/- 0.5 4 weeks after CABG (P = not significant). QT-RR correlation decreased from 0.41 to 0.23 (P <.05) and remained significantly impaired as long as 4 weeks after CABG. Observed faster heart rates until 1 week after off-pump CABG imply excessive adrenergic activation, which is comparable to on-pump CABG procedure rates. The results indicate profound autonomic derangement and loss of rate-dependent regulation after off-pump CABG even 4 weeks after operation. Restituted repolarization as assessed by QT variability index 4 weeks postoperatively corresponded with decreased frequency of rhythm disturbances 4 weeks after CABG. The loss of coupling between QT and RR intervals shows increased electrical instability postoperatively, which may serve as an additional promoter for postoperative arrhythmias, especially at higher heart rates.

Non-linear HRV indices under autonomic nervous system blockade.

PubMed

Bolea, Juan; Pueyo, Esther; Laguna, Pablo; Bailón, Raquel

2014-01-01

Heart rate variability (HRV) has been studied as a non-invasive technique to characterize the autonomic nervous system (ANS) regulation of the heart. Non-linear methods based on chaos theory have been used during the last decades as markers for risk stratification. However, interpretation of these nonlinear methods in terms of sympathetic and parasympathetic activity is not fully established. In this work we study linear and non-linear HRV indices during ANS blockades in order to assess their relation with sympathetic and parasympathetic activities. Power spectral content in low frequency (0.04-0.15 Hz) and high frequency (0.15-0.4 Hz) bands of HRV, as well as correlation dimension, sample and approximate entropies were computed in a database of subjects during single and dual ANS blockade with atropine and/or propranolol. Parasympathetic blockade caused a significant decrease in the low and high frequency power of HRV, as well as in correlation dimension and sample and approximate entropies. Sympathetic blockade caused a significant increase in approximate entropy. Sympathetic activation due to postural change from supine to standing caused a significant decrease in all the investigated non-linear indices and a significant increase in the normalized power in the low frequency band. The other investigated linear indices did not show significant changes. Results suggest that parasympathetic activity has a direct relation with sample and approximate entropies.

Biological Inspiration for Agile Autonomous Air Vehicles

DTIC Science & Technology

2007-11-01

rhythmically contract the thorax; the hind wings have become specialized as small body rotation sensors (halteres). Butterflies and moths have two pairs of...orthogonal pairs of power muscles that produce alternating dorso-ventral and longitudinal flexure of the thorax from rhythmic contractions similar to...other physical sciences lend themselves to somewhat reductionist approaches for both analysis and synthesis. Complex engineered systems are built from

Acute Moderate Exercise Does Not Further Alter the Autonomic Nervous System Activity in Patients with Sickle Cell Anemia

PubMed Central

Waltz, Xavier; Sinnapah, Stéphane; Lemonne, Nathalie; Etienne-Julan, Maryse; Soter, Valérie; Hue, Olivier; Hardy-Dessources, Marie-Dominique; Barthélémy, Jean-Claude; Connes, Philippe

2014-01-01

A decreased global autonomic nervous system (ANS) activity and increased sympathetic activation in patients with sickle cell anemia (SCA) seem to worsen the clinical severity and could play a role in the pathophysiology of the disease, notably by triggering vaso-occlusive crises. Because exercise challenges the ANS activity in the general population, we sought to determine whether a short (<15 min) and progressive moderate exercise session conducted until the first ventilatory threshold had an effect on the ANS activity of a group of SCA patients and a group of healthy individuals (CONT group). Temporal and spectral analyses of the nocturnal heart rate variability were performed before and on the 3 nights following the exercise session. Standard deviation of all normal RR intervals (SDNN), total power, low frequencies (LF) and high frequencies powers (HF) were lower but LF/HF was higher in SCA patients than in the CONT group. Moderate exercise did not modify ANS activity in both groups. In addition, no adverse clinical events occurred during the entire protocol. These results imply that this kind of short and moderate exercise is not detrimental for SCA patients. PMID:24740295

BRIDGE - Behavioural reaching interfaces during daily antigravity activities through upper limb exoskeleton: Preliminary results.

PubMed

Gandolla, Marta; Costa, Andrea; Aquilante, Lorenzo; Gfoehler, Margit; Puchinger, Markus; Braghin, Francesco; Pedrocchi, Alessandra

2017-07-01

People with neuromuscular diseases such as muscular dystrophy experience a distributed and evolutive weakness in the whole body. Recent technological developments have changed the daily life of disabled people strongly improving the perceived quality of life, mostly concentrating on powered wheelchairs, so to assure autonomous mobility and respiratory assistance, essential for survival. The key concept of the BRIDGE project is to contrast the everyday experience of losing functions by providing them of a system able to exploit the best their own residual capabilities in arm movements so to keep them functional and autonomous as much as possible. BRIDGE is composed by a light, wearable and powered five degrees of freedom upper limb exoskeleton under the direct control of the user through a joystick or gaze control. An inverse kinematic model allows to determine joints position so to track patient desired hand position. BRIDGE prototype has been successfully tested in simulation environment, and by a small group of healthy volunteers. Preliminary results show a good tracking performance of the implemented control scheme. The interaction procedure was easy to understand, and the interaction with the system was successful.

Autonomous exoskeleton reduces metabolic cost of human walking.

PubMed

Mooney, Luke M; Rouse, Elliott J; Herr, Hugh M

2014-11-03

Passive exoskeletons that assist with human locomotion are often lightweight and compact, but are unable to provide net mechanical power to the exoskeletal wearer. In contrast, powered exoskeletons often provide biologically appropriate levels of mechanical power, but the size and mass of their actuator/power source designs often lead to heavy and unwieldy devices. In this study, we extend the design and evaluation of a lightweight and powerful autonomous exoskeleton evaluated for loaded walking in (J Neuroeng Rehab 11:80, 2014) to the case of unloaded walking conditions. The metabolic energy consumption of seven study participants (85 ± 12 kg body mass) was measured while walking on a level treadmill at 1.4 m/s. Testing conditions included not wearing the exoskeleton and wearing the exoskeleton, in both powered and unpowered modes. When averaged across the gait cycle, the autonomous exoskeleton applied a mean positive mechanical power of 26 ± 1 W (13 W per ankle) with 2.12 kg of added exoskeletal foot-shank mass (1.06 kg per leg). Use of the leg exoskeleton significantly reduced the metabolic cost of walking by 35 ± 13 W, which was an improvement of 10 ± 3% (p = 0.023) relative to the control condition of not wearing the exoskeleton. The results of this study highlight the advantages of developing lightweight and powerful exoskeletons that can comfortably assist the body during walking.

Advanced Self-Calibrating, Self-Repairing Data Acquisition System

NASA Technical Reports Server (NTRS)

Medelius, Pedro J. (Inventor); Eckhoff, Anthony J. (Inventor); Angel, Lucena R. (Inventor); Perotti, Jose M. (Inventor)

2002-01-01

An improved self-calibrating and self-repairing Data Acquisition System (DAS) for use in inaccessible areas, such as onboard spacecraft, and capable of autonomously performing required system health checks, failure detection. When required, self-repair is implemented utilizing a "spare parts/tool box" system. The available number of spare components primarily depends upon each component's predicted reliability which may be determined using Mean Time Between Failures (MTBF) analysis. Failing or degrading components are electronically removed and disabled to reduce power consumption, before being electronically replaced with spare components.

MSFC Sortie Laboratory Environmental Control System (ECS) phase B design study results

NASA Technical Reports Server (NTRS)

Ignatonis, A. J.; Mitchell, K. L.

1974-01-01

Phase B effort of the Sortie Lab program has concluded. Results of that effort are presented which pertain to the definitions of the environmental control system (ECS). Numerous design studies were performed in Phase B to investigate system feasibility, complexity, weight, and cost. The results and methods employed for these design studies are included. An autonomous Sortie Lab ECS was developed which utilizes a deployed space radiator. Total system weight was projected to be 1814.4 kg including the radiator and fluids. ECS power requirements were estimated at 950 watts.

Energy scavenging sources for biomedical sensors.

PubMed

Romero, E; Warrington, R O; Neuman, M R

2009-09-01

Energy scavenging has increasingly become an interesting option for powering electronic devices because of the almost infinite lifetime and the non-dependence on fuels for energy generation. Moreover, the rise of wireless technologies promises new applications in medical monitoring systems, but these still face limitations due to battery lifetime and size. A trade-off of these two factors has typically governed the size, useful life and capabilities of an autonomous system. Energy generation from sources such as motion, light and temperature gradients has been established as commercially viable alternatives to batteries for human-powered flashlights, solar calculators, radio receivers and thermal-powered wristwatches, among others. Research on energy harvesting from human activities has also addressed the feasibility of powering wearable or implantable systems. Biomedical sensors can take advantage of human-based activities as the energy source for energy scavengers. This review describes the state of the art of energy scavenging technologies for powering sensors and instrumentation of physiological variables. After a short description of the human power and the energy generation limits, the different transduction mechanisms, recent developments and challenges faced are reviewed and discussed.

Compact mobile-reader system for two-way wireless communication, tracking and status monitoring for transport safety and security

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tsai, Han-Chung; Liu, Yung Y.; Lee, Hok L.

A system for monitoring a plurality radio frequency identification tags is described. The system uses at least one set of radio frequency identification tags. Each tag is attached to a container and includes several sensors for detecting physical conditions of said container. The system includes at least one autonomous intermediate reader in wireless communication with the frequency identification tags. The intermediate reader includes external wireless communication system, intermediate reader logic controller, and a self-contained rechargeable power supply. The system uses a central status reporting system in communication the intermediate reader.

Fusing Laser Reflectance and Image Data for Terrain Classification for Small Autonomous Robots

DTIC Science & Technology

2014-12-01

limit us to low power, lightweight sensors , and a maximum range of approximately 5 meters. Contrast these robot characteristics to typical terrain...classifi- cation work which uses large autonomous ground vehicles with sensors mounted high above the ground. Terrain classification for small autonomous...into predefined classes [10], [11]. However, wheeled vehicles offer the ability to use non-traditional sensors such as vibration sensors [12] and

Micro Autonomous Systems and Technology: A Methodology for Quantitative Technology Assessment and Prototyping of Unmanned Vehicles

DTIC Science & Technology

2012-01-30

Sensors: LIDAR , Camera, SONAR) is qualitatively or quantitatively ranked against the other options in such categories as weight and power consumption...Mapping ( SLAM ) and A*. The second software change in progress is upgrading from Unreal 2004 to is a bridge between an external program that defines a...current simulation setup, a simulated quad-copter with an Inertial Navigation System (INS) and ranging LIDAR sensor spawns within an environment and

Using a smart wheelchair as a gaming device for floor-projected games: a mixed-reality environment for training powered-wheelchair driving skills.

PubMed

Secoli, R; Zondervan, D; Reinkensmeyer, D

2012-01-01

For children with a severe disability, such as can arise from cerebral palsy, becoming independent in mobility is a critical goal. Currently, however, driver's training for powered wheelchair use is labor intensive, requiring hand-over-hand assistance from a skilled therapist to keep the trainee safe. This paper describes the design of a mixed reality environment for semi-autonomous training of wheelchair driving skills. In this system, the wheelchair is used as the gaming input device, and users train driving skills by maneuvering through floor-projected games created with a multi-projector system and a multi-camera tracking system. A force feedback joystick assists in steering and enhances safety.

A power autonomous monopedal robot

NASA Astrophysics Data System (ADS)

Krupp, Benjamin T.; Pratt, Jerry E.

2006-05-01

We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all the power generating components, but powered from an off-board pump. On a test stand, the eventual on-board power system generates enough pressure and flow to meet the requirements of these runs and we are currently integrating the power system into the real robot. When operated from an off-board system without carrying the weight of the power generating components, the robot currently runs at approximately 2.25 m/s. Ongoing work is focused on integrating the power system into the robot, improving the control algorithm, and investigating methods for improving efficiency.

Preliminary study of a millimeter wave FMCW InSAR for UAS indoor navigation.

PubMed

Scannapieco, Antonio F; Renga, Alfredo; Moccia, Antonio

2015-01-22

Small autonomous unmanned aerial systems (UAS) could be used for indoor inspection in emergency missions, such as damage assessment or the search for survivors in dangerous environments, e.g., power plants, underground railways, mines and industrial warehouses. Two basic functions are required to carry out these tasks, that is autonomous GPS-denied navigation with obstacle detection and high-resolution 3Dmapping with moving target detection. State-of-the-art sensors for UAS are very sensitive to environmental conditions and often fail in the case of poor visibility caused by dust, fog, smoke, flames or other factors that are met as nominal mission scenarios when operating indoors. This paper is a preliminary study concerning an innovative radar sensor based on the interferometric Synthetic Aperture Radar (SAR) principle, which has the potential to satisfy stringent requirements set by indoor autonomous operation. An architectural solution based on a frequency-modulated continuous wave (FMCW) scheme is proposed after a detailed analysis of existing compact and lightweight SAR. A preliminary system design is obtained, and the main imaging peculiarities of the novel sensor are discussed, demonstrating that high-resolution, high-quality observation of an assigned control volume can be achieved.

Preliminary Study of a Millimeter Wave FMCW InSAR for UAS Indoor Navigation

PubMed Central

Scannapieco, Antonio F.; Renga, Alfredo; Moccia, Antonio

2015-01-01

Small autonomous unmanned aerial systems (UAS) could be used for indoor inspection in emergency missions, such as damage assessment or the search for survivors in dangerous environments, e.g., power plants, underground railways, mines and industrial warehouses. Two basic functions are required to carry out these tasks, that is autonomous GPS-denied navigation with obstacle detection and high-resolution 3D mapping with moving target detection. State-of-the-art sensors for UAS are very sensitive to environmental conditions and often fail in the case of poor visibility caused by dust, fog, smoke, flames or other factors that are met as nominal mission scenarios when operating indoors. This paper is a preliminary study concerning an innovative radar sensor based on the interferometric Synthetic Aperture Radar (SAR) principle, which has the potential to satisfy stringent requirements set by indoor autonomous operation. An architectural solution based on a frequency-modulated continuous wave (FMCW) scheme is proposed after a detailed analysis of existing compact and lightweight SAR. A preliminary system design is obtained, and the main imaging peculiarities of the novel sensor are discussed, demonstrating that high-resolution, high-quality observation of an assigned control volume can be achieved. PMID:25621606

Autonomous, agile micro-satellites and supporting technologies

DOE Office of Scientific and Technical Information (OSTI.GOV)

Breitfeller, E; Dittman, M D; Gaughan, R J

1999-07-19

This paper updates the on-going effort at Lawrence Livermore National Laboratory to develop autonomous, agile micro-satellites (MicroSats). The objective of this development effort is to develop MicroSats weighing only a few tens of kilograms, that are able to autonomously perform precision maneuvers and can be used telerobotically in a variety of mission modes. The required capabilities include satellite rendezvous, inspection, proximity-operations, docking, and servicing. The MicroSat carries an integrated proximity-operations sensor-suite incorporating advanced avionics. A new self-pressurizing propulsion system utilizing a miniaturized pump and non-toxic mono-propellant hydrogen peroxide was successfully tested. This system can provide a nominal 25 kg MicroSatmore » with 200-300 m/s delta-v including a warm-gas attitude control system. The avionics is based on the latest PowerPC processor using a CompactPCI bus architecture, which is modular, high-performance and processor-independent. This leverages commercial-off-the-shelf (COTS) technologies and minimizes the effects of future changes in processors. The MicroSat software development environment uses the Vx-Works real-time operating system (RTOS) that provides a rapid development environment for integration of new software modules, allowing early integration and test. We will summarize results of recent integrated ground flight testing of our latest non-toxic pumped propulsion MicroSat testbed vehicle operated on our unique dynamic air-rail.« less

Conditions for Fully Autonomous Anticipation

NASA Astrophysics Data System (ADS)

Collier, John

2006-06-01

Anticipation allows a system to adapt to conditions that have not yet come to be, either externally to the system or internally. Autonomous systems actively control the conditions of their own existence so as to increase their overall viability. This paper will first give minimal necessary and sufficient conditions for autonomous anticipation, followed by a taxonomy of autonomous anticipation. In more complex systems, there can be semi-autonomous subsystems that can anticipate and adapt on their own. Such subsystems can be integrated into a system's overall autonomy, typically with greater efficiency due to modularity and specialization of function. However, it is also possible that semi-autonomous subsystems can act against the viability of the overall system, and have their own functions that conflict with overall system functions.

Wind-based navigation of a hot-air balloon on Titan: a feasibility study

NASA Astrophysics Data System (ADS)

Furfaro, Roberto; Lunine, Jonathan I.; Elfes, Alberto; Reh, Kim

2008-04-01

Current analysis of data streamed back to Earth by the Cassini spacecraft features Titan as one of the most exciting places in the solar system. NASA centers and universities around the US, as well as the European Space Agency, are studying the possibility of sending, as part of the next mission to this giant moon of Saturn, a hot-air balloon (Montgolfier-type) for further and more in-depth exploration. The basic idea would be to design a reliable, semi-autonomous, and yet cheap Montgolfier capable of using continuous flow of waste heat from a power source to lift the balloon and sustain its altitude in the Titan environment. In this paper we study the problem of locally navigating a hot-air balloon in the nitrogen-based Titan atmosphere. The basic idea is to define a strategy (i.e. design of a suitable guidance system) that allows autonomous and semi-autonomous navigation of the balloon using the available (and partial) knowledge of the wind structure blowing on the saturnian satellite surface. Starting from first principles we determined the appropriate thermal and dynamical models describing (a) the vertical dynamics of the balloon and (b) the dynamics of the balloon moving on a vertical plane (2-D motion). Next, various non-linear fuzzy-based control strategies have been evaluated, analyzed and implemented in MATLAB to numerically simulate the capability of the system to simultaneously maintain altitude, as well as a scientifically desirable trajectory. We also looked at the ability of the balloon to perform station keeping. The results of the simulation are encouraging and show the effectiveness of such a system to cheaply and effectively perform semi-autonomous exploration of Titan.

The Joint Tactical Aerial Resupply Vehicle Impact on Sustainment Operations

DTIC Science & Technology

2017-06-09

Artificial Intelligence , Sustainment Operations, Rifle Company, Autonomous Aerial Resupply, Joint Tactical Autonomous Aerial Resupply System 16...Integrations and Development System AI Artificial Intelligence ARCIC Army Capabilities Integration Center ARDEC Armament Research, Development and...semi- autonomous systems, and fully autonomous systems. Autonomy of machines depends on sophisticated software, including Artificial Intelligence

Network, system, and status software enhancements for the autonomously managed electrical power system breadboard. Volume 1: Project summary

NASA Technical Reports Server (NTRS)

Mckee, James W.

1990-01-01

This volume (1 of 4) gives a summary of the original AMPS software system configuration, points out some of the problem areas in the original software design that this project is to address, and in the appendix collects all the bimonthly status reports. The purpose of AMPS is to provide a self reliant system to control the generation and distribution of power in the space station. The software in the AMPS breadboard can be divided into three levels: the operating environment software, the protocol software, and the station specific software. This project deals only with the operating environment software and the protocol software. The present station specific software will not change except as necessary to conform to new data formats.

