Design and realization of an automatic weather station at island

NASA Astrophysics Data System (ADS)

Chen, Yong-hua; Li, Si-ren

2011-10-01

In this paper, the design and development of an automatic weather station monitoring is described. The proposed system consists of a set of sensors for measuring meteorological parameters (temperature, wind speed & direction, rain fall, visibility, etc.). To increase the reliability of the system, wind speed & direction are measured redundantly with duplicate sensors. The sensor signals are collected by the data logger CR1000 at several analog and digital inputs. The CR1000 and the sensors form a completely autonomous system which works with the other systems installed in the container. Communication with the master PC is accomplished over the method of Code Division Multiple Access (CDMA) with the Compact Caimore6550P CDMA DTU. The data are finally stored in tables on the CPU as well as on the CF-Card. The weather station was built as an efficient autonomous system which operates with the other systems to provide the required data for a fully automatic measurement system.

Near-space flight of a correlated photon system

PubMed Central

Tang, Zhongkan; Chandrasekara, Rakhitha; Sean, Yau Yong; Cheng, Cliff; Wildfeuer, Christoph; Ling, Alexander

2014-01-01

We report the successful test flight of a device for generating and monitoring correlated photon pairs under near-space conditions up to 35.5 km altitude. Data from ground based qualification tests and the high altitude experiment demonstrate that the device continues to operate even under harsh environmental conditions. The design of the rugged, compact and power-efficient photon pair system is presented. This design enables autonomous photon pair systems to be deployed on low-resource platforms such as nanosatellites hosting remote nodes of a quantum key distribution network. These results pave the way for tests of entangled photon technology in low earth orbit. PMID:25219935

Development of a Compact, Pulsed, 2-Micron, Coherent-Detection, Doppler Wind Lidar Transceiver; and Plans for Flights on NASA's DC-8 and WB-57 Aircraft

NASA Technical Reports Server (NTRS)

Kavaya, Michael J.; Singh, Upendra N.; Koch, Grady J.; Yu, Jirong; Trieu, Bo C.; Petros, Mulugeta; Petzar, Paul J.

2009-01-01

We present results of a recently completed effort to design, fabricate, and demonstrate a compact lidar transceiver for coherent-detection lidar profiling of winds. The novel high-energy, 2-micron, Ho:Tm:LuLiF laser technology developed at NASA Langley was employed to permit study of the laser technology currently envisioned by NASA for global coherent Doppler lidar measurement of winds in the future. The 250 mJ, 10 Hz compact transceiver was also designed for future aircraft flight. Ground-based wind profiles made with this transceiver will be presented. NASA Langley is currently funded to build complete Doppler lidar systems using this transceiver for the DC-8 and WB-57 aircraft. The WB-57 flights will present a more severe environment and will require autonomous operation of the lidar system. The DC-8 lidar system is a likely component of future NASA hurricane research. It will include real-time data processing and display, as well as full data archiving. We will attempt to co-fly on both aircraft with a direct-detection Doppler wind lidar system being prepared by NASA Goddard Space Flight Center.

Helicopter Flight Test of a Compact, Real-Time 3-D Flash Lidar for Imaging Hazardous Terrain During Planetary Landing

NASA Technical Reports Server (NTRS)

Roback, VIncent E.; Amzajerdian, Farzin; Brewster, Paul F.; Barnes, Bruce W.; Kempton, Kevin S.; Reisse, Robert A.; Bulyshev, Alexander E.

2013-01-01

A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 µm Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster-scanning mode in which successive, gimbaled images of the hazard field are mosaicked together as well as in a wider, 4.85deg FOV staring mode in which digital magnification, via a novel 3-D superresolution technique, is used to effectively achieve the same spatial precision attained with the more narrow FOV optics. The lidar generates calibrated and corrected 3-D range images of the hazard field in real-time and passes them to the ALHAT Hazard Detection System (HDS) which stitches the images together to generate on-the-fly Digital Elevation Maps (DEM's) and identifies hazards and safe-landing sites which the ALHAT GN&C system can then use to guide the host vehicle to a safe landing on the selected site. Results indicate that, for the KSC hazard field, the lidar operational range extends from 100m to 1.35 km for a 30 degree line-of-sight angle and a range precision as low as 8 cm which permits hazards as small as 25 cm to be identified. Based on the Flash Lidar images, the HDS correctly found and reported safe sites in near-real-time during several of the flights. A follow-on field test, planned for 2013, seeks to complete the closing of the GN&C loop for fully-autonomous operations on-board the Morpheus robotic, rocket-powered, free-flyer test bed in which the ALHAT system would scan the KSC hazard field (which was vetted during the present testing) and command the vehicle to landing on one of the selected safe sites.

A flat microbial fuel cell for decentralized wastewater valorization: process performance and optimization potential.

PubMed

Peixoto, Luciana; Rodrigues, Alexandrina L; Martins, Gilberto; Nicolau, Ana; Brito, António G; Silva, M Manuela; Parpot, Pier; Nogueira, Regina

2013-01-01

A very compact flat microbial fuel cell (MFC), with 64 cm2 each for the anode surface and the cathode surface and 1 cm3 each for the anode and cathode chambers, was tested for wastewater treatment with simultaneous electricity production with the ultimate goal of implementing an autonomous service in decentralized wastewater treatment systems. The MFC was operated with municipal wastewater in sequencing batch reactor mode with re-circulation. Current densities up to 407 W/m3 and a carbon removal of 83% were obtained. Interruption in the operation slightly decreased power density, while the re-circulation ratio did not influence power generation. The anode biofilm presented high conductivity, activity and diversity. The denaturing gradient gel electrophoresis band-pattern of the DNA showed the presence of several ribotypes with different species of Shewanellaceae and Geobacteraceae families.

Passive Bottom Loss Estimation Using Compact Arrays and Autonomous Underwater Vehicles

DTIC Science & Technology

2015-09-30

advances in the technology of autonomous underwater vehicles ( AUV ), make it now possible to envision an efficient, cost effective survey tool for seabed...characterization composed of a short array mounted on an AUV . While AUV mounting would require arrays of length presumably below 2m, the passive...frequency range indicated above, the poor angular resolution of the short arrays required in AUV deployment causes an underestimation of the loss

Measuring Earth's Radiation Budget from the Vicinity of the Moon

NASA Astrophysics Data System (ADS)

Swartz, W. H.; Lorentz, S. R.; Erlandson, R. E.; Cahalan, R. F.; Huang, P. M.

2018-02-01

We propose to measure Earth's radiation budget (integrated total and solar-reflected shortwave) using broadband radiometers and other technology demonstrated in space. The instrument is compact, autonomous, and has modest resource requirements.

Optimization of eyesafe avalanche photodiode lidar for automobile safety and autonomous navigation systems

NASA Astrophysics Data System (ADS)

Williams, George M.

2017-03-01

Newly emerging accident-reducing, driver-assistance, and autonomous-navigation technology for automobiles is based on real-time three-dimensional mapping and object detection, tracking, and classification using lidar sensors. Yet, the