Autonomic Function in Infancy.

ERIC Educational Resources Information Center

Fox, Nathan A.; Fitzgerald, Hiram E.

1990-01-01

Reviews research that uses autonomic responses of human infants as dependent measures. Focuses on the history of research on the autonomic nervous system, measurement issues, and autonomic correlates of infant behavior and systems. (RJC)

CESAR research in intelligent machines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Weisbin, C.R.

1986-01-01

The Center for Engineering Systems Advanced Research (CESAR) was established in 1983 as a national center for multidisciplinary, long-range research and development in machine intelligence and advanced control theory for energy-related applications. Intelligent machines of interest here are artificially created operational systems that are capable of autonomous decision making and action. The initial emphasis for research is remote operations, with specific application to dexterous manipulation in unstructured dangerous environments where explosives, toxic chemicals, or radioactivity may be present, or in other environments with significant risk such as coal mining or oceanographic missions. Potential benefits include reduced risk to man inmore » hazardous situations, machine replication of scarce expertise, minimization of human error due to fear or fatigue, and enhanced capability using high resolution sensors and powerful computers. A CESAR goal is to explore the interface between the advanced teleoperation capability of today, and the autonomous machines of the future.« less

Autonomous Operations Planner: A Flexible Platform for Research in Flight-Deck Support for Airborne Self-Separation

NASA Technical Reports Server (NTRS)

Karr, David A.; Vivona, Robert A.; DePascale, Stephen M.; Wing, David J.

2012-01-01

The Autonomous Operations Planner (AOP), developed by NASA, is a flexible and powerful prototype of a flight-deck automation system to support self-separation of aircraft. The AOP incorporates a variety of algorithms to detect and resolve conflicts between the trajectories of its own aircraft and traffic aircraft while meeting route constraints such as required times of arrival and avoiding airspace hazards such as convective weather and restricted airspace. This integrated suite of algorithms provides flight crew support for strategic and tactical conflict resolutions and conflict-free trajectory planning while en route. The AOP has supported an extensive set of experiments covering various conditions and variations on the self-separation concept, yielding insight into the system s design and resolving various challenges encountered in the exploration of the concept. The design of the AOP will enable it to continue to evolve and support experimentation as the self-separation concept is refined.

The VIPER project (Visualization Integration Platform for Exploration Research): a biologically inspired autonomous reconfigurable robotic platform for diverse unstructured environments

NASA Astrophysics Data System (ADS)

Schubert, Oliver J.; Tolle, Charles R.

2004-09-01

Over the last decade the world has seen numerous autonomous vehicle programs. Wheels and track designs are the basis for many of these vehicles. This is primarily due to four main reasons: a vast preexisting knowledge base for these designs, energy efficiency of power sources, scalability of actuators, and the lack of control systems technologies for handling alternate highly complex distributed systems. Though large efforts seek to improve the mobility of these vehicles, many limitations still exist for these systems within unstructured environments, e.g. limited mobility within industrial and nuclear accident sites where existing plant configurations have been extensively changed. These unstructured operational environments include missions for exploration, reconnaissance, and emergency recovery of objects within reconfigured or collapsed structures, e.g. bombed buildings. More importantly, these environments present a clear and present danger for direct human interactions during the initial phases of recovery operations. Clearly, the current classes of autonomous vehicles are incapable of performing in these environments. Thus the next generation of designs must include highly reconfigurable and flexible autonomous robotic platforms. This new breed of autonomous vehicles will be both highly flexible and environmentally adaptable. Presented in this paper is one of the most successful designs from nature, the snake-eel-worm (SEW). This design implements shape memory alloy (SMA) actuators which allow for scaling of the robotic SEW designs from sub-micron scale to heavy industrial implementations without major conceptual redesigns as required in traditional hydraulic, pneumatic, or motor driven systems. Autonomous vehicles based on the SEW design posses the ability to easily move between air based environments and fluid based environments with limited or no reconfiguration. Under a SEW designed vehicle, one not only achieves vastly improved maneuverability within a highly unstructured environment, but also gains robotic manipulation abilities, normally relegated as secondary add-ons within existing vehicles, all within one small condensed package. The prototype design presented includes a Beowulf style computing system for advanced guidance calculations and visualization computations. All of the design and implementation pertaining to the SEW robot discussed in this paper is the product of a student team under the summer fellowship program at the DOEs INEEL.

On Market-Based Coordination of Thermostatically Controlled Loads With User Preference

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, Sen; Zhang, Wei; Lian, Jianming

2014-12-15

This paper presents a market-based control framework to coordinate a group of autonomous Thermostatically Controlled Loads (TCL) to achieve the system-level objectives with pricing incentives. The problem is formulated as maximizing the social welfare subject to feeder power constraint. It allows the coordinator to affect the aggregated power of a group of dynamical systems, and creates an interactive market where the users and the coordinator cooperatively determine the optimal energy allocation and energy price. The optimal pricing strategy is derived, which maximizes social welfare while respecting the feeder power constraint. The bidding strategy is also designed to compute the optimalmore » price in real time (e.g., every 5 minutes) based on local device information. The coordination framework is validated with realistic simulations in GridLab-D. Extensive simulation results demonstrate that the proposed approach effectively maximizes the social welfare and decreases power congestion at key times.« less

Methods of determining complete sensor requirements for autonomous mobility

NASA Technical Reports Server (NTRS)

Curtis, Steven A. (Inventor)

2012-01-01

A method of determining complete sensor requirements for autonomous mobility of an autonomous system includes computing a time variation of each behavior of a set of behaviors of the autonomous system, determining mobility sensitivity to each behavior of the autonomous system, and computing a change in mobility based upon the mobility sensitivity to each behavior and the time variation of each behavior. The method further includes determining the complete sensor requirements of the autonomous system through analysis of the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior, wherein the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior are characteristic of the stability of the autonomous system.

A SINS/SRS/GNS Autonomous Integrated Navigation System Based on Spectral Redshift Velocity Measurements.

PubMed

Wei, Wenhui; Gao, Zhaohui; Gao, Shesheng; Jia, Ke

2018-04-09

In order to meet the requirements of autonomy and reliability for the navigation system, combined with the method of measuring speed by using the spectral redshift information of the natural celestial bodies, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Spectral Redshift (SRS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/SRS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a robust adaptive central difference particle filtering algorithm is proposed for this autonomous integrated navigation system. The simulation experiments are conducted and the results show that the designed SINS/SRS/GNS autonomous integrated navigation system possesses good autonomy, strong robustness and high reliability, thus providing a new solution for autonomous navigation technology.

Skinner-Rusk unified formalism for higher-order systems

NASA Astrophysics Data System (ADS)

Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

2012-07-01

The Lagrangian-Hamiltonian unified formalism of R. Skinner and R. Rusk was originally stated for autonomous dynamical systems in classical mechanics. It has been generalized for non-autonomous first-order mechanical systems, first-order and higher-order field theories, and higher-order autonomous systems. In this work we present a generalization of this formalism for higher-order non-autonomous mechanical systems.

Development of a Bio-nanobattery for Distributed Power Storage Systems

NASA Technical Reports Server (NTRS)

King, Glen C.; Choi, Sang H.; Chu, Sang-Hyon; Kim, Jae-Woo; Park, Yeonjoon; Lillehei, Peter; Watt, Gerald D.; Davis, Robert; Harb, John N.

2004-01-01

Currently available power storage systems, such as those used to supply power to microelectronic devices, typically consist of a single centralized canister and a series of wires to supply electrical power to where it is needed in a circuit. As the size of electrical circuits and components become smaller, there exists a need for a distributed power system to reduce Joule heating, wiring, and to allow autonomous operation of the various functions performed by the circuit. Our research is being conducted to develop a bio-nanobattery using ferritins reconstituted with both an iron core (Fe-ferritin) and a cobalt core (Co-ferritin). Both Co-ferritin and Fe-ferritin were synthesized and characterized as candidates for the bio-nanobattery. The reducing capability was determined as well as the half-cell electrical potentials, indicating an electrical output of nearly 0.5 V for the battery cell. Ferritins having other metallic cores are also being investigated, in order to increase the overall electrical output. Two dimensional ferritin arrays were also produced on various substrates, demonstrating the necessary building blocks for the bio-nanobattery. The bio-nanobattery will play a key role in moving to a distributed power storage system for electronic applications.

Assured Human-Autonomy Interaction through Machine Self-Confidence

NASA Astrophysics Data System (ADS)

Aitken, Matthew

Autonomous systems employ many layers of approximations in order to operate in increasingly uncertain and unstructured environments. The complexity of these systems makes it hard for a user to understand the systems capabilities, especially if the user is not an expert. However, if autonomous systems are to be used efficiently, their users must trust them appropriately. This purpose of this work is to implement and assess an 'assurance' that an autonomous system can provide to the user to elicit appropriate trust. Specifically, the autonomous system's perception of its own capabilities is reported to the user as the self-confidence assurance. The self-confidence assurance should allow the user to more quickly and accurately assess the autonomous system's capabilities, generating appropriate trust in the autonomous system. First, this research defines self-confidence and discusses what the self-confidence assurance is attempting to communicate to the user. Then it provides a framework for computing the autonomous system's self-confidence as a function of self-confidence factors which correspond to individual elements in the autonomous system's process. In order to explore this idea, self-confidence is implemented on an autonomous system that uses a mixed observability Markov decision process model to solve a pursuit-evasion problem on a road network. The implementation of a factor assessing the goodness of the autonomy's expected performance is focused on in particular. This work highlights some of the issues and considerations in the design of appropriate metrics for the self-confidence factors, and provides the basis for future research for computing self-confidence in autonomous systems.

Systems, methods and apparatus for quiesence of autonomic systems with self action

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

Systems, methods and apparatus are provided in which an autonomic unit or element is quiesced. A quiesce component of an autonomic unit can cause the autonomic unit to self-destruct if a stay-alive reprieve signal is not received after a predetermined time.

Thermoelectric-Driven Autonomous Sensors for a Biomass Power Plant

NASA Astrophysics Data System (ADS)

Rodríguez, A.; Astrain, D.; Martínez, A.; Gubía, E.; Sorbet, F. J.

2013-07-01

This work presents the design and development of a thermoelectric generator intended to harness waste heat in a biomass power plant, and generate electric power to operate sensors and the required electronics for wireless communication. The first objective of the work is to design the optimum thermoelectric generator to harness heat from a hot surface, and generate electric power to operate a flowmeter and a wireless transmitter. The process is conducted by using a computational model, presented in previous papers, to determine the final design that meets the requirements of electric power consumption and number of transmissions per minute. Finally, the thermoelectric generator is simulated to evaluate its performance. The final device transmits information every 5 s. Moreover, it is completely autonomous and can be easily installed, since no electric wires are required.

Autonomic Computing for Spacecraft Ground Systems

NASA Technical Reports Server (NTRS)

Li, Zhenping; Savkli, Cetin; Jones, Lori

2007-01-01

Autonomic computing for spacecraft ground systems increases the system reliability and reduces the cost of spacecraft operations and software maintenance. In this paper, we present an autonomic computing solution for spacecraft ground systems at NASA Goddard Space Flight Center (GSFC), which consists of an open standard for a message oriented architecture referred to as the GMSEC architecture (Goddard Mission Services Evolution Center), and an autonomic computing tool, the Criteria Action Table (CAT). This solution has been used in many upgraded ground systems for NASA 's missions, and provides a framework for developing solutions with higher autonomic maturity.

From Here to Autonomicity: Self-Managing Agents and the Biological Metaphors that Inspire Them

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

We seek inspiration for self-managing systems from (obviously, pre-existing) biological mechanisms. Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward for integrating and designing reliable systems, while agent technologies have been identified as a key enabler for engineering autonomicity in systems. This paper looks at other biological metaphors such as reflex and healing, heart- beat monitors, pulse monitors and apoptosis for assisting in the realization of autonomicity.

Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

NASA Astrophysics Data System (ADS)

Özgüner, Ümit; Redmill, Keith

One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

NASA Astrophysics Data System (ADS)

Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

2017-10-01

Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

Autonomic Modulation in Older Women: Using Resistance Exercise as a Countermeasure

PubMed Central

GERHART, HAYDEN; TAI, YU LUN; FENNELL, CURTIS; MAYO, XIÁN; KINGSLEY, J. DEREK

2017-01-01

It is unclear if resistance training (RT) can be used to alter declines in autonomic modulation associated with aging. Young women (YW; range 18–25 yrs) and older women (OW; range 50–72 yrs) were compared at baseline. Only OW underwent supervised RT 2 days a week for 12-weeks. Baseline and post-training measurements included heart rate variability (HRV) and complexity (Sample Entropy) to assess autonomic modulation. The 12-weeks of RT consisted of 9 exercises performing 3 sets of 8–12 repetitions. At baseline, group differences in maximal strength, and autonomic modulation were evaluated with a one-way ANOVA with BMI as a covariate. In the OW, the effects of RT were evaluated with repeated-measures ANOVA in order to compare baseline to after RT. The YW had significantly (p≤0.05) lower diastolic, but not systolic blood pressure. The YW also had significantly (p≤0.05) greater absolute Ln (natural logarithm) high-frequency (HF) power and normalized HF power compared to the OW. In addition, there were significantly (p≤0.05) greater levels of normalized low-frequency power (LF) (and the LF/HF ratio) in the OW compared to the YW before RT. However, no difference was found for Sample Entropy. After RT, OW significantly (p≤0.05) increased the chest press (28%) and leg extension (33%). RT had no significant effect on any autonomic parameter suggesting that it may not be a sufficient stimulus to alter the effects of aging. PMID:28344732

Improvised Explosive Devise Placement Detection from a Semi-Autonomous Ground Vehicle

DTIC Science & Technology

2006-12-01

is not autonomous, weighs approximately 100 lbs , costs well over $50,000, and has dimensions of approximately 3’ x 2’ x 3’ [Ref. 2]. These factors...bottom. 2. Power Bus and Battery The power bus with battery consists of all commercial off the shelf (COTS) products. The battery (Figure 10) is...camera is mounted on AGV’s shelf , above the motion detectors (future locations will include a more protected area). Figure 29. D-Link, DCS-900

Comparison of electroacupuncture frequency-related effects on heart rate variability in healthy volunteers: a randomized clinical trial.

PubMed

Lee, Jong-Ho; Kim, Kyu-Hyeong; Hong, Jin-Woo; Lee, Won-Chul; Koo, Sungtae

2011-06-01

This study aimed to compare the effects of high frequency electroacupuncture (EA) and low-frequency EA on the autonomic nervous system by using a heart rate variability measuring device in normal individuals. Fourteen participants were recruited and each participated in the high-frequency and low-frequency sessions (crossover design). The order of sessions was randomized and the interval between the two sessions was over 2 weeks. Participants received needle insertion with 120-Hz stimulation during the high-frequency session (high-frequency EA group), and with 2-Hz stimulation during the low-frequency session (low-frequency EA group). Acupuncture needles were directly inserted perpendicularly to LI 4 and LI 11 acupoints followed by delivery of electric pulses to these points for 15 minutes. Heart rate variability was measured 5 minutes before and after EA stimulation by a heart rate variability measuring system. We found a significant increase in the standard deviation of the normal-to-normal interval in the high-frequency EA group, with no change in the low-frequency EA group. Both the high-frequency and low-frequency EA groups showed no significant differences in other parameters including high-frequency power, low-frequency power, and the ratio of low-frequency power to high-frequency power. Based on these findings, we concluded that high-frequency EA stimulation is more effective than low-frequency EA stimulation in increasing autonomic nervous activity and there is no difference between the two EA frequencies in enhancing sympathovagal balance. Copyright © 2011 Korean Pharmacopuncture Institute. Published by .. All rights reserved.

A SINS/SRS/GNS Autonomous Integrated Navigation System Based on Spectral Redshift Velocity Measurements

PubMed Central

Wei, Wenhui; Gao, Zhaohui; Gao, Shesheng; Jia, Ke

2018-01-01

In order to meet the requirements of autonomy and reliability for the navigation system, combined with the method of measuring speed by using the spectral redshift information of the natural celestial bodies, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Spectral Redshift (SRS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/SRS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a robust adaptive central difference particle filtering algorithm is proposed for this autonomous integrated navigation system. The simulation experiments are conducted and the results show that the designed SINS/SRS/GNS autonomous integrated navigation system possesses good autonomy, strong robustness and high reliability, thus providing a new solution for autonomous navigation technology. PMID:29642549

Women Warriors: Why the Robotics Revolution Changes the Combat Equation

DTIC Science & Technology

2015-01-01

combat fight due in large part to advances in robotics and autonomous systems. From exoskeletons to robotic mules, technology is reducing the...kick-started innovation in this area in 2001 by funding labs, industry, and universities under the Exoskeletons for Human Performance Augmentation...and fledgling programs of record. The Human Load Carrier (HULC), for example, is a hydraulic- powered exoskeleton made of titanium that allows

Wearable wireless sensor platform for studying autonomic activity and social behavior in non-human primates.

PubMed

Fletcher, Richard Ribón; Amemori, Ken-ichi; Goodwin, Matthew; Graybiel, Ann M

2012-01-01

A portable system has been designed to enable remote monitoring of autonomic nervous system output in non-human primates for the purpose of studying neural function related to social behavior over extended periods of time in an ambulatory setting. In contrast to prior systems which only measure heart activity, are restricted to a constrained laboratory setting, or require surgical attachment, our system is comprised of a multi-sensor self-contained wearable vest that can easily be transferred from one subject to another. The vest contains a small detachable low-power electronic sensor module for measuring electrodermal activity (EDA), electrocardiography (ECG), 3-axis acceleration, and temperature. The wireless transmission is implemented using a standard Bluetooth protocol and a mobile phone, which enables freedom of movement for the researcher as well as for the test subject. A custom Android software application was created on the mobile phone for viewing and recording live data as well as creating annotations. Data from up to seven monkeys can be recorded simultaneously using the mobile phone, with the option of real-time upload to a remote web server. Sample data are presented from two rhesus macaque monkeys showing stimulus-induced response in the laboratory as well as long-term ambulatory data collected in a large monkey cage. This system enables new possibilities for studying underlying mechanisms between autonomic brain function and social behavior with connection to human research in areas such as autism, substance abuse, and mood disorders.

Genetic autonomic disorders.

PubMed

Axelrod, Felicia B

2013-03-01

Genetic disorders affecting the autonomic nervous system can result in abnormal development of the nervous system or they can be caused by neurotransmitter imbalance, an ion-channel disturbance or by storage of deleterious material. The symptoms indicating autonomic dysfunction, however, will depend upon whether the genetic lesion has disrupted peripheral or central autonomic centers or both. Because the autonomic nervous system is pervasive and affects every organ system in the body, autonomic dysfunction will result in impaired homeostasis and symptoms will vary. The possibility of genetic confirmation by molecular testing for specific diagnosis is increasing but treatments tend to remain only supportive and directed toward particular symptoms. Copyright © 2013 Elsevier Inc. All rights reserved.

Modular Autonomous Systems Technology Framework: A Distributed Solution for System Monitoring and Control

NASA Technical Reports Server (NTRS)

Badger, Julia M.; Claunch, Charles; Mathis, Frank

2017-01-01

The Modular Autonomous Systems Technology (MAST) framework is a tool for building distributed, hierarchical autonomous systems. Originally intended for the autonomous monitoring and control of spacecraft, this framework concept provides support for variable autonomy, assume-guarantee contracts, and efficient communication between subsystems and a centralized systems manager. MAST was developed at NASA's Johnson Space Center (JSC) and has been applied to an integrated spacecraft example scenario.

Small power systems for law enforcement applications

NASA Astrophysics Data System (ADS)

Sims, Paul E.; Mauk, Michael G.; Sulima, Oleg V.

2002-08-01

Recent events have increased interest in the use of sensors by law enforcement and homeland defense related organizations. Autonomous sensors such as those under development for the Unattended Ground Sensor (UGS) program are suitable for some of these applications. The operational lifetime of a UGS depends on the power consumption of the package and the space allocated for batteries. We survey and assess options for powering these devices ina long-term scenario. These alternatives are in various stages of development, and range from conventional batteries and solar cells that are ready for deployment and are now commercially available; to technologies developed for other applications (e.g., power for deep-space probes, man portable power for soldiers, or for sensors in oil drilling bore holes) that would need to be adapted to UGS's; to new and often speculative concepts that are in the laboratory or are still on the drawing board. Ideally, unattended ground sensors do not require servicing, re- energizing or refueling; and are capable of autonomous operation for weeks or even years. Further, UGS's may need to be used covertly, which restricts schemes that would provide a detectable signature. Reliability, ruggedness, cost, weight, size, camouflaging, use of toxic materials and other safety or disposal aspects, restrictions on their deployment (e.g., whether UGS's can be dropped form the air or whether they need to be uprighted or favorably oriented), storage and inventorying considerations, temperature ranges of operation, and complexity of associated electronics are also important issues. In this paper, we will limit the discussion to systems where operating power does not exceed 5 watts since larger systems are commercially available. Some subjectivity in comparisons is perhaps inevitable, but despite the disparate physics upon which these devices are based, a few common criteria can be invoked for discussing their suitability for energy storage and powering UGS's. Metrics can be developed to assess and compare options, but since most of the options are in very different stages of development, one is sometimes forced to use performance specifications that are predicted, rather than demonstrated. Thus, in some cases the comparisons are tentative or speculative.

Semi-autonomous unmanned ground vehicle control system

NASA Astrophysics Data System (ADS)

Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

2006-05-01

Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

Autonomous and Autonomic Swarms

NASA Technical Reports Server (NTRS)

Hinchey, Michael G.; Rash, James L.; Truszkowski, Walter F.; Rouff, Christopher A.; Sterritt, Roy

2005-01-01

A watershed in systems engineering is represented by the advent of swarm-based systems that accomplish missions through cooperative action by a (large) group of autonomous individuals each having simple capabilities and no global knowledge of the group s objective. Such systems, with individuals capable of surviving in hostile environments, pose unprecedented challenges to system developers. Design and testing and verification at much higher levels will be required, together with the corresponding tools, to bring such systems to fruition. Concepts for possible future NASA space exploration missions include autonomous, autonomic swarms. Engineering swarm-based missions begins with understanding autonomy and autonomicity and how to design, test, and verify systems that have those properties and, simultaneously, the capability to accomplish prescribed mission goals. Formal methods-based technologies, both projected and in development, are described in terms of their potential utility to swarm-based system developers.

Implementation of a robust hybrid rotary-translational vibration energy harvester for autonomous self-powered acceleration measurement

NASA Astrophysics Data System (ADS)

Payne, Owen R.; Vandewater, Luke A.; Ung, Chandarin; Moss, Scott D.

2015-04-01

In this paper, a self-powered wireless sensor node utilising ambient vibrations for power is described. The device consists of a vibration energy harvester, power management system, microcontroller, accelerometer, RF transmitter/receiver and external LED indicators. The vibration energy harvester is adapted from a previously reported hybrid rotary-translational device and uses a pair of copper coil transducers to convert the mechanical energy of a magnetic sphere into usable electricity. The device requires less than 0.8 mW of power to operate continuously in its present setup (with LED indicators off) while measuring acceleration at a sample rate of 200 Hz, with the power source providing 39.7 mW of power from 500 mg excitations at 5.5 Hz. When usable input energy is removed, the device will continue to transmit data for more than 5 minutes.

Autonomic Nervous System Disorders

MedlinePlus

Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

A framework for building real-time expert systems

NASA Technical Reports Server (NTRS)

Lee, S. Daniel

1991-01-01

The Space Station Freedom is an example of complex systems that require both traditional and artificial intelligence (AI) real-time methodologies. It was mandated that Ada should be used for all new software development projects. The station also requires distributed processing. Catastrophic failures on the station can cause the transmission system to malfunction for a long period of time, during which ground-based expert systems cannot provide any assistance to the crisis situation on the station. This is even more critical for other NASA projects that would have longer transmission delays (e.g., the lunar base, Mars missions, etc.). To address these issues, a distributed agent architecture (DAA) is proposed that can support a variety of paradigms based on both traditional real-time computing and AI. The proposed testbed for DAA is an autonomous power expert (APEX) which is a real-time monitoring and diagnosis expert system for the electrical power distribution system of the space station.

International Standardization in the Design of "Shore to Ship" - Power Supply Systems of Ships in Port

NASA Astrophysics Data System (ADS)

Tarnapowicz, Dariusz; German-Galkin, Sergiej

2018-03-01

The decisive source of air pollution emissions in ports is the berthed ships. This is primarily caused by the work of ship's autonomous generator sets. One way of reducing the air pollution emissions in ports is the supply of ships from electricity inland system. The main problem connected with the power connection of ships to the inland network is caused by different values of levels and frequencies of voltages in these networks (in various countries) in relation to different values of levels and frequencies of voltages present in the ship's network. It is also important that the source power can range from a few hundred kW up to several MW. In order to realize a universal „Shore to Ship" system that allows the connection of ships to the electricity inland network, the international standardization is necessary. This article presents the current recommendations, standards and regulations for the design of „Shore to Ship" systems.

SP-100 - The national space reactor power system program in response to future needs

NASA Astrophysics Data System (ADS)

Armijo, J. S.; Josloff, A. T.; Bailey, H. S.; Matteo, D. N.

The SP-100 system has been designed to meet comprehensive and demanding NASA/DOD/DOE requirements. The key requirements include: nuclear safety for all mission phases, scalability from 10's to 100's of kWe, reliable performance at full power for seven years of partial power for ten years, survivability in civil or military threat environments, capability to operate autonomously for up to six months, capability to protect payloads from excessive radiation, and compatibility with shuttle and expendable launch vehicles. The authors address of major progress in terms of design, flexibility/scalability, survivability, and development. These areas, with the exception of survivability, are discussed in detail. There has been significant improvement in the generic flight system design with substantial mass savings and simplification that enhance performance and reliability. Design activity has confirmed the scalability and flexibility of the system and the ability to efficiently meet NASA, AF, and SDIO needs. SP-100 development continues to make significant progress in all key technology areas.

Autonomous Operations System: Development and Application

NASA Technical Reports Server (NTRS)

Toro Medina, Jaime A.; Wilkins, Kim N.; Walker, Mark; Stahl, Gerald M.

2016-01-01

Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

The Visual Representation and Acquisition of Driving Knowledge for Autonomous Vehicle

NASA Astrophysics Data System (ADS)

Zhang, Zhaoxia; Jiang, Qing; Li, Ping; Song, LiangTu; Wang, Rujing; Yu, Biao; Mei, Tao

2017-09-01

In this paper, the driving knowledge base of autonomous vehicle is designed. Based on the driving knowledge modeling system, the driving knowledge of autonomous vehicle is visually acquired, managed, stored, and maintenanced, which has vital significance for creating the development platform of intelligent decision-making systems of automatic driving expert systems for autonomous vehicle.

Autonomous Energy Grids: Preprint

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kroposki, Benjamin D; Dall-Anese, Emiliano; Bernstein, Andrey

With much higher levels of distributed energy resources - variable generation, energy storage, and controllable loads just to mention a few - being deployed into power systems, the data deluge from pervasive metering of energy grids, and the shaping of multi-level ancillary-service markets, current frameworks to monitoring, controlling, and optimizing large-scale energy systems are becoming increasingly inadequate. This position paper outlines the concept of 'Autonomous Energy Grids' (AEGs) - systems that are supported by a scalable, reconfigurable, and self-organizing information and control infrastructure, can be extremely secure and resilient (self-healing), and self-optimize themselves in real-time for economic and reliable performancemore » while systematically integrating energy in all forms. AEGs rely on scalable, self-configuring cellular building blocks that ensure that each 'cell' can self-optimize when isolated from a larger grid as well as partaking in the optimal operation of a larger grid when interconnected. To realize this vision, this paper describes the concepts and key research directions in the broad domains of optimization theory, control theory, big-data analytics, and complex system modeling that will be necessary to realize the AEG vision.« less

Prevention, clinical, and pathophysiological research on vibration syndrome.

PubMed

Yamada, S; Sakakibara, H; Harada, N; Matsumoto, T

1993-11-01

In the 1950s, introduction of portable power tools into the production process of many industries began on a large scale around the world and resulted in many cases of occupational vibration syndrome after the 1960s. There was an urgent need to undertake preventive steps, medical assessment and therapy throughout the world. At the end of 1964, our investigation began in Japanese national forests, and then in mining and stone quarries. Our research and efforts resulted in a comprehensive system for prevention of vibration syndrome in the Japanese national forest industry. It has presented a good model of prevention for other industries in Japan. Clinical and pathophysiological research on vibration syndrome in the 1960s and 1970s clarified disturbances of the peripheral circulatory, nervous, and musculoskeletal systems. From the mid-1970s, neurophysiological, neurochemical, and clinical research on vibration syndrome in relation to the autonomic nervous system developed. Our studies contributed to the advancement of research in this field. More in-depth study is needed to determine the role of the autonomic nervous system in vibration syndrome.

A Cabled Acoustic Telemetry System for Detecting and Tracking Juvenile Salmon: Part 1. Engineering Design and Instrumentation

PubMed Central

Weiland, Mark A.; Deng, Z. Daniel; Seim, Tom A.; LaMarche, Brian L.; Choi, Eric Y.; Fu, Tao; Carlson, Thomas J.; Thronas, Aaron I.; Eppard, M. Brad

2011-01-01

In 2001 the U.S. Army Corps of Engineers, Portland District (OR, USA), started developing the Juvenile Salmon Acoustic Telemetry System, a nonproprietary sensing technology, to meet the needs for monitoring the survival of juvenile salmonids through eight large hydroelectric facilities within the Federal Columbia River Power System (FCRPS). Initial development focused on coded acoustic microtransmitters and autonomous receivers that could be deployed in open reaches of the river for detection of the juvenile salmonids implanted with microtransmitters as they passed the autonomous receiver arrays. In 2006, the Pacific Northwest National Laboratory began the development of an acoustic receiver system for deployment at hydropower facilities (cabled receiver) for detecting fish tagged with microtransmitters as well as tracking them in two or three dimensions for determining route of passage and behavior as the fish passed at the facility. The additional information on route of passage, combined with survival estimates, is used by the dam operators and managers to make structural and operational changes at the hydropower facilities to improve survival of fish as they pass the facilities through the FCRPS. PMID:22163918

Energy scavenging for long-term deployable wireless sensor networks.

PubMed

Mathúna, Cian O; O'Donnell, Terence; Martinez-Catala, Rafael V; Rohan, James; O'Flynn, Brendan

2008-05-15

The coming decade will see the rapid emergence of low cost, intelligent, wireless sensors and their widespread deployment throughout our environment. While wearable systems will operate over communications ranges of less than a meter, building management systems will operate with inter-node communications ranges of the order of meters to tens of meters and remote environmental monitoring systems will require communications systems and associated energy systems that will allow reliable operation over kilometers. Autonomous power should allow wireless sensor nodes to operate in a "deploy and forget" mode. The use of rechargeable battery technology is problematic due to battery lifetime issues related to node power budget, battery self-discharge, number of recharge cycles and long-term environmental impact. Duty cycling of wireless sensor nodes with long "SLEEP" times minimises energy usage. A case study of a multi-sensor, wireless, building management system operating using the Zigbee protocol demonstrates that, even with a 1 min cycle time for an 864 ms "ACTIVE" mode, the sensor module is already in SLEEP mode for almost 99% of the time. For a 20-min cycle time, the energy utilisation in SLEEP mode exceeds the ACTIVE mode energy by almost a factor of three and thus dominates the module energy utilisation thereby providing the ultimate limit to the power system lifetime. Energy harvesting techniques can deliver energy densities of 7.5 mW/cm(2) from outdoor solar, 100 microW/cm(2) from indoor lighting, 100 microW/cm(3) from vibrational energy and 60 microW/cm(2) from thermal energy typically found in a building environment. A truly autonomous, "deploy and forget" battery-less system can be achieved by scaling the energy harvesting system to provide all the system energy needs. In the building management case study discussed, for duty cycles of less than 0.07% (i.e. in ACTIVE mode for 0.864 s every 20 min), energy harvester device dimensions of approximately 2 cm on a side would be sufficient to supply the complete wireless sensor node energy. Key research challenges to be addressed to deliver future, remote, wireless, chemo-biosensing systems include the development of low cost, low-power sensors, miniaturised fluidic transport systems, anti-bio-fouling sensor surfaces, sensor calibration, reliable and robust system packaging, as well as associated energy delivery systems and energy budget management.

INTEGRATED MONITORING HARDWARE DEVELOPMENTS AT LOS ALAMOS

DOE Office of Scientific and Technical Information (OSTI.GOV)

R. PARKER; J. HALBIG; ET AL

1999-09-01

The hardware of the integrated monitoring system supports a family of instruments having a common internal architecture and firmware. Instruments can be easily configured from application-specific personality boards combined with common master-processor and high- and low-voltage power supply boards, and basic operating firmware. The instruments are designed to function autonomously to survive power and communication outages and to adapt to changing conditions. The personality boards allow measurement of gross gammas and neutrons, neutron coincidence and multiplicity, and gamma spectra. In addition, the Intelligent Local Node (ILON) provides a moderate-bandwidth network to tie together instruments, sensors, and computers.

The chip-scale atomic clock : prototype evaluation.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mescher, Mark; Varghese, Mathew; Lutwak, Robert

2007-12-01

The authors have developed a chip-scale atomic clock (CSAC) for applications requiring atomic timing accuracy in portable battery-powered applications. At PTTI/FCS 2005, they reported on the demonstration of a prototype CSAC, with an overall size of 10 cm{sup 3}, power consumption > 150 mW, and short-term stability sy(t) < 1 x 10-9t-1/2. Since that report, they have completed the development of the CSAC, including provision for autonomous lock acquisition and a calibrated output at 10.0 MHz, in addition to modifications to the physics package and system architecture to improve performance and manufacturability.

Autonomous Sensors Powered by Energy Harvesting from von Karman Vortices in Airflow.

PubMed

Demori, Marco; Ferrari, Marco; Bonzanini, Arianna; Poesio, Pietro; Ferrari, Vittorio

2017-09-13

In this paper an energy harvesting system based on a piezoelectric converter to extract energy from airflow and use it to power battery-less sensors is presented. The converter is embedded as a part of a flexure beam that is put into vibrations by von Karman vortices detached from a bluff body placed upstream. The vortex street has been investigated by Computational Fluid Dynamics (CFD) simulations, aiming at assessing the vortex shedding frequency as a function of the flow velocity. From the simulation results the preferred positioning of the beam behind the bluff body has been derived. In the experimental characterization the electrical output from the converter has been measured for different flow velocities and beam orientations. Highest conversion effectiveness is obtained by an optimal orientation of the beam, to exploit the maximum forcing, and for flow velocities where the repetition frequency of the vortices allows to excite the beam resonant frequency at its first flexural mode. The possibility to power battery-less sensors and make them autonomous has been shown by developing an energy management and signal conditioning electronic circuit plus two sensors for measuring temperature and flow velocity and transmitting their values over a RF signal. A harvested power of about 650 μW with retransmission intervals below 2 min have been obtained for the optimal flow velocity of 4 m/s.

Autonomous Sensors Powered by Energy Harvesting from von Karman Vortices in Airflow

PubMed Central

Bonzanini, Arianna; Poesio, Pietro

2017-01-01

In this paper an energy harvesting system based on a piezoelectric converter to extract energy from airflow and use it to power battery-less sensors is presented. The converter is embedded as a part of a flexure beam that is put into vibrations by von Karman vortices detached from a bluff body placed upstream. The vortex street has been investigated by Computational Fluid Dynamics (CFD) simulations, aiming at assessing the vortex shedding frequency as a function of the flow velocity. From the simulation results the preferred positioning of the beam behind the bluff body has been derived. In the experimental characterization the electrical output from the converter has been measured for different flow velocities and beam orientations. Highest conversion effectiveness is obtained by an optimal orientation of the beam, to exploit the maximum forcing, and for flow velocities where the repetition frequency of the vortices allows to excite the beam resonant frequency at its first flexural mode. The possibility to power battery-less sensors and make them autonomous has been shown by developing an energy management and signal conditioning electronic circuit plus two sensors for measuring temperature and flow velocity and transmitting their values over a RF signal. A harvested power of about 650 μW with retransmission intervals below 2 min have been obtained for the optimal flow velocity of 4 m/s. PMID:28902139

Project WISH: The Emerald City

NASA Technical Reports Server (NTRS)

Oz, Hayrani; Slonksnes, Linda (Editor); Rogers, James W. (Editor); Sherer, Scott E. (Editor); Strosky, Michelle A. (Editor); Szmerekovsky, Andrew G. (Editor); Klupar, G. Joseph (Editor)

1990-01-01

The preliminary design of a permanently manned autonomous space oasis (PEMASO), including its pertinent subsystems, was performed during the 1990 Winter and Spring quarters. The purpose for the space oasis was defined and the preliminary design work was started with emphasis placed on the study of orbital mechanics, power systems and propulsion systems. A rotating torus was selected as the preliminary configuration, and overall size, mass and location of some subsystems within the station were addressed. Computer software packages were utilized to determine station transfer parameters and thus the preliminary propulsion requirements. Power and propulsion systems were researched to determine feasible configurations and many conventional schemes were ruled out. Vehicle dynamics and control, mechanical and life support systems were also studied. For each subsystem studied, the next step in the design process to be performed during the continuation of the project was also addressed.

Automatic outdoor monitoring system for photovoltaic panels.

PubMed

Stefancich, Marco; Simpson, Lin; Chiesa, Matteo

2016-05-01

Long-term acquisition of solar panel performance parameters, for panels operated at maximum power point in their real environment, is of critical importance in the photovoltaic research sector. However, few options exist for the characterization of non-standard panels such as concentrated photovoltaic systems, heavily soiled or shaded panels or those operating under non-standard spectral illumination; certainly, it is difficult to find such a measurement system that is flexible and affordable enough to be adopted by the smaller research institutes or universities. We present here an instrument aiming to fill this gap, autonomously tracking and maintaining any solar panel at maximum power point while continuously monitoring its operational parameters and dissipating the produced energy without connection to the power grid. The instrument allows periodic acquisition of current-voltage curves to verify the employed maximum power point tracking approach. At the same time, with hardware schematics and software code being provided, it provides a flexible open development environment for the monitoring of non-standard generators like concentrator photovoltaic systems and to test novel power tracking approaches. The key issues, and the corresponding solutions, encountered in the design are analyzed in detail and the relevant schematics presented.

Synchronization of Human Autonomic Nervous System Rhythms with Geomagnetic Activity in Human Subjects

PubMed Central

McCraty, Rollin; Atkinson, Mike; Stolc, Viktor; Alabdulgader, Abdullah A.; Vainoras, Alfonsas

2017-01-01

A coupling between geomagnetic activity and the human nervous system’s function was identified by virtue of continuous monitoring of heart rate variability (HRV) and the time-varying geomagnetic field over a 31-day period in a group of 10 individuals who went about their normal day-to-day lives. A time series correlation analysis identified a response of the group’s autonomic nervous systems to various dynamic changes in the solar, cosmic ray, and ambient magnetic field. Correlation coefficients and p values were calculated between the HRV variables and environmental measures during three distinct time periods of environmental activity. There were significant correlations between the group’s HRV and solar wind speed, Kp, Ap, solar radio flux, cosmic ray counts, Schumann resonance power, and the total variations in the magnetic field. In addition, the time series data were time synchronized and normalized, after which all circadian rhythms were removed. It was found that the participants’ HRV rhythms synchronized across the 31-day period at a period of approximately 2.5 days, even though all participants were in separate locations. Overall, this suggests that daily autonomic nervous system activity not only responds to changes in solar and geomagnetic activity, but is synchronized with the time-varying magnetic fields associated with geomagnetic field-line resonances and Schumann resonances. PMID:28703754

Using Bio-Optics to Reveal Phytoplankton Physiology from a Wirewalker Autonomous Platform

NASA Technical Reports Server (NTRS)

Omand, M. M.; Cetinic, I.; Lucas, A. J.

2017-01-01

Rapid, wave-powered profiling of bio-optical properties from an autonomous Wirewalker platform provides useful insights into phytoplankton physiology, including the patterns of diel growth, phytoplankton mortality, nonphotochemical quenching of chlorophyll a fluorescence, and natural (sun-induced) fluorescence of mixed communities. Methods are proposed to quantify each of these processes. Such autonomous measurements of phytoplankton physiological rates and responses open up new possibilities for studying phytoplankton in situ, over longer periods, and under a broader range of environmental conditions.

Design, simulation, fabrication, and characterization of MEMS vibration energy harvesters

NASA Astrophysics Data System (ADS)

Oxaal, John

Energy harvesting from ambient sources has been a longtime goal for microsystem engineers. The energy available from ambient sources is substantial and could be used to power wireless micro devices, making them fully autonomous. Self-powered wireless sensors could have many applications in for autonomous monitoring of residential, commercial, industrial, geological, or biological environments. Ambient vibrations are of particular interest for energy harvesting as they are ubiquitous and have ample kinetic energy. In this work a MEMS device for vibration energy harvesting using a variable capacitor structure is presented. The nonlinear electromechanical dynamics of a gap-closing type structure is experimentally studied. Important experimental considerations such as the importance of reducing off-axis vibration during testing, characterization methods, dust contamination, and the effect of grounding on parasitic capacitance are discussed. A comprehensive physics based model is developed and validated with two different microfabricated devices. To achieve maximal power, devices with high aspect ratio electrodes and a novel two-level stopper system are designed and fabricated. The maximum achieved power from the MEMS device when driven by sinusoidal vibrations was 3.38 muW. Vibrations from HVAC air ducts, which have a primary frequency of 65 Hz and amplitude of 155 mgrms, are targeted as the vibration source and devices are designed for maximal power harvesting potential at those conditions. Harvesting from the air ducts, the devices reached 118 nW of power. When normalized to the operating conditions, the best figure of merit of the devices tested was an order of magnitude above state-of-the-art of the devices (1.24E-6).

Flexible operation strategy for environment control system in abnormal supply power condition

NASA Astrophysics Data System (ADS)

Liping, Pang; Guoxiang, Li; Hongquan, Qu; Yufeng, Fang

2017-04-01

This paper establishes an optimization method that can be applied to the flexible operation of the environment control system in an abnormal supply power condition. A proposed conception of lifespan is used to evaluate the depletion time of the non-regenerative substance. The optimization objective function is to maximize the lifespans. The optimization variables are the allocated powers of subsystems. The improved Non-dominated Sorting Genetic Algorithm is adopted to obtain the pareto optimization frontier with the constraints of the cabin environmental parameters and the adjustable operating parameters of the subsystems. Based on the same importance of objective functions, the preferred power allocation of subsystems can be optimized. Then the corresponding running parameters of subsystems can be determined to ensure the maximum lifespans. A long-duration space station with three astronauts is used to show the implementation of the proposed optimization method. Three different CO2 partial pressure levels are taken into consideration in this study. The optimization results show that the proposed optimization method can obtain the preferred power allocation for the subsystems when the supply power is at a less-than-nominal value. The method can be applied to the autonomous control for the emergency response of the environment control system.

Simulation of load-sharing in standalone distributed generation system

NASA Astrophysics Data System (ADS)

Ajewole, Titus O.; Craven, Robert P. M.; Kayode, Olakunle; Babalola, Olufisayo S.

2018-05-01

This paper presents a study on load-sharing among the component generating units of a multi-source electric microgrid that is operated as an autonomous ac supply-mode system. Emerging trend in power system development permits deployment of microgrids for standalone or stand-by applications, thereby requiring active- and reactive power sharing among the discrete generating units contained in hybrid-source microgrids. In this study, therefore, a laboratory-scale model of a microgrid energized with three renewable energy-based sources is employed as a simulation platform to investigate power sharing among the power-generating units. Each source is represented by a source emulator that captures the real operational characteristics of the mimicked generating unit and, with implementation of real-life weather data and load profiles on the model; the sharing of the load among the generating units is investigated. There is a proportionate generation of power by the three source emulators, with their frequencies perfectly synchronized at the point of common coupling as a result of balance flow of power among them. This hybrid topology of renewable energy-based microgrid could therefore be seamlessly adapted into national energy mix by the indigenous electric utility providers in Nigeria.

Project WISH: The Emerald City

NASA Technical Reports Server (NTRS)

1990-01-01

When Project WISH (Wandering Interplanetary Space Harbor) was initiated as a multi-year project, several design requirements were specified. The space station must have a lifetime of at least 50 years, be autonomous and independent of Earth resources, be capable of traveling throughout the solar system within a maximum flight time of three years, and have a population of 500 to 1000 people. The purpose of the station is to provide a permanent home for space colonists and to serve as a service station for space missions. The orbital mechanics, propulsion system, vehicle dynamics and control, life support system, communication system, power system, and thermal system are discussed.

Zooglider - an Autonomous Vehicle for Optical and Acoustic Sensing of Marine Zooplankton

NASA Astrophysics Data System (ADS)

Ohman, M. D.; Davis, R. E.; Sherman, J. T.; Grindley, K.; Whitmore, B. M.

2016-02-01

We will present results from early sea trials of the Zooglider, an autonomous zooplankton glider designed and built by the Instrument Development Group at Scripps. The Zooglider is built upon a modified Spray glider and includes a low power camera with telecentric lens and a custom dual frequency sonar (200/1000 kHz). The imaging system quantifies zooplankton as they flow through a sampling tunnel within a well-defined sampling volume. The maximum operating depth is 500 m. Other sensors include a pumped CTD and Chl-a fluorometer. The Zooglider permits in situ measurements of mesozooplankton distributions and three dimensional orientation in relation to other biotic and physical properties of the ocean water column. Zooglider development is supported by the Gordon and Betty Moore Foundation.

Autonomous control systems - Architecture and fundamental issues

NASA Technical Reports Server (NTRS)

Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

1988-01-01

A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

Effects of acute hypoxia on heart rate variability, sample entropy and cardiorespiratory phase synchronization.

PubMed

Zhang, Da; She, Jin; Zhang, Zhengbo; Yu, Mengsun

2014-06-11

Investigating the responses of autonomic nervous system (ANS) in hypoxia may provide some knowledge about the mechanism of neural control and rhythmic adjustment. The integrated cardiac and respiratory system display complicated dynamics that are affected by intrinsic feedback mechanisms controlling their interaction. To probe how the cardiac and respiratory system adjust their rhythms in different simulated altitudes, we studied heart rate variability (HRV) in frequency domain, the complexity of heartbeat series and cardiorespiratory phase synchronization (CRPS) between heartbeat intervals and respiratory cycles. In this study, twelve male subjects were exposed to simulated altitude of sea level, 3000 m and 4000 m in a hypobaric chamber. HRV was assessed by power spectral analysis. The complexity of heartbeat series was quantified by sample entropy (SampEn). CRPS was determined by cardiorespiratory synchrogram. The power spectral HRV indices at all frequency bands depressed according to the increase of altitude. The SampEn of heartbeat series increased significantly with the altitude (P < 0.01). The duration of CRPS epochs at 3000 m was not significantly different from that at sea level. However, it was significantly longer at 4000 m (P < 0.01). Our results suggest the phenomenon of CRPS exists in normal subjects when they expose to acute hypoxia. Further, the autonomic regulation has a significantly stronger influence on CRPS in acute hypoxia. The changes of CRPS and HRV parameters revealed the different regulatory mechanisms of the cardiac and respiratory system at high altitude.

Agile Information Exchange in Autonomous Air Systems

DTIC Science & Technology

2013-06-01

proportional to the information the pilot has on the target. Figure 5: Modified Procerus Unicorn UAV D. Equipment The UAV used in this experiment is...a modified Procerus Unicorn (Figure 5). Unicorns are electrically powered, Styrofoam flying wings with a 72” wingspan. Stock Unicorns are...controlled by a Kestrel autopilot, which communicates to a ground-station over a 900MHz radio link. Through the ground-station, the Unicorn operator can

When Early Experiences Build a Wall to Others’ Emotions: An Electrophysiological and Autonomic Study

PubMed Central

Ardizzi, Martina; Martini, Francesca; Umiltà, Maria Alessandra; Sestito, Mariateresa; Ravera, Roberto; Gallese, Vittorio

2013-01-01

Facial expression of emotions is a powerful vehicle for communicating information about others’ emotional states and it normally induces facial mimicry in the observers. The aim of this study was to investigate if early aversive experiences could interfere with emotion recognition, facial mimicry, and with the autonomic regulation of social behaviors. We conducted a facial emotion recognition task in a group of “street-boys” and in an age-matched control group. We recorded facial electromyography (EMG), a marker of facial mimicry, and respiratory sinus arrhythmia (RSA), an index of the recruitment of autonomic system promoting social behaviors and predisposition, in response to the observation of facial expressions of emotions. Results showed an over-attribution of anger, and reduced EMG responses during the observation of both positive and negative expressions only among street-boys. Street-boys also showed lower RSA after observation of facial expressions and ineffective RSA suppression during presentation of non-threatening expressions. Our findings suggest that early aversive experiences alter not only emotion recognition but also facial mimicry of emotions. These deficits affect the autonomic regulation of social behaviors inducing lower social predisposition after the visualization of facial expressions and an ineffective recruitment of defensive behavior in response to non-threatening expressions. PMID:23593374

Volcano Monitoring: A Case Study in Pervasive Computing

NASA Astrophysics Data System (ADS)

Peterson, Nina; Anusuya-Rangappa, Lohith; Shirazi, Behrooz A.; Song, Wenzhan; Huang, Renjie; Tran, Daniel; Chien, Steve; Lahusen, Rick

Recent advances in wireless sensor network technology have provided robust and reliable solutions for sophisticated pervasive computing applications such as inhospitable terrain environmental monitoring. We present a case study for developing a real-time pervasive computing system, called OASIS for optimized autonomous space in situ sensor-web, which combines ground assets (a sensor network) and space assets (NASA’s earth observing (EO-1) satellite) to monitor volcanic activities at Mount St. Helens. OASIS’s primary goals are: to integrate complementary space and in situ ground sensors into an interactive and autonomous sensorweb, to optimize power and communication resource management of the sensorweb and to provide mechanisms for seamless and scalable fusion of future space and in situ components. The OASIS in situ ground sensor network development addresses issues related to power management, bandwidth management, quality of service management, topology and routing management, and test-bed design. The space segment development consists of EO-1 architectural enhancements, feedback of EO-1 data into the in situ component, command and control integration, data ingestion and dissemination and field demonstrations.

Thermoelectric Energy Harvesting Using Phase Change Materials (PCMs) in High Temperature Environments in Aircraft

NASA Astrophysics Data System (ADS)

Elefsiniotis, A.; Becker, Th.; Schmid, U.

2014-06-01

Wireless, energy-autonomous structural health-monitoring systems in aircraft have the potential of reducing total maintenance costs. Thermoelectric energy harvesting, which seems the best choice for creating truly autonomous health monitoring sensors, is the principle behind converting waste heat to useful electrical energy through the use of thermoelectric generators. To enhance the temperature difference across the two sides of a thermoelectric generator, i.e. increasing heat flux and energy production, a phase change material acting as thermal mass is attached on one side of the thermoelectric generators while the other side is placed on the aircraft structure. The application area under investigation for this paper is the pylon aft fairing, located near the engine of an aircraft, with temperatures reaching on the inside up to 350 °C. Given these harsh operational conditions, the performance of a device, containing erythritol as a phase change material, is evaluated. The harvested energy reaching values up to 81.4 J can be regulated by a power management module capable of storing the excess energy and recovering it from the medium powering a sensor node and a wireless transceiver.

Agent Technology, Complex Adaptive Systems, and Autonomic Systems: Their Relationships

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Rash, James; Rouff, Chistopher; Hincheny, Mike

2004-01-01

To reduce the cost of future spaceflight missions and to perform new science, NASA has been investigating autonomous ground and space flight systems. These goals of cost reduction have been further complicated by nanosatellites for future science data-gathering which will have large communications delays and at times be out of contact with ground control for extended periods of time. This paper describes two prototype agent-based systems, the Lights-out Ground Operations System (LOGOS) and the Agent Concept Testbed (ACT), and their autonomic properties that were developed at NASA Goddard Space Flight Center (GSFC) to demonstrate autonomous operations of future space flight missions. The paper discusses the architecture of the two agent-based systems, operational scenarios of both, and the two systems autonomic properties.

KAM tori and whiskered invariant tori for non-autonomous systems

NASA Astrophysics Data System (ADS)

Canadell, Marta; de la Llave, Rafael

2015-08-01

We consider non-autonomous dynamical systems which converge to autonomous (or periodic) systems exponentially fast in time. Such systems appear naturally as models of many physical processes affected by external pulses. We introduce definitions of non-autonomous invariant tori and non-autonomous whiskered tori and their invariant manifolds and we prove their persistence under small perturbations, smooth dependence on parameters and several geometric properties (if the systems are Hamiltonian, the tori are Lagrangian manifolds). We note that such definitions are problematic for general time-dependent systems, but we show that they are unambiguous for systems converging exponentially fast to autonomous. The proof of persistence relies only on a standard Implicit Function Theorem in Banach spaces and it does not require that the rotations in the tori are Diophantine nor that the systems we consider preserve any geometric structure. We only require that the autonomous system preserves these objects. In particular, when the autonomous system is integrable, we obtain the persistence of tori with rational rotational. We also discuss fast and efficient algorithms for their computation. The method also applies to infinite dimensional systems which define a good evolution, e.g. PDE's. When the systems considered are Hamiltonian, we show that the time dependent invariant tori are isotropic. Hence, the invariant tori of maximal dimension are Lagrangian manifolds. We also obtain that the (un)stable manifolds of whiskered tori are Lagrangian manifolds. We also include a comparison with the more global theory developed in Blazevski and de la Llave (2011).

Monitoring Space Weather Hazards caused by geomagnetic disturbances with Space Hazard Monitor (SHM) systems

NASA Astrophysics Data System (ADS)

Xu, Z.; Gannon, J. L.; Peek, T. A.; Lin, D.

2017-12-01

One space weather hazard is the Geomagnetically Induced Currents (GICs) in the electric power transmission systems, which is naturally induced geoelectric field during the geomagnetic disturbances (GMDs). GICs are a potentially catastrophic threat to bulk power systems. For instance, the Blackout in Quebec in March 1989 was caused by GMDs during a significant magnetic storm. To monitor the GMDs, the autonomous Space Hazard Monitor (SHM) system is developed recently. The system includes magnetic field measurement from magnetometers and geomagnetic field measurement from electrodes. In this presentation, we introduce the six sites of SHMs which have been deployed in the US continental regions. The data from the magnetometers are processed with the Multiple Observatory Geomagnetic Data Analysis Software (MOGDAS). And the statistical results are presented here. It reveals not only the impacts of space weather over US continental region but also the potential of improving instrumentation development to provide better space weather monitor.

Tape transfer atomization patterning of liquid alloys for microfluidic stretchable wireless power transfer.

PubMed

Jeong, Seung Hee; Hjort, Klas; Wu, Zhigang

2015-02-12

Stretchable electronics offers unsurpassed mechanical compliance on complex or soft surfaces like the human skin and organs. To fully exploit this great advantage, an autonomous system with a self-powered energy source has been sought for. Here, we present a new technology to pattern liquid alloys on soft substrates, targeting at fabrication of a hybrid-integrated power source in microfluidic stretchable electronics. By atomized spraying of a liquid alloy onto a soft surface with a tape transferred adhesive mask, a universal fabrication process is provided for high quality patterns of liquid conductors in a meter scale. With the developed multilayer fabrication technique, a microfluidic stretchable wireless power transfer device with an integrated LED was demonstrated, which could survive cycling between 0% and 25% strain over 1,000 times.

Tape Transfer Atomization Patterning of Liquid Alloys for Microfluidic Stretchable Wireless Power Transfer

PubMed Central

Jeong, Seung Hee; Hjort, Klas; Wu, Zhigang

2015-01-01

Stretchable electronics offers unsurpassed mechanical compliance on complex or soft surfaces like the human skin and organs. To fully exploit this great advantage, an autonomous system with a self-powered energy source has been sought for. Here, we present a new technology to pattern liquid alloys on soft substrates, targeting at fabrication of a hybrid-integrated power source in microfluidic stretchable electronics. By atomized spraying of a liquid alloy onto a soft surface with a tape transferred adhesive mask, a universal fabrication process is provided for high quality patterns of liquid conductors in a meter scale. With the developed multilayer fabrication technique, a microfluidic stretchable wireless power transfer device with an integrated LED was demonstrated, which could survive cycling between 0% and 25% strain over 1,000 times. PMID:25673261

Application of Autonomous Spacecraft Power Control Technology to Terrestrial Microgrids

NASA Technical Reports Server (NTRS)

Dever, Timothy P.; Trase, Larry M.; Soeder, James F.

2014-01-01

This paper describes the potential of the power campus located at the NASA Glenn Research Center (GRC) in Cleveland, Ohio for microgrid development. First, the benefits provided by microgrids to the terrestrial power grid are described, and an overview of Technology Needs for microgrid development is presented. Next, GRC's work on development of autonomous control for manned deep space vehicles, which are essentially islanded microgrids, is covered, and contribution of each of these developments to the microgrid Technology Needs is detailed. Finally, a description is provided of GRC's existing physical assets which can be applied to microgrid technology development, and a phased plan for development of a microgrid test facility is presented.

Power Electronics Design of a Solar Powered In-car Wireless Tag for Asset Tracking and Parking Applications

NASA Astrophysics Data System (ADS)

Zhu, D.; Henaut, J.; Beeby, S. P.

2014-11-01

This paper reports the design and testing of a power conditioning circuit for a solar powered in-car wireless tag for asset tracking and parking application. Existing long range asset tracking is based on the GSM/GPRS network, which requires expensive subscriptions. The EU FP7 project CEWITT aims at developing a credit card sized autonomous wireless tag with GNSS geo-positioning capabilities to ensure the integrity and cost effectiveness for parking applications. It was found in previous research that solar cells are the most suitable energy sources for this application. This study focused on the power electronics design for the wireless tag. A suitable solar cell was chosen for its high power density. Charging circuit, hysteresis control circuit and LDO were designed and integrated to meet the system requirement. Test results showed that charging efficiency of 80 % had been achieved.

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

NASA Technical Reports Server (NTRS)

Zornetzer, Steve; Gage, Douglas

2005-01-01

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

Sustainable and Autonomic Space Exploration Missions

NASA Technical Reports Server (NTRS)

Hinchey, Michael G.; Sterritt, Roy; Rouff, Christopher; Rash, James L.; Truszkowski, Walter

2006-01-01

Visions for future space exploration have long term science missions in sight, resulting in the need for sustainable missions. Survivability is a critical property of sustainable systems and may be addressed through autonomicity, an emerging paradigm for self-management of future computer-based systems based on inspiration from the human autonomic nervous system. This paper examines some of the ongoing research efforts to realize these survivable systems visions, with specific emphasis on developments in Autonomic Policies.

Analysis of a novel autonomous marine hybrid power generation/energy storage system with a high-voltage direct current link

NASA Astrophysics Data System (ADS)

Wang, Li; Lee, Dong-Jing; Lee, Wei-Jen; Chen, Zhe

This paper presents both time-domain and frequency-domain simulated results of a novel marine hybrid renewable-energy power generation/energy storage system (PG/ESS) feeding isolated loads through an high-voltage direct current (HVDC) link. The studied marine PG subsystems comprise both offshore wind turbines and Wells turbines to respectively capture wind energy and wave energy from marine wind and ocean wave. In addition to wind-turbine generators (WTGs) and wave-energy turbine generators (WETGs) employed in the studied system, diesel-engine generators (DEGs) and an aqua electrolyzer (AE) absorbing a part of generated energy from WTGs and WETGs to generate available hydrogen for fuel cells (FCs) are also included in the PG subsystems. The ES subsystems consist of a flywheel energy storage system (FESS) and a compressed air energy storage (CAES) system to balance the required energy in the hybrid PG/ESS. It can be concluded from the simulation results that the proposed hybrid marine PG/ESS feeding isolated loads can stably operate to achieve system power-frequency balance condition.

Distance-Based Behaviors for Low-Complexity Control in Multiagent Robotics

NASA Astrophysics Data System (ADS)

Pierpaoli, Pietro

Several biological examples show that living organisms cooperate to collectively accomplish tasks impossible for single individuals. More importantly, this coordination is often achieved with a very limited set of information. Inspired by these observations, research on autonomous systems has focused on the development of distributed control techniques for control and guidance of groups of autonomous mobile agents, or robots. From an engineering perspective, when coordination and cooperation is sought in large ensembles of robotic vehicles, a reduction in hardware and algorithms' complexity becomes mandatory from the very early stages of the project design. The research for solutions capable of lowering power consumption, cost and increasing reliability are thus worth investigating. In this work, we studied low-complexity techniques to achieve cohesion and control on swarms of autonomous robots. Starting from an inspiring example with two-agents, we introduced effects of neighbors' relative positions on control of an autonomous agent. The extension of this intuition addressed the control of large ensembles of autonomous vehicles, and was applied in the form of a herding-like technique. To this end, a low-complexity distance-based aggregation protocol was defined. We first showed that our protocol produced a cohesion aggregation among the agent while avoiding inter-agent collisions. Then, a feedback leader-follower architecture was introduced for the control of the swarm. We also described how proximity measures and probability of collisions with neighbors can also be used as source of information in highly populated environments.

Animal model of neuropathic tachycardia syndrome

NASA Technical Reports Server (NTRS)

Carson, R. P.; Appalsamy, M.; Diedrich, A.; Davis, T. L.; Robertson, D.

2001-01-01

Clinically relevant autonomic dysfunction can result from either complete or partial loss of sympathetic outflow to effector organs. Reported animal models of autonomic neuropathy have aimed to achieve complete lesions of sympathetic nerves, but incomplete lesions might be more relevant to certain clinical entities. We hypothesized that loss of sympathetic innervation would result in a predicted decrease in arterial pressure and a compensatory increase in heart rate. Increased heart rate due to loss of sympathetic innervation is seemingly paradoxical, but it provides a mechanistic explanation for clinical autonomic syndromes such as neuropathic postural tachycardia syndrome. Partially dysautonomic animals were generated by selectively lesioning postganglionic sympathetic neurons with 150 mg/kg 6-hydroxydopamine hydrobromide in male Sprague-Dawley rats. Blood pressure and heart rate were monitored using radiotelemetry. Systolic blood pressure decreased within hours postlesion (Delta>20 mm Hg). Within 4 days postlesion, heart rate rose and remained elevated above control levels. The severity of the lesion was determined functionally and pharmacologically by spectral analysis and responsiveness to tyramine. Low-frequency spectral power of systolic blood pressure was reduced postlesion and correlated with the diminished tyramine responsiveness (r=0.9572, P=0.0053). The tachycardia was abolished by treatment with the beta-antagonist propranolol, demonstrating that it was mediated by catecholamines acting on cardiac beta-receptors. Partial lesions of the autonomic nervous system have been hypothesized to underlie many disorders, including neuropathic postural tachycardia syndrome. This animal model may help us better understand the pathophysiology of autonomic dysfunction and lead to development of therapeutic interventions.

Living technology: exploiting life's principles in technology.

PubMed

Bedau, Mark A; McCaskill, John S; Packard, Norman H; Rasmussen, Steen

2010-01-01

The concept of living technology-that is, technology that is based on the powerful core features of life-is explained and illustrated with examples from artificial life software, reconfigurable and evolvable hardware, autonomously self-reproducing robots, chemical protocells, and hybrid electronic-chemical systems. We define primary (secondary) living technology according as key material components and core systems are not (are) derived from living organisms. Primary living technology is currently emerging, distinctive, and potentially powerful, motivating this review. We trace living technology's connections with artificial life (soft, hard, and wet), synthetic biology (top-down and bottom-up), and the convergence of nano-, bio-, information, and cognitive (NBIC) technologies. We end with a brief look at the social and ethical questions generated by the prospect of living technology.

Cybersecurity for aerospace autonomous systems

NASA Astrophysics Data System (ADS)

Straub, Jeremy

2015-05-01

High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

Assessing Plankton and Particles with an Autonomous Imaging LOPC

DTIC Science & Technology

2007-09-30

been modified to operate autonomously by auto-starting its programs on power-up and storing its data to an onboard flashcard . Since data transfer to... flashcard is a slow process, storage will occur when the AUV surfaces for a position fix. Data acquisition will commence as the AUV descends >5m

USE OF A LONG ENDURANCE SOLAR POWERED AUTONOMOUS UNDERWATER VEHICLE (SAUV II) TO MEASURE DISSOLVED OXYGEN CONCENTRATIONS IN GREENWICH BAY, RHODE ISLAND, USA

EPA Science Inventory

As hypoxic water masses increase worldwide in duration and extent due to coastal eutrophication, advanced technology water quality monitoring by autonomous vehicles can increase our capability to document and respond to these environmental perturbations. We evaluated the use of a...

Using a Multicore Processor for Rover Autonomous Science

NASA Technical Reports Server (NTRS)

Bornstein, Benjamin; Estlin, Tara; Clement, Bradley; Springer, Paul

2011-01-01

Multicore processing promises to be a critical component of future spacecraft. It provides immense increases in onboard processing power and provides an environment for directly supporting fault-tolerant computing. This paper discusses using a state-of-the-art multicore processor to efficiently perform image analysis onboard a Mars rover in support of autonomous science activities.

Insights into the background of autonomic medicine.

PubMed

Laranjo, Sérgio; Geraldes, Vera; Oliveira, Mário; Rocha, Isabel

2017-10-01

Knowledge of the physiology underlying the autonomic nervous system is pivotal for understanding autonomic dysfunction in clinical practice. Autonomic dysfunction may result from primary modifications of the autonomic nervous system or be secondary to a wide range of diseases that cause severe morbidity and mortality. Together with a detailed history and physical examination, laboratory assessment of autonomic function is essential for the analysis of various clinical conditions and the establishment of effective, personalized and precise therapeutic schemes. This review summarizes the main aspects of autonomic medicine that constitute the background of cardiovascular autonomic dysfunction. Copyright © 2017 Sociedade Portuguesa de Cardiologia. Publicado por Elsevier España, S.L.U. All rights reserved.

2nd & 3rd Generation Vehicle Subsystems

NASA Technical Reports Server (NTRS)

2000-01-01

This paper contains viewgraph presentation on the "2nd & 3rd Generation Vehicle Subsystems" project. The objective behind this project is to design, develop and test advanced avionics, power systems, power control and distribution components and subsystems for insertion into a highly reliable and low-cost system for a Reusable Launch Vehicles (RLV). The project is divided into two sections: 3rd Generation Vehicle Subsystems and 2nd Generation Vehicle Subsystems. The following topics are discussed under the first section, 3rd Generation Vehicle Subsystems: supporting the NASA RLV program; high-performance guidance & control adaptation for future RLVs; Evolvable Hardware (EHW) for 3rd generation avionics description; Scaleable, Fault-tolerant Intelligent Network or X(trans)ducers (SFINIX); advance electric actuation devices and subsystem technology; hybrid power sources and regeneration technology for electric actuators; and intelligent internal thermal control. Topics discussed in the 2nd Generation Vehicle Subsystems program include: design, development and test of a robust, low-maintenance avionics with no active cooling requirements and autonomous rendezvous and docking systems; design and development of a low maintenance, high reliability, intelligent power systems (fuel cells and battery); and design of a low cost, low maintenance high horsepower actuation systems (actuators).

A Model-Based Expert System for Space Power Distribution Diagnostics

NASA Technical Reports Server (NTRS)

Quinn, Todd M.; Schlegelmilch, Richard F.

1994-01-01

When engineers diagnose system failures, they often use models to confirm system operation. This concept has produced a class of advanced expert systems that perform model-based diagnosis. A model-based diagnostic expert system for the Space Station Freedom electrical power distribution test bed is currently being developed at the NASA Lewis Research Center. The objective of this expert system is to autonomously detect and isolate electrical fault conditions. Marple, a software package developed at TRW, provides a model-based environment utilizing constraint suspension. Originally, constraint suspension techniques were developed for digital systems. However, Marple provides the mechanisms for applying this approach to analog systems such as the test bed, as well. The expert system was developed using Marple and Lucid Common Lisp running on a Sun Sparc-2 workstation. The Marple modeling environment has proved to be a useful tool for investigating the various aspects of model-based diagnostics. This report describes work completed to date and lessons learned while employing model-based diagnostics using constraint suspension within an analog system.

Dysfunction of autonomic nervous system in childhood obesity: a cross-sectional study.

PubMed

Baum, Petra; Petroff, David; Classen, Joseph; Kiess, Wieland; Blüher, Susann

2013-01-01

To assess the distribution of autonomic nervous system (ANS) dysfunction in overweight and obese children. Parasympathetic and sympathetic ANS function was assessed in children and adolescents with no evidence of impaired glucose metabolism by analysis of heart rate variability (low frequency power ln(LF), high frequency power, ln(HF); ln(LF/HF) ratio, ratio of longest RR interval during expiration to shortest interval during inspiration (E/I ratio), root mean square of successive differences (RMSSD); sympathetic skin response (SSR); and quantitative pupillography (pupil diameter in darkness, light reflex amplitude, latency, constriction velocity, re-dilation velocity). The relationship of each ANS variable to the standard deviation score of body mass index (BMI-SDS) was assessed in a linear model considering age, gender and pubertal stage as co-variates and employing an F-statistic to compare the fit of nested models. Group comparisons between normal weight and obese children as well as an analysis of dependence on insulin resistance (as indexed by the Homeostasis Model Assessment of Insulin Resistance, HOMA-IR) were performed for parameters shown to correlate with BMI-SDS. Statistical significance was set at 5%. Measurements were performed in 149 individuals (mean age 12.0 y; 90 obese 45 boys; 59 normal weight, 34 boys). E/I ratio (p = 0.003), ln(HF) (p = 0.03), pupil diameter in darkness (p = 0.01) were negatively correlated with BMI-SDS, whereas ln(LF/HF) was positively correlated (p = 0.05). Early re-dilation velocity was in trend negatively correlated to BMI-SDS (p = 0.08). None of the parameters that depended significantly on BMI-SDS was found to be significantly correlated with HOMA-IR. These findings demonstrate extended ANS dysfunction in obese children and adolescents, affecting several organ systems. Both parasympathetic activity and sympathetic activity are reduced. The conspicuous pattern of ANS dysfunction raises the possibility that obesity may give rise to dysfunction of the peripheral autonomic nerves resembling that observed in normal-weight diabetic children and adolescents.

The US space station and its electric power system

NASA Technical Reports Server (NTRS)

Thomas, Ronald L.

1988-01-01

The United States has embarked on a major development program to have a space station operating in low earth orbit by the mid-1990s. This endeavor draws on the talents of NASA and most of the aerospace firms in the U.S. Plans are being pursued to include the participation of Canada, Japan, and the European Space Agency in the space station. From the start of the program these was a focus on the utilization of the space station for science, technology, and commercial endeavors. These requirements were utilized in the design of the station and manifest themselves in: pressurized volume; crew time; power availability and level of power; external payload accommodations; microgravity levels; servicing facilities; and the ability to grow and evolve the space station to meet future needs. President Reagan directed NASA to develop a permanently manned space station in his 1984 State of the Union message. Since then the definition phase was completed and the development phase initiated. A major subsystem of the space station is its 75 kW electric power system. The electric power system has characteristics similar to those of terrestrial power systems. Routine maintenance and replacement of failed equipment must be accomplished safely and easily and in a minimum time while providing reliable power to users. Because of the very high value placed on crew time it is essential that the power system operate in an autonomous mode to minimize crew time required. The power system design must also easily accommodate growth as the power demands by users are expected to grow. An overview of the U.S. space station is provided with special emphasis on its electrical power system.

Towards autonomous fuzzy control

NASA Technical Reports Server (NTRS)

Shenoi, Sujeet; Ramer, Arthur

1993-01-01

The efficient implementation of on-line adaptation in real time is an important research problem in fuzzy control. The goal is to develop autonomous self-organizing controllers employing system-independent control meta-knowledge which enables them to adjust their control policies depending on the systems they control and the environments in which they operate. An autonomous fuzzy controller would continuously observe system behavior while implementing its control actions and would use the outcomes of these actions to refine its control policy. It could be designed to lie dormant when its control actions give rise to adequate performance characteristics but could rapidly and autonomously initiate real-time adaptation whenever its performance degrades. Such an autonomous fuzzy controller would have immense practical value. It could accommodate individual variations in system characteristics and also compensate for degradations in system characteristics caused by wear and tear. It could also potentially deal with black-box systems and control scenarios. On-going research in autonomous fuzzy control is reported. The ultimate research objective is to develop robust and relatively inexpensive autonomous fuzzy control hardware suitable for use in real time environments.

Autonomous and Autonomic Systems: A Paradigm for Future Space Exploration Missions

NASA Technical Reports Server (NTRS)

Truszkowski, Walter F.; Hinchey, Michael G.; Rash, James L.; Rouff, Christopher A.

2004-01-01

NASA increasingly will rely on autonomous systems concepts, not only in the mission control centers on the ground, but also on spacecraft and on rovers and other assets on extraterrestrial bodies. Automomy enables not only reduced operations costs, But also adaptable goal-driven functionality of mission systems. Space missions lacking autonomy will be unable to achieve the full range of advanced mission objectives, given that human control under dynamic environmental conditions will not be feasible due, in part, to the unavoidably high signal propagation latency and constrained data rates of mission communications links. While autonomy cost-effectively supports accomplishment of mission goals, autonomicity supports survivability of remote mission assets, especially when human tending is not feasible. Autonomic system properties (which ensure self-configuring, self-optimizing self-healing, and self-protecting behavior) conceptually may enable space missions of a higher order into any previously flown. Analysis of two NASA agent-based systems previously prototyped, and of a proposed future mission involving numerous cooperating spacecraft, illustrates how autonomous and autonomic system concepts may be brought to bear on future space missions.

Altered autonomic control of heart rate variability in the chronically hypoxic fetus.

PubMed

Shaw, C J; Allison, B J; Itani, N; Botting, K J; Niu, Y; Lees, C C; Giussani, D A

2018-03-31

Fetal heart rate variability (FHRV) has long been recognised as a powerful predictor of fetal wellbeing, and a decrease in FHRV is associated with fetal compromise. However, the mechanisms by which FHRV is reduced in the chronically hypoxic fetus have yet to be established. The sympathetic and parasympathetic influences on heart rate mature at different rates throughout fetal life, and can be assessed by time domain and power spectral analysis of FHRV. In this study of chronically instrumented fetal sheep in late gestation, we analysed FHRV daily over a 16 day period towards term, and compared changes between fetuses of control and chronically hypoxic pregnancy. We show that FHRV in sheep is reduced by chronic hypoxia, predominantly due to dysregulation of the sympathetic control of the fetal heart rate. This presents a potential mechanism by which a reduction in indices of FHRV predicts fetuses at increased risk of neonatal morbidity and mortality in humans. Reduction in overall FHRV may therefore provide a biomarker that autonomic dysregulation of fetal heart rate control has taken place in a fetus where uteroplacental dysfunction is suspected. Although fetal heart rate variability (FHRV) has long been recognised as a powerful predictor of fetal wellbeing, the mechanisms by which it is reduced in the chronically hypoxic fetus have yet to be established. In particular, the physiological mechanism underlying the reduction of short term variation (STV) in fetal compromise remains unclear. In this study, we present a longitudinal study of the development of autonomic control of FHRV, assessed by indirect indices, time domain and power spectral analysis, in normoxic and chronically hypoxic, chronically catheterised, singleton fetal sheep over the last third of gestation. We used isobaric chambers able to maintain pregnant sheep for prolonged periods in hypoxic conditions (stable fetal femoral arterial PO2 10-12 mmHg), and a customised wireless data acquisition system to record beat-to-beat variation in the fetal heart rate. We determined in vivo longitudinal changes in overall FHRV and the sympathetic and parasympathetic contribution to FHRV in hypoxic (n = 6) and normoxic (n = 6) ovine fetuses with advancing gestational age. Normoxic fetuses show gestational age-related increases in overall indices of FHRV, and in the sympathetic nervous system contribution to FHRV (P < 0.001). Conversely, gestational age-related increases in overall FHRV were impaired by exposure to chronic hypoxia, and there was evidence of suppression of the sympathetic nervous system control of FHRV after 72 h of exposure to hypoxia (P < 0.001). This demonstrates that exposure to late gestation isolated chronic fetal hypoxia has the potential to alter the development of the autonomic nervous system control of FHRV in sheep. This presents a potential mechanism by which a reduction in indices of FHRV in human fetuses affected by uteroplacental dysfunction can predict fetuses at increased risk. © 2018 The Authors. The Journal of Physiology published by John Wiley & Sons Ltd on behalf of The Physiological Society.

Sampling Technique for Robust Odorant Detection Based on MIT RealNose Data

NASA Technical Reports Server (NTRS)

Duong, Tuan A.

2012-01-01

This technique enhances the detection capability of the autonomous Real-Nose system from MIT to detect odorants and their concentrations in noisy and transient environments. The lowcost, portable system with low power consumption will operate at high speed and is suited for unmanned and remotely operated long-life applications. A deterministic mathematical model was developed to detect odorants and calculate their concentration in noisy environments. Real data from MIT's NanoNose was examined, from which a signal conditioning technique was proposed to enable robust odorant detection for the RealNose system. Its sensitivity can reach to sub-part-per-billion (sub-ppb). A Space Invariant Independent Component Analysis (SPICA) algorithm was developed to deal with non-linear mixing that is an over-complete case, and it is used as a preprocessing step to recover the original odorant sources for detection. This approach, combined with the Cascade Error Projection (CEP) Neural Network algorithm, was used to perform odorant identification. Signal conditioning is used to identify potential processing windows to enable robust detection for autonomous systems. So far, the software has been developed and evaluated with current data sets provided by the MIT team. However, continuous data streams are made available where even the occurrence of a new odorant is unannounced and needs to be noticed by the system autonomously before its unambiguous detection. The challenge for the software is to be able to separate the potential valid signal from the odorant and from the noisy transition region when the odorant is just introduced.

Information for Successful Interaction with Autonomous Systems

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Johnson, Kathy A.

2003-01-01

Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

Regenerative Fuel Cell Test Rig at Glenn Research Center

NASA Technical Reports Server (NTRS)

Chang, Bei-Jiann; Johnson, Donald W.; Garcia, Christopher P.; Jakupca, Ian J.; Scullin, Vincent J.; Bents, David J.

2003-01-01

The regenerative fuel cell development effort at Glenn Research Center (GRC) involves the integration of a dedicated fuel cell and electrolyzer into an energy storage system test rig. The test rig consists of a fuel cell stack, an electrolysis stack, cooling pumps, a water transfer pump, gas recirculation pumps, phase separators, storage tanks for oxygen (O2) and hydrogen (H2), heat exchangers, isolation valves, pressure regulators, interconnecting tubing, nitrogen purge provisions, and instrumentation for control and monitoring purposes. The regenerative fuel cell (RFC) thus formed is a completely closed system which is capable of autonomous cyclic operation. The test rig provides direct current (DC) load and DC power supply to simulate power consumption and solar power input. In addition, chillers are used as the heat sink to dissipate the waste heat from the electrochemical stack operation. Various vents and nitrogen (N2) sources are included in case inert purging is necessary to safe the RFC test rig.

Scaling up nanoscale water-driven energy conversion into evaporation-driven engines and generators

PubMed Central

Chen, Xi; Goodnight, Davis; Gao, Zhenghan; Cavusoglu, Ahmet H.; Sabharwal, Nina; DeLay, Michael; Driks, Adam; Sahin, Ozgur

2015-01-01

Evaporation is a ubiquitous phenomenon in the natural environment and a dominant form of energy transfer in the Earth's climate. Engineered systems rarely, if ever, use evaporation as a source of energy, despite myriad examples of such adaptations in the biological world. Here, we report evaporation-driven engines that can power common tasks like locomotion and electricity generation. These engines start and run autonomously when placed at air–water interfaces. They generate rotary and piston-like linear motion using specially designed, biologically based artificial muscles responsive to moisture fluctuations. Using these engines, we demonstrate an electricity generator that rests on water while harvesting its evaporation to power a light source, and a miniature car (weighing 0.1 kg) that moves forward as the water in the car evaporates. Evaporation-driven engines may find applications in powering robotic systems, sensors, devices and machinery that function in the natural environment. PMID:26079632

Scaling up nanoscale water-driven energy conversion into evaporation-driven engines and generators

NASA Astrophysics Data System (ADS)

Chen, Xi; Goodnight, Davis; Gao, Zhenghan; Cavusoglu, Ahmet H.; Sabharwal, Nina; Delay, Michael; Driks, Adam; Sahin, Ozgur

2015-06-01

Evaporation is a ubiquitous phenomenon in the natural environment and a dominant form of energy transfer in the Earth's climate. Engineered systems rarely, if ever, use evaporation as a source of energy, despite myriad examples of such adaptations in the biological world. Here, we report evaporation-driven engines that can power common tasks like locomotion and electricity generation. These engines start and run autonomously when placed at air-water interfaces. They generate rotary and piston-like linear motion using specially designed, biologically based artificial muscles responsive to moisture fluctuations. Using these engines, we demonstrate an electricity generator that rests on water while harvesting its evaporation to power a light source, and a miniature car (weighing 0.1 kg) that moves forward as the water in the car evaporates. Evaporation-driven engines may find applications in powering robotic systems, sensors, devices and machinery that function in the natural environment.

Collection of low-grade waste heat for enhanced energy harvesting

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dede, Ercan M., E-mail: eric.dede@tema.toyota.com; Schmalenberg, Paul; Wang, Chi-Ming

Enhanced energy harvesting through the collection of low-grade waste heat is experimentally demonstrated. A structural optimization technique is exploited in the design of a thermal-composite substrate to guide and gather the heat emanating from multiple sources to a predetermined location. A thermoelectric generator is then applied at the selected focusing region to convert the resulting low-grade waste heat to electrical power. The thermal characteristics of the device are experimentally verified by direct temperature measurements of the system and numerically validated via heat conduction simulations. Electrical performance under natural and forced convection is measured, and in both cases, the device withmore » optimized heat flow control plus energy harvesting demonstrates increased power generation when compared with a baseline waste heat recovery system. Electronics applications include energy scavenging for autonomously powered sensor networks or self-actuated devices.« less

A power management system for energy harvesting and wireless sensor networks application based on a novel charge pump circuit

NASA Astrophysics Data System (ADS)

Aloulou, R.; De Peslouan, P.-O. Lucas; Mnif, H.; Alicalapa, F.; Luk, J. D. Lan Sun; Loulou, M.

2016-05-01

Energy Harvesting circuits are developed as an alternative solution to supply energy to autonomous sensor nodes in Wireless Sensor Networks. In this context, this paper presents a micro-power management system for multi energy sources based on a novel design of charge pump circuit to allow the total autonomy of self-powered sensors. This work proposes a low-voltage and high performance charge pump (CP) suitable for implementation in standard complementary metal oxide semiconductor (CMOS) technologies. The CP design was implemented using Cadence Virtuoso with AMS 0.35μm CMOS technology parameters. Its active area is 0.112 mm2. Consistent results were obtained between the measured findings of the chip testing and the simulation results. The circuit can operate with an 800 mV supply and generate a boosted output voltage of 2.835 V with 1 MHz as frequency.

Autonomous Navigation Using Celestial Objects

NASA Technical Reports Server (NTRS)

Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

1999-01-01

In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler measurements from the command link carrier to autonomously estimate the spacecraft's orbit and reference oscillator's frequency. To support autonomous attitude determination and control and maneuver planning and control, the orbit determination accuracy should be on the order of kilometers in position and centimeters per second in velocity. A less accurate solution (one hundred kilometers in position) could be used for acquisition purposes for command and science downloads. This paper provides performance results for both libration point orbiting and high Earth orbiting satellites as a function of sensor measurement accuracy, measurement types, measurement frequency, initial state errors, and dynamic modeling errors.

Unified formalism for higher order non-autonomous dynamical systems

NASA Astrophysics Data System (ADS)

Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

2012-03-01

This work is devoted to giving a geometric framework for describing higher order non-autonomous mechanical systems. The starting point is to extend the Lagrangian-Hamiltonian unified formalism of Skinner and Rusk for these kinds of systems, generalizing previous developments for higher order autonomous mechanical systems and first-order non-autonomous mechanical systems. Then, we use this unified formulation to derive the standard Lagrangian and Hamiltonian formalisms, including the Legendre-Ostrogradsky map and the Euler-Lagrange and the Hamilton equations, both for regular and singular systems. As applications of our model, two examples of regular and singular physical systems are studied.

An autonomous chemically fuelled small-molecule motor

NASA Astrophysics Data System (ADS)

Wilson, Miriam R.; Solà, Jordi; Carlone, Armando; Goldup, Stephen M.; Lebrasseur, Nathalie; Leigh, David A.

2016-06-01

Molecular machines are among the most complex of all functional molecules and lie at the heart of nearly every biological process. A number of synthetic small-molecule machines have been developed, including molecular muscles, synthesizers, pumps, walkers, transporters and light-driven and electrically driven rotary motors. However, although biological molecular motors are powered by chemical gradients or the hydrolysis of adenosine triphosphate (ATP), so far there are no synthetic small-molecule motors that can operate autonomously using chemical energy (that is, the components move with net directionality as long as a chemical fuel is present). Here we describe a system in which a small molecular ring (macrocycle) is continuously transported directionally around a cyclic molecular track when powered by irreversible reactions of a chemical fuel, 9-fluorenylmethoxycarbonyl chloride. Key to the design is that the rate of reaction of this fuel with reactive sites on the cyclic track is faster when the macrocycle is far from the reactive site than when it is near to it. We find that a bulky pyridine-based catalyst promotes carbonate-forming reactions that ratchet the displacement of the macrocycle away from the reactive sites on the track. Under reaction conditions where both attachment and cleavage of the 9-fluorenylmethoxycarbonyl groups occur through different processes, and the cleavage reaction occurs at a rate independent of macrocycle location, net directional rotation of the molecular motor continues for as long as unreacted fuel remains. We anticipate that autonomous chemically fuelled molecular motors will find application as engines in molecular nanotechnology.

LWIR passive perception system for stealthy unmanned ground vehicle night operations

NASA Astrophysics Data System (ADS)

Lee, Daren; Rankin, Arturo; Huertas, Andres; Nash, Jeremy; Ahuja, Gaurav; Matthies, Larry

2016-05-01

Resupplying forward-deployed units in rugged terrain in the presence of hostile forces creates a high threat to manned air and ground vehicles. An autonomous unmanned ground vehicle (UGV) capable of navigating stealthily at night in off-road and on-road terrain could significantly increase the safety and success rate of such resupply missions for warfighters. Passive night-time perception of terrain and obstacle features is a vital requirement for such missions. As part of the ONR 30 Autonomy Team, the Jet Propulsion Laboratory developed a passive, low-cost night-time perception system under the ONR Expeditionary Maneuver Warfare and Combating Terrorism Applied Research program. Using a stereo pair of forward looking LWIR uncooled microbolometer cameras, the perception system generates disparity maps using a local window-based stereo correlator to achieve real-time performance while maintaining low power consumption. To overcome the lower signal-to-noise ratio and spatial resolution of LWIR thermal imaging technologies, a series of pre-filters were applied to the input images to increase the image contrast and stereo correlator enhancements were applied to increase the disparity density. To overcome false positives generated by mixed pixels, noisy disparities from repeated textures, and uncertainty in far range measurements, a series of consistency, multi-resolution, and temporal based post-filters were employed to improve the fidelity of the output range measurements. The stereo processing leverages multi-core processors and runs under the Robot Operating System (ROS). The night-time passive perception system was tested and evaluated on fully autonomous testbed ground vehicles at SPAWAR Systems Center Pacific (SSC Pacific) and Marine Corps Base Camp Pendleton, California. This paper describes the challenges, techniques, and experimental results of developing a passive, low-cost perception system for night-time autonomous navigation.

Towards an autonomous sensor architecture for persistent area protection

NASA Astrophysics Data System (ADS)

Thomas, Paul A.; Marshall, Gillian F.; Stubbins, Daniel J.; Faulkner, David A.

2016-10-01

The majority of sensor installations for area protection (e.g. critical national infrastructure, military forward operating bases, etc.) make use of banks of screens each containing one or more sensor feeds, such that the burden of combining data from the various sources, understanding the situation, and controlling the sensors all lies with the human operator. Any automation in the system is generally heavily bespoke for the particular installation, leading to an inflexible system which is difficult to change or upgrade. We have developed a modular system architecture consisting of intelligent autonomous sensor modules, a high level decision making module, a middleware integration layer and an end-user GUI. The modules are all effectively "plug and play", and we have demonstrated that it is relatively simple to incorporate legacy sensors into the architecture. We have extended our previously-reported SAPIENT demonstration system to operate with a larger number and variety of sensor modules, over an extended area, detecting and classifying a wider variety of "threat activities", both vehicular and pedestrian. We report the results of a demonstration of the SAPIENT system containing multiple autonomous sensor modules with a range of modalities including laser scanners, radar, TI, EO, acoustic and seismic sensors. They operate from a combination of mains, generator and battery power, and communicate with the central "hub" over Ethernet, point-to-point wireless links and Wi-Fi. The system has been configured to protect an extended area in a complex semi-urban environment. We discuss the operation of the SAPIENT system in a realistic demonstration environment (which included significant activity not under trial control), showing sensor cueing, multi-modal sensor fusion, threat prioritisation and target hand-off.

Heart rate variability and short duration spaceflight: relationship to post-flight orthostatic intolerance

PubMed Central

Blaber, Andrew P; Bondar, Roberta L; Kassam, Mahmood S

2004-01-01

Background Upon return from space many astronauts experience symptoms of orthostatic intolerance. Research has implicated altered autonomic cardiovascular regulation due to spaceflight with further evidence to suggest that there might be pre-flight autonomic indicators of post-flight orthostatic intolerance. We used heart rate variability (HRV) to determine whether autonomic regulation of the heart in astronauts who did or did not experience post-flight orthostatic intolerance was different pre-flight and/or was differentially affected by short duration (8 – 16 days) spaceflight. HRV data from ten-minute stand tests collected from the 29 astronauts 10 days pre-flight, on landing day and three days post-flight were analysed using coarse graining spectral analysis. From the total power (PTOT), the harmonic component was extracted and divided into high (PHI: >0.15 Hz) and low (PLO: = 0.15 Hz) frequency power regions. Given the distribution of autonomic nervous system activity with frequency at the sinus node, PHI/PTOT was used as an indicator of parasympathetic activity; PLO/PTOT as an indicator of sympathetic activity; and, PLO/PHI as an estimate of sympathovagal balance. Results Twenty-one astronauts were classified as finishers, and eight as non-finishers, based on their ability to remain standing for 10 minutes on landing day. Pre-flight, non-finishers had a higher supine PHI/PTOT than finishers. Supine PHI/PTOT was the same pre-flight and on landing day in the finishers; whereas, in the non-finishers it was reduced. The ratio PLO/PHI was lower in non-finishers compared to finishers and was unaffected by spaceflight. Pre-flight, both finishers and non-finishers had similar supine values of PLO/PTOT, which increased from supine to stand. Following spaceflight, only the finishers had an increase in PLO/PTOT from supine to stand. Conclusions Both finishers and non-finishers had an increase in sympathetic activity with stand on pre-flight, yet only finishers retained this response on landing day. Non-finishers also had lower sympathovagal balance and higher pre-flight supine parasympathetic activity than finishers. These results suggest pre-flight autonomic status and post-flight impairment in autonomic control of the heart may contribute to orthostatic intolerance. The mechanism by which higher pre-flight parasympathetic activity might contribute to post-flight orthostatic intolerance is not understood and requires further investigation. PMID:15113425

Powering embedded electronics for wind turbine monitoring using multi-source energy harvesting techniques

NASA Astrophysics Data System (ADS)

Anton, S. R.; Taylor, S. G.; Raby, E. Y.; Farinholt, K. M.

2013-03-01

With a global interest in the development of clean, renewable energy, wind energy has seen steady growth over the past several years. Advances in wind turbine technology bring larger, more complex turbines and wind farms. An important issue in the development of these complex systems is the ability to monitor the state of each turbine in an effort to improve the efficiency and power generation. Wireless sensor nodes can be used to interrogate the current state and health of wind turbine structures; however, a drawback of most current wireless sensor technology is their reliance on batteries for power. Energy harvesting solutions present the ability to create autonomous power sources for small, low-power electronics through the scavenging of ambient energy; however, most conventional energy harvesting systems employ a single mode of energy conversion, and thus are highly susceptible to variations in the ambient energy. In this work, a multi-source energy harvesting system is developed to power embedded electronics for wind turbine applications in which energy can be scavenged simultaneously from several ambient energy sources. Field testing is performed on a full-size, residential scale wind turbine where both vibration and solar energy harvesting systems are utilized to power wireless sensing systems. Two wireless sensors are investigated, including the wireless impedance device (WID) sensor node, developed at Los Alamos National Laboratory (LANL), and an ultra-low power RF system-on-chip board that is the basis for an embedded wireless accelerometer node currently under development at LANL. Results indicate the ability of the multi-source harvester to successfully power both sensors.

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

PubMed

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-03-25

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles

PubMed Central

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-01-01

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance. PMID:28346346

From Extended Nanofluidics to an Autonomous Solar-Light-Driven Micro Fuel-Cell Device.

PubMed

Pihosh, Yuriy; Uemura, Jin; Turkevych, Ivan; Mawatari, Kazuma; Kazoe, Yutaka; Smirnova, Adelina; Kitamori, Takehiko

2017-07-03

Autonomous micro/nano mechanical, chemical, and biomedical sensors require persistent power sources scaled to their size. Realization of autonomous micro-power sources is a challenging task, as it requires combination of wireless energy supply, conversion, storage, and delivery to the sensor. Herein, we realized a solar-light-driven power source that consists of a micro fuel cell (μFC) and a photocatalytic micro fuel generator (μFG) integrated on a single microfluidic chip. The μFG produces hydrogen by photocatalytic water splitting under solar light. The hydrogen fuel is then consumed by the μFC to generate electricity. Importantly, the by-product water returns back to the photocatalytic μFG via recirculation loop without losses. Both devices rely on novel phenomena in extended-nano-fluidic channels that ensure ultra-fast proton transport. As a proof of concept, we demonstrate that μFG/μFC source achieves remarkable energy density of ca. 17.2 mWh cm -2 at room temperature. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Engineering Review of ANCAUS/AVATAR: An Enabling Technology for the Autonomous Land Systems Program?

DTIC Science & Technology

2003-12-01

technology for future Autonomous Land System (ALS) autonomous vehicles . Since 1989, forward thinking engineering has characterized the history of ANC/EUS and...technology for future autonomous vehicles and that; (2) ALS should adopt commercial/open source technology to support a new ALS architecture and (3) ALS

Autonomous Agents: The Origins and Co-Evolution of Reproducing Molecular Systems

NASA Technical Reports Server (NTRS)

Kauffman, Stuart

1999-01-01

The central aim of this award concerned an investigation into, and adequate formulation of, the concept of an "autonomous agent." If we consider a bacterium swimming upstream in a glucose gradient, we are willing to say of the bacterium that it is going to get food. That is, we are willing, and do, describe the bacterium as acting on its own behalf in an environment. All free living cells are, in this sense, autonomous agents. But the bacterium is "just" a set of molecules. We define an autonomous agent as a physical system able to act on its own behalf in an environment, then ask, "What must a physical system be to be an autonomous agent?" The tentative definition for a molecular autonomous agent is that it must be self-reproducing and carry out at least one thermodynamic work cycle. The work carried out in this grant involved, among other features, the development of a detailed model of a molecular autonomous agent, and study of the kinetics of this system. In particular, a molecular autonomous agent must, by the above tentative definition, not only reproduce, but must carry out at least one work cycle. I took, as a simple example of a self-reproducing molecular system, the single-stranded DNA hexamer 3'CCGCGG5' which can line up and ligate its two complementary trimers, 5'CCG3' and 5'CGG3'. But the two ligated trimers constitute the same molecular sequence in the 3' to 5' direction as the initial hexamer, hence this system is autocatalytic. On the other hand the above system is not yet an autonomous agent. At the minimum, autonomous agents, as I have defined them, are a new class of chemical reaction network. At a maximum, they may constitute a proper definition of life itself.

Video semaphore decoding for free-space optical communication

NASA Astrophysics Data System (ADS)

Last, Matthew; Fisher, Brian; Ezekwe, Chinwuba; Hubert, Sean M.; Patel, Sheetal; Hollar, Seth; Leibowitz, Brian S.; Pister, Kristofer S. J.

2001-04-01

Using teal-time image processing we have demonstrated a low bit-rate free-space optical communication system at a range of more than 20km with an average optical transmission power of less than 2mW. The transmitter is an autonomous one cubic inch microprocessor-controlled sensor node with a laser diode output. The receiver is a standard CCD camera with a 1-inch aperture lens, and both hardware and software implementations of the video semaphore decoding algorithm. With this system sensor data can be reliably transmitted 21 km form San Francisco to Berkeley.

Design and implementation of a biomimetic turtle hydrofoil for an autonomous underwater vehicle.

PubMed

Font, Davinia; Tresanchez, Marcel; Siegentahler, Cedric; Pallejà, Tomàs; Teixidó, Mercè; Pradalier, Cedric; Palacin, Jordi

2011-01-01

This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV). The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF) to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV.

Self-organized adaptation of a simple neural circuit enables complex robot behaviour

NASA Astrophysics Data System (ADS)

Steingrube, Silke; Timme, Marc; Wörgötter, Florentin; Manoonpong, Poramate

2010-03-01

Controlling sensori-motor systems in higher animals or complex robots is a challenging combinatorial problem, because many sensory signals need to be simultaneously coordinated into a broad behavioural spectrum. To rapidly interact with the environment, this control needs to be fast and adaptive. Present robotic solutions operate with limited autonomy and are mostly restricted to few behavioural patterns. Here we introduce chaos control as a new strategy to generate complex behaviour of an autonomous robot. In the presented system, 18 sensors drive 18 motors by means of a simple neural control circuit, thereby generating 11 basic behavioural patterns (for example, orienting, taxis, self-protection and various gaits) and their combinations. The control signal quickly and reversibly adapts to new situations and also enables learning and synaptic long-term storage of behaviourally useful motor responses. Thus, such neural control provides a powerful yet simple way to self-organize versatile behaviours in autonomous agents with many degrees of freedom.

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

NASA Technical Reports Server (NTRS)

Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

2015-01-01

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Development of Power Supply Management Module for Radio Signal Repeaters of Automatic Metering Reading System in Variable Solar Density Conditions

NASA Astrophysics Data System (ADS)

Kondratjevs, K.; Zabasta, A.; Selmanovs-Pless, V.

2016-02-01

In recent years, there has been significant research focus that revolves around harvesting and minimising energy consumption by wireless sensor network nodes. When a sensor node is depleted of energy, it becomes unresponsive and disconnected from the network that can significantly influence the performance of the whole network. The purpose of the present research is to create a power supply management module in order to provide stable operating voltage for autonomous operations of radio signal repeaters, sensors or gateways of WSN. The developed management module is composed of a solar panel, lithium battery and power supply management module. The novelty of the research is the management module, which ensures stable and uninterrupted operations of electronic equipment in various power supply modes in different situations, simultaneously ensuring energy protection and sustainability of the module components. The management module is able to provide power supply of 5 V for electronics scheme independently, without power interruption switching between power sources and power flows in different directions.

German-Korean cooperation for erection and test of industrialized solar technologies

NASA Astrophysics Data System (ADS)

Pfeiffer, H.

1986-01-01

A combined small solar-wind power station and a solar-thermal experimental plant were built. The plants are designed to demonstrate the effective exploitation of solar energy and wind energy and enhanced availability achievable through combination of these two energy sources. A 14 kW wind energy converter and a 2.5 kW solar-cell generator were operated in parallel. The biaxial tracking system used on the solar generator leads to increased and constant generation of electricity throughout the day. A consumer control system switches the energy generators and the consumers in autonomous mode according to changing supply and demand. The solar powered air conditioning unit operates with an absorption type refrigerating unit, high-output flat collectors and an automatic control system. All design values are achieved on start-up of the plant.

The Use of Generating Sets with ING Gas Engines in "Shore to Ship" Systems

NASA Astrophysics Data System (ADS)

Tarnapowicz, Dariusz; German-Galkin, Sergiej

2016-09-01

The main sources of air pollution in ports are ships, on which electrical energy is produced in the autonomous generating sets Diesel-Generator. The most effective way to reduce harmful exhaust emissions from ships is to exclude marine generating sets and provide the shore-side electricity in "Shore to Ship" system. The main problem in the implementation of power supply for ships from land is connected with matching parameters of voltage in onshore network with marine network. Currently, the recommended solution is to supply ships from the onshore electricity network with the use of power electronic converters. This article presents an analysis of the "Shore to Ship" system with the use of generating sets with LNG gas engines. It shows topologies with LNG - Generator sets, environmental benefits of such a solution, advantages and disadvantages.

A Wireless Biomedical Signal Interface System-on-Chip for Body Sensor Networks.

PubMed

Lei Wang; Guang-Zhong Yang; Jin Huang; Jinyong Zhang; Li Yu; Zedong Nie; Cumming, D R S

2010-04-01

Recent years have seen the rapid development of biosensor technology, system-on-chip design, wireless technology. and ubiquitous computing. When assembled into an autonomous body sensor network (BSN), the technologies become powerful tools in well-being monitoring, medical diagnostics, and personal connectivity. In this paper, we describe the first demonstration of a fully customized mixed-signal silicon chip that has most of the attributes required for use in a wearable or implantable BSN. Our intellectual-property blocks include low-power analog sensor interface for temperature and pH, a data multiplexing and conversion module, a digital platform based around an 8-b microcontroller, data encoding for spread-spectrum wireless transmission, and a RF section requiring very few off-chip components. The chip has been fully evaluated and tested by connection to external sensors, and it satisfied typical system requirements.

SMARBot: a modular miniature mobile robot platform

NASA Astrophysics Data System (ADS)

Meng, Yan; Johnson, Kerry; Simms, Brian; Conforth, Matthew

2008-04-01

Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

Autonomous oscillation in supramolecular assemblies: Role of free energy landscape and fluctuations

NASA Astrophysics Data System (ADS)

Sereda, Yuriy V.; Ortoleva, Peter J.

2015-11-01

Molecular dynamics studies demonstrated that a supramolecular assembly can express autonomous structural oscillations about equilibrium. It is demonstrated here that for nanosystems such oscillations can result from the interplay of free energy landscape and structural fluctuations. Furthermore, these oscillations have intermittent character, reflecting the conflict between a tendency to oscillate due to features in the free energy landscape, and the Second Law's repression of perpetual oscillation in an isothermal, equilibrium system. The demonstration system is a T = 1 icosahedral structure constituted of 12 protein pentamers in contact with a bath at fixed temperature. The oscillations are explained in terms of a Langevin model accounting for interactions among neighboring pentamers. The model is based on a postulated free energy landscape in the 24-dimensional space of variables describing the centrifugal and rotational motion of each pentamer. The model includes features such as basins of attraction and low free energy corridors. When the system is driven slightly out of equilibrium, the oscillations are transformed into a limit cycle, as expressed in terms of power spectrum narrowing.

Swarm autonomic agents with self-destruct capability

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2009-01-01

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Swarm autonomic agents with self-destruct capability

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Systems, methods and apparatus for quiesence of autonomic safety devices with self action

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

Systems, methods and apparatus are provided through which in some embodiments an autonomic environmental safety device may be quiesced. In at least one embodiment, a method for managing an autonomic safety device, such as a smoke detector, based on functioning state and operating status of the autonomic safety device includes processing received signals from the autonomic safety device to obtain an analysis of the condition of the autonomic safety device, generating one or more stay-awake signals based on the functioning status and the operating state of the autonomic safety device, transmitting the stay-awake signal, transmitting self health/urgency data, and transmitting environment health/urgency data. A quiesce component of an autonomic safety device can render the autonomic safety device inactive for a specific amount of time or until a challenging situation has passed.

Resolving Ambiguities in the LF/HF Ratio: LF-HF Scatter Plots for the Categorization of Mental and Physical Stress from HRV.

PubMed

von Rosenberg, Wilhelm; Chanwimalueang, Theerasak; Adjei, Tricia; Jaffer, Usman; Goverdovsky, Valentin; Mandic, Danilo P

2017-01-01

It is generally accepted that the activities of the autonomic nervous system (ANS), which consists of the sympathetic (SNS) and parasympathetic nervous systems (PNS), are reflected in the low- (LF) and high-frequency (HF) bands in heart rate variability (HRV)-while, not without some controversy, the ratio of the powers in those frequency bands, the so called LF-HF ratio (LF/HF), has been used to quantify the degree of sympathovagal balance. Indeed, recent studies demonstrate that, in general: (i) sympathovagal balance cannot be accurately measured via the ratio of the LF- and HF- power bands; and (ii) the correspondence between the LF/HF ratio and the psychological and physiological state of a person is not unique. Since the standard LF/HF ratio provides only a single degree of freedom for the analysis of this 2D phenomenon, we propose a joint treatment of the LF and HF powers in HRV within a two-dimensional representation framework, thus providing the required degrees of freedom. By virtue of the proposed 2D representation, the restrictive assumption of the linear dependence between the activity of the autonomic nervous system (ANS) and the LF-HF frequency band powers is demonstrated to become unnecessary. The proposed analysis framework also opens up completely new possibilities for a more comprehensive and rigorous examination of HRV in relation to physical and mental states of an individual, and makes possible the categorization of different stress states based on HRV. In addition, based on instantaneous amplitudes of Hilbert-transformed LF- and HF-bands, a novel approach to estimate the markers of stress in HRV is proposed and is shown to improve the robustness to artifacts and irregularities, critical issues in real-world recordings. The proposed approach for resolving the ambiguities in the standard LF/HF-ratio analyses is verified over a number of real-world stress-invoking scenarios.

On-board Data Mining

NASA Astrophysics Data System (ADS)

Tanner, Steve; Stein, Cara; Graves, Sara J.

Networks of remote sensors are becoming more common as technology improves and costs decline. In the past, a remote sensor was usually a device that collected data to be retrieved at a later time by some other mechanism. This collected data were usually processed well after the fact at a computer greatly removed from the in situ sensing location. This has begun to change as sensor technology, on-board processing, and network communication capabilities have increased and their prices have dropped. There has been an explosion in the number of sensors and sensing devices, not just around the world, but literally throughout the solar system. These sensors are not only becoming vastly more sophisticated, accurate, and detailed in the data they gather but they are also becoming cheaper, lighter, and smaller. At the same time, engineers have developed improved methods to embed computing systems, memory, storage, and communication capabilities into the platforms that host these sensors. Now, it is not unusual to see large networks of sensors working in cooperation with one another. Nor does it seem strange to see the autonomous operation of sensorbased systems, from space-based satellites to smart vacuum cleaners that keep our homes clean and robotic toys that help to entertain and educate our children. But access to sensor data and computing power is only part of the story. For all the power of these systems, there are still substantial limits to what they can accomplish. These include the well-known limits to current Artificial Intelligence capabilities and our limited ability to program the abstract concepts, goals, and improvisation needed for fully autonomous systems. But it also includes much more basic engineering problems such as lack of adequate power, communications bandwidth, and memory, as well as problems with the geolocation and real-time georeferencing required to integrate data from multiple sensors to be used together.

Characterization of an Autonomous Non-Volatile Ferroelectric Memory Latch

NASA Technical Reports Server (NTRS)

John, Caroline S.; MacLeod, Todd C.; Evans, Joe; Ho, Fat D.

2011-01-01

We present the electrical characterization of an autonomous non-volatile ferroelectric memory latch using the principle that when an electric field is applied to a ferroelectriccapacitor,the positive and negative remnant polarization charge states of the capacitor are denoted as either data 0 or data 1. The properties of the ferroelectric material to store an electric polarization in the absence of an electric field make the device non-volatile. Further the memory latch is autonomous as it operates with the ground, power and output node connections, without any externally clocked control line. The unique quality of this latch circuit is that it can be written when powered off. The advantages of this latch over flash memories are: a) It offers unlimited reads/writes b) works on symmetrical read/write cycles. c) The latch is asynchronous. The circuit was initially developed by Radiant Technologies Inc., Albuquerque, New Mexico.

Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

NASA Technical Reports Server (NTRS)

Martin, T. B.; Ambrose, R. O.; Diftler, M. A.; Platt, R., Jr.; Butzer, M. J.

2004-01-01

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

Amplifying human ability through autonomics and machine learning in IMPACT

NASA Astrophysics Data System (ADS)

Dzieciuch, Iryna; Reeder, John; Gutzwiller, Robert; Gustafson, Eric; Coronado, Braulio; Martinez, Luis; Croft, Bryan; Lange, Douglas S.

2017-05-01

Amplifying human ability for controlling complex environments featuring autonomous units can be aided by learned models of human and system performance. In developing a command and control system that allows a small number of people to control a large number of autonomous teams, we employ an autonomics framework to manage the networks that represent mission plans and the networks that are composed of human controllers and their autonomous assistants. Machine learning allows us to build models of human and system performance useful for monitoring plans and managing human attention and task loads. Machine learning also aids in the development of tactics that human supervisors can successfully monitor through the command and control system.

Effect of various forms of physical training on the autonomic nervous system activity in patients with acute myocardial infarction.

PubMed

Daniłowicz-Szymanowicz, Ludmiła; Figura-Chmielewska, Monika; Ratkowski, Wojciech; Raczak, Grzegorz

2013-01-01

A shift in the dynamic autonomic nervous system (ANS) balance towards sympathetic activity in patients with acute myocardial infarction (AMI) predisposes them to life-threatening ventricular arrhythmias. Improvement of unfavourable changes in ANS can be expected in such patients as a result of physical training. A beneficial shift in ANS balance towards parasympathetic activity could be confirmed by demonstrating increased baroreceptor reflex sensitivity (BRS) as well as favourable changes in heart rate variability (HRV) parameters. To analyse the effect of different forms of physical training on ANS activity in patients with AMI after hospital discharge. The study included 38 patients with AMI (aged 59 ± 8 years) subjected to 2-month exercise training. Group 1 (n = 19)underwent 3-week supervised in-hospital cardiac rehabilitation followed by 5-week home-based training, and Group 2 (n = 19) underwent 8-week home-based training. BRS and HRV were determined based on a 10-min recording of systolic arterial pressure and the cardiac cycle. Measurements were performed one day before discharge (R1) and after 2 months of training (R2). A significant increase in the mean values of TP (total power), HF (high frequency power), rMSSD (square root of the mean of the squared differences between successive R-R intervals), and pNN50 (proportion of differences between successive R-R intervals that are greater than 50 ms) was observed in the overall study group, along with trends for higher SDNN (standard deviation of the mean of sinus rhythm R-R intervals) and HFnu (normalised HF power), and for lower LFnu (normalised LF power). Additionally, a significant increase in BRS (from 2.2 ± 0.6 to 5.1 ± 2.2 ms/mm Hg, p = 0.01) was found in patients with baseline BRS ≤ 3 ms/mm Hg. A significant increase in rMSSD, pNN50, HF and HFnu, as well as a decrease in LFnu and LF/HF (LF to HF ratio) was observed in Group 1. In contrast, a significant increase in BRS was noted in Group 2. Various forms of 2-month physical training led to a favourable shift in autonomic balance towards parasympathetic activity. Our findings suggest a clinically important effect of physical activity in patients after AMI.

Autonomic, locomotor and cardiac abnormalities in a mouse model of muscular dystrophy: targeting the renin-angiotensin system.

PubMed

Sabharwal, Rasna; Chapleau, Mark W

2014-04-01

New Findings What is the topic of this review? This symposium report summarizes autonomic, cardiac and skeletal muscle abnormalities in sarcoglycan-δ-deficient mice (Sgcd-/-), a mouse model of limb girdle muscular dystrophy, with emphasis on the roles of autonomic dysregulation and activation of the renin-angiotensin system at a young age. What advances does it highlight? The contributions of the autonomic nervous system and the renin-angiotensin system to the pathogenesis of muscular dystrophy are highlighted. Results demonstrate that autonomic dysregulation precedes and predicts later development of cardiac dysfunction in Sgcd-/- mice and that treatment of young Sgcd-/- mice with the angiotensin type 1 receptor antagonist losartan or with angiotensin-(1-7) abrogates the autonomic dysregulation, attenuates skeletal muscle pathology and increases spontaneous locomotor activity. Muscular dystrophies are a heterogeneous group of genetic muscle diseases characterized by muscle weakness and atrophy. Mutations in sarcoglycans and other subunits of the dystrophin-glycoprotein complex cause muscular dystrophy and dilated cardiomyopathy in animals and humans. Aberrant autonomic signalling is recognized in a variety of neuromuscular disorders. We hypothesized that activation of the renin-angiotensin system contributes to skeletal muscle and autonomic dysfunction in mice deficient in the sarcoglycan-δ (Sgcd) gene at a young age and that this early autonomic dysfunction contributes to the later development of left ventricular (LV) dysfunction and increased mortality. We demonstrated that young Sgcd-/- mice exhibit histopathological features of skeletal muscle dystrophy, decreased locomotor activity and severe autonomic dysregulation, but normal LV function. Autonomic regulation continued to deteriorate in Sgcd-/- mice with age and was accompanied by LV dysfunction and dilated cardiomyopathy at older ages. Autonomic dysregulation at a young age predicted later development of LV dysfunction and higher mortality in Sgcd-/- mice. Treatment of Sgcd-/- mice with the angiotensin type 1 receptor blocker losartan for 8-9 weeks, beginning at 3 weeks of age, decreased fibrosis and oxidative stress in skeletal muscle, increased locomotor activity and prevented autonomic dysfunction. Chronic infusion of the counter-regulatory peptide angiotensin-(1-7) resulted in similar protection. We conclude that activation of the renin-angiotensin system, at a young age, contributes to skeletal muscle and autonomic dysfunction in muscular dystrophy. We speculate that the latter is mediated via abnormal sensory nerve and/or cytokine signalling from dystrophic skeletal muscle to the brain and contributes to age-related LV dysfunction, dilated cardiomyopathy, arrhythmias and premature death. Therefore, correcting the early autonomic dysregulation and renin-angiotensin system activation may provide a novel therapeutic approach in muscular dystrophy.

System Engineering of Autonomous Space Vehicles

NASA Technical Reports Server (NTRS)

Watson, Michael D.; Johnson, Stephen B.; Trevino, Luis

2014-01-01

Human exploration of the solar system requires fully autonomous systems when travelling more than 5 light minutes from Earth. This autonomy is necessary to manage a large, complex spacecraft with limited crew members and skills available. The communication latency requires the vehicle to deal with events with only limited crew interaction in most cases. The engineering of these systems requires an extensive knowledge of the spacecraft systems, information theory, and autonomous algorithm characteristics. The characteristics of the spacecraft systems must be matched with the autonomous algorithm characteristics to reliably monitor and control the system. This presents a large system engineering problem. Recent work on product-focused, elegant system engineering will be applied to this application, looking at the full autonomy stack, the matching of autonomous systems to spacecraft systems, and the integration of different types of algorithms. Each of these areas will be outlined and a general approach defined for system engineering to provide the optimal solution to the given application context.

Autonomic Evaluation of Patients With Gastroparesis and Neurostimulation: Comparisons of Direct/Systemic and Indirect/Cardiac Measures

PubMed Central

Stocker, Abigail; Abell, Thomas L.; Rashed, Hani; Kedar, Archana; Boatright, Ben; Chen, Jiande

2016-01-01

Background Disorders of nausea, vomiting, abdominal pain, and related problems often are manifestations of gastrointestinal, neuromuscular, and/or autonomic dysfunction. Many of these patients respond to neurostimulation, either gastric electrical stimulation or electroacupuncture. Both of these therapeutic techniques appear to influence the autonomic nervous system which can be evaluated directly by traditional testing and indirectly by heart rate variability. Methods We studied patients undergoing gastric neuromodulation by both systemic autonomic testing (39 patients, six males and 33 females, mean age 38 years) and systemic autonomic testing and heart rate variability (35 patients, seven males and 28 females, mean age 37 years) testing before and after gastric neuromodulation. We also performed a pilot study using both systemic autonomic testing and heart rate variability in a small number of patients (five patients, all females, mean age 48.6 years) with diabetic gastroparesis at baseline to compare the two techniques at baseline. Systemic autonomic testing and heart rate variability were performed with standardized techniques and gastric electrical stimulation was performed as previously described with electrodes implanted serosally in the myenteric plexus. Results Both systemic autonomic testing and heart rate variability measures were often abnormal at baseline and showed changes after gastric neuromodulation therapy in two groups of symptomatic patients. Pilot data on a small group of similar patients with systemic automatic nervous measures and heart rate variability showed good concordance between the two techniques. Conclusions Both traditional direct autonomic measures and indirect measures such as heart rate variability were evaluated, including a pilot study of both methods in the same patient group. Both appear to be useful in evaluation of patients at baseline and after stimulation therapies; however, a future full head-to-head comparison is warranted. PMID:27785318

A Self-Tuning Kalman Filter for Autonomous Spacecraft Navigation

NASA Technical Reports Server (NTRS)

Truong, Son H.

1998-01-01

Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman Filter and Global Positioning System (GPS) data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. Current techniques of Kalman filtering, however, still rely on manual tuning from analysts, and cannot help in optimizing autonomy without compromising accuracy and performance. This paper presents an approach to produce a high accuracy autonomous navigation system fully integrated with the flight system. The resulting system performs real-time state estimation by using an Extended Kalman Filter (EKF) implemented with high-fidelity state dynamics model, as does the GPS Enhanced Orbit Determination Experiment (GEODE) system developed by the NASA Goddard Space Flight Center. Augmented to the EKF is a sophisticated neural-fuzzy system, which combines the explicit knowledge representation of fuzzy logic with the learning power of neural networks. The fuzzy-neural system performs most of the self-tuning capability and helps the navigation system recover from estimation errors. The core requirement is a method of state estimation that handles uncertainties robustly, capable of identifying estimation problems, flexible enough to make decisions and adjustments to recover from these problems, and compact enough to run on flight hardware. The resulting system can be extended to support geosynchronous spacecraft and high-eccentricity orbits. Mathematical methodology, systems and operations concepts, and implementation of a system prototype are presented in this paper. Results from the use of the prototype to evaluate optimal control algorithms implemented are discussed. Test data and major control issues (e.g., how to define specific roles for fuzzy logic to support the self-learning capability) are also discussed. In addition, architecture of a complete end-to-end candidate flight system that provides navigation with highly autonomous control using data from GPS is presented.

Automatic outdoor monitoring system for photovoltaic panels

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stefancich, Marco; Simpson, Lin; Chiesa, Matteo

Long-term acquisition of solar panel performance parameters, for panels operated at maximum power point in their real environment, is of critical importance in the photovoltaic research sector. However, few options exist for the characterization of non-standard panels such as concentrated photovoltaic systems, heavily soiled or shaded panels or those operating under non-standard spectral illumination; certainly, it is difficult to find such a measurement system that is flexible and affordable enough to be adopted by the smaller research institutes or universities. We present here an instrument aiming to fill this gap, autonomously tracking and maintaining any solar panel at maximum powermore » point while continuously monitoring its operational parameters and dissipating the produced energy without connection to the power grid. The instrument allows periodic acquisition of current-voltage curves to verify the employed maximum power point tracking approach. At the same time, with hardware schematics and software code being provided, it provides a flexible open development environment for the monitoring of non-standard generators like concentrator photovoltaic systems and to test novel power tracking approaches. The key issues, and the corresponding solutions, encountered in the design are analyzed in detail and the relevant schematics presented.« less

Space Environments Testbed

NASA Technical Reports Server (NTRS)

Leucht, David K.; Koslosky, Marie J.; Kobe, David L.; Wu, Jya-Chang C.; Vavra, David A.

2011-01-01

The Space Environments Testbed (SET) is a flight controller data system for the Common Carrier Assembly. The SET-1 flight software provides the command, telemetry, and experiment control to ground operators for the SET-1 mission. Modes of operation (see dia gram) include: a) Boot Mode that is initiated at application of power to the processor card, and runs memory diagnostics. It may be entered via ground command or autonomously based upon fault detection. b) Maintenance Mode that allows for limited carrier health monitoring, including power telemetry monitoring on a non-interference basis. c) Safe Mode is a predefined, minimum power safehold configuration with power to experiments removed and carrier functionality minimized. It is used to troubleshoot problems that occur during flight. d) Operations Mode is used for normal experiment carrier operations. It may be entered only via ground command from Safe Mode.

Network, system, and status software enhancements for the autonomously managed electrical power system breadboard. Volume 3: Commands specification

NASA Technical Reports Server (NTRS)

Mckee, James W.

1990-01-01

This volume (3 of 4) contains the specification for the command language for the AMPS system. The volume contains a requirements specification for the operating system and commands and a design specification for the operating system and command. The operating system and commands sits on top of the protocol. The commands are an extension of the present set of AMPS commands in that the commands are more compact, allow multiple sub-commands to be bundled into one command, and have provisions for identifying the sender and the intended receiver. The commands make no change to the actual software that implement the commands.

Research on support effectiveness modeling and simulating of aviation materiel autonomic logistics system

NASA Astrophysics Data System (ADS)

Zhou, Yan; Zhou, Yang; Yuan, Kai; Jia, Zhiyu; Li, Shuo

2018-05-01

Aiming at the demonstration of autonomic logistics system to be used at the new generation of aviation materiel in our country, the modeling and simulating method of aviation materiel support effectiveness considering autonomic logistics are studied. Firstly, this paper introduced the idea of JSF autonomic logistics and analyzed the influence of autonomic logistics on support effectiveness from aspects of reliability, false alarm rate, troubleshooting time, and support delay time and maintenance level. On this basis, the paper studies the modeling and simulating methods of support effectiveness considering autonomic logistics, and puts forward the maintenance support simulation process considering autonomic logistics. Finally, taking the typical aviation materiel as an example, this paper analyzes and verifies the above-mentioned support effectiveness modeling and simulating method of aviation materiel considering autonomic logistics.

The nature of the autonomic dysfunction in multiple system atrophy

NASA Technical Reports Server (NTRS)

Parikh, Samir M.; Diedrich, Andre; Biaggioni, Italo; Robertson, David

2002-01-01

The concept that multiple system atrophy (MSA, Shy-Drager syndrome) is a disorder of the autonomic nervous system is several decades old. While there has been renewed interest in the movement disorder associated with MSA, two recent consensus statements confirm the centrality of the autonomic disorder to the diagnosis. Here, we reexamine the autonomic pathophysiology in MSA. Whereas MSA is often thought of as "autonomic failure", new evidence indicates substantial persistence of functioning sympathetic and parasympathetic nerves even in clinically advanced disease. These findings help explain some of the previously poorly understood features of MSA. Recognition that MSA entails persistent, constitutive autonomic tone requires a significant revision of our concepts of its diagnosis and therapy. We will review recent evidence bearing on autonomic tone in MSA and discuss their therapeutic implications, particularly in terms of the possible development of a bionic baroreflex for better control of blood pressure.

The independent and combined effects of respiratory events and cortical arousals on the autonomic nervous system across sleep stages.

PubMed

Liang, Jiuxing; Zhang, Xiangmin; He, Xiaomin; Ling, Li; Zeng, Chunyao; Luo, Yuxi

2018-05-10

During sleep, respiratory events readily modulate the autonomic nervous system (ANS). Whether such modulation is caused by the respiratory event itself or the cortical arousal that follows and whether these influences differ across sleep stages are not clear. Thus, we aimed to study the independent and combined effects of respiratory events and cortical arousals on the ANS across sleep stages. We recruited 22 male patients with sleep apnea-hypopnea syndrome (SAHS) and analyzed the differences in the indices of heart rate variability among normal respiration (NR), pathological respiratory events without cortical arousals (PR), cortical arousals without respiratory events (CA), and the coexistence of PR and CA (PR&CA), by sleep stage. Compared with NR, four indices of variation of the beat-to-beat interval demonstrated consistent results in all sleep stages generally: PR&CA showed the biggest difference, followed by PR and followed by CA, which exhibited the least difference. Thus, the respiratory event itself affects ANS modulation, but the cortical arousal that follows generally enhances this effect. For low-frequency power and low-frequency/high-frequency power ratio (LF/HF), PR&CA had the greatest impact. For mean beat-to-beat interval and high-frequency power (HFP), the influence of PR, CA, and PR&CA depended on sleep depth. However, PR&CA had a different influence on HFP in N2 stage vs. REM stage. Sleep stage also has an effect on this neuromodulatory mechanism. These findings may help clarify the relationship between SAHS and cardiovascular disease.

Combinatorial effect of nicotine and black tea on heart rate variability: Useful or harmful?

PubMed

Joukar, S; Sheibani, M

2017-06-01

The effect of nicotine on heart rate variability (HRV) is controversial. Autonomic nervous system is the main regulator of heart rhythm, and heart rate variability is an appropriate index to assessment of the effects of the autonomic system on heart. In this study, the combination effect of nicotine and black tea consumption on sympatho-vagal balance and heart rate variability was investigated in rats. Male Wistar rats were randomized into four groups as control, tea (2.5 g/100 cc, daily), nicotine (2 mg/kg/d) and tea plus nicotine groups which treated for 28 days, and in the 29th day, their electrocardiograms (lead II) were recorded. The mean of high-frequency power (HF) in tea, nicotine and tea plus nicotine groups was significantly more than control group (P < .05), and low-frequency power/high-frequency power (LF/HF) ratio in the nicotine and tea + nicotine groups was significantly less than control group (P < .05). LF values did not differ significantly among groups. Mean of standard deviation of normal RR intervals (SDNN) and square root of the mean squared differences of successive RR intervals (RMSSD) increased significantly in tea, nicotine and tea + nicotine groups in comparison with control group (P < .05) Overall, 4-week administration of black tea, nicotine or their combination with dosages used in this study can increase the heart rate variability and improve the sympatho-vagal balance in rat. © 2017 John Wiley & Sons Ltd.

Hair-based sensors for micro-autonomous systems

NASA Astrophysics Data System (ADS)

Sadeghi, Mahdi M.; Peterson, Rebecca L.; Najafi, Khalil

2012-06-01

We seek to harness microelectromechanical systems (MEMS) technologies to build biomimetic devices for low-power, high-performance, robust sensors and actuators on micro-autonomous robot platforms. Hair is used abundantly in nature for a variety of functions including balance and inertial sensing, flow sensing and aerodynamic (air foil) control, tactile and touch sensing, insulation and temperature control, particle filtering, and gas/chemical sensing. Biological hairs, which are typically characterized by large surface/volume ratios and mechanical amplification of movement, can be distributed in large numbers over large areas providing unprecedented sensitivity, redundancy, and stability (robustness). Local neural transduction allows for space- and power-efficient signal processing. Moreover by varying the hair structure and transduction mechanism, the basic hair form can be used for a wide diversity of functions. In this paper, by exploiting a novel wafer-level, bubble-free liquid encapsulation technology, we make arrays of micro-hydraulic cells capable of electrostatic actuation and hydraulic amplification, which enables high force/high deflection actuation and extremely sensitive detection (sensing) at low power. By attachment of cilia (hair) to the micro-hydraulic cell, air flow sensors with excellent sensitivity (< few cm/s) and dynamic range (> 10 m/s) have been built. A second-generation design has significantly reduced the sensor response time while maintaining sensitivity of about 2 cm/s and dynamic range of more than 15 m/s. These sensors can be used for dynamic flight control of flying robots or for situational awareness in surveillance applications. The core biomimetic technologies developed are applicable to a broad range of sensors and actuators.

Typical power budget and possible energy source for Autonomous Oceanographic Network (AOSN) Labrador Sea Experiment (LSE). Technical report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Henriksen, H.

1996-06-01

The Autonomous Oceanographic Network (AOSN) Labrador Sea Experiment (LSE) will be held in the Labrador Sea at a seawater depth of 3000 - 3500 meters. The total system will consist of a number of AUVs which will operate from a set of moorings within a defined area. Each mooring will be placed on the seafloor. The docking stations will be placed in the water column at 1000-2000 meters water depth. Each AUV will have at least one possible docking station to charge batteries and to transfer data. This report will show two different load pattern examples for the AOSN LSE,more » and the implications upon the power budget of the mooring. The possible use of a seawater battery and its implications upon the system will be discussed. A preliminary design of the sizes and weights of a seawater battery for this application is also included. Energy delivery to an experiment like the AOSN LSE with the use of a seawater battery is feasible both technically and within the time span of the AOSN project. The environment of the Labrador Sea is well documented and seems suitable to accommodate a seawater battery. Due to the large water depths involved and the simplicity of the system, and the lack of any large pressure housings the seawater battery seems like a good candidate both in respect to costs and feasibility.« less

Infrared Free Space Communication - The Autonomous Testing of Free Space Infrared Communication

NASA Technical Reports Server (NTRS)

Heldman, Christopher

2017-01-01

Fiber optics has been a winning player in the game of high-speed communication and data transfer in cable connections. Yet, in free space RF has been the repeated choice of communication medium of the space industry. Investigating the benefits of free space optical communication over radio frequency is worthwhile. An increase in science data rate return capabilities could occur if optical communication is implemented. Optical communication systems also provide efficiencies in power, mass, and volume over RF systems1. Optical communication systems have been demonstrated from a satellite in orbit with the moon to earth, and resulted in the highest data rates ever seen through space (622Mbps)2. Because of these benefits, optical communication is far superior to RF. The HiDRA (High Data Rate Architecture) project is researching Passive Misalignment Mitigation of Dynamic Free Apace Optical Communication Links. The goal of this effort is to enable gigabit per second transmission of data in short range dynamic links (less than 100 meters). In practice this would enhance data rates between sites on the International Space Station with minimal size, weight, and power requirements. This paper will focus on an autonomous code and a hardware setup that will be used to fulfill the next step in the research being conducted. The free space optical communications pointing downfalls will be investigated. This was achieved by creating 5 python programs and a top-level code to automate this test.

A wearable, low-power, health-monitoring instrumentation based on a Programmable System-on-Chip.

PubMed

Massot, Bertrand; Gehin, Claudine; Nocua, Ronald; Dittmar, Andre; McAdams, Eric

2009-01-01

Improvement in quality and efficiency of health and medicine, at home and in hospital, has become of paramount importance. The solution of this problem would require the continuous monitoring of several key patient parameters, including the assessment of autonomic nervous system (ANS) activity using non-invasive sensors, providing information for emotional, sensorial, cognitive and physiological analysis of the patient. Recent advances in embedded systems, microelectronics, sensors and wireless networking enable the design of wearable systems capable of such advanced health monitoring. The subject of this article is an ambulatory system comprising a small wrist device connected to several sensors for the detection of the autonomic nervous system activity. It affords monitoring of skin resistance, skin temperature and heart activity. It is also capable of recording the data on a removable media or sending it to computer via a wireless communication. The wrist device is based on a Programmable System-on-Chip (PSoC) from Cypress: PSoCs are mixed-signal arrays, with dynamic, configurable digital and analogical blocks and an 8-bit Microcontroller unit (MCU) core on a single chip. In this paper we present first of all the hardware and software architecture of the device, and then results obtained from initial experiments.

[Effects of inflammation and stimulant diets on functions of autonomic nervous system (author's transl)].

PubMed

Akaeda, H; Nagai, K; Okuda, Y; Shinoto, M; Okuda, H

1981-06-01

In usual medical consultation, we have been met a lot of female patients suffering from disturbances of autonomic nervous system such as headache, shoulder-ache and so on. Experiments were designed to elucidate whether or not these disturbances of autonomic nervous system were induced by inflammation and accelerated by stimulant diets. Functions of autonomic nervous system were examined by lipolysis in rat epididymal adipose tissue which was partly controlled by sympathetic nervous system. It was found that free fatty acid release from the epididymal adipose tissue was considerably elevated by inflammation which was formed in abdominal wall or in abdominal cavity or oral administration of stimulant diets such as red pepper and white pepper, and that such elevation of lipolysis was significantly reduced by resection of the autonomic nerve. These results indicated that the inflammation and the stimulant diets induced excitement of sympathetic nerve which controlled the epididymal adipose tissue. Experiments were now in progress to clarify relationship between such excitement of sympathetic nervous system induced by the inflammation or by the stimulant diet and irregular complaints due to disturbances of autonomic nervous system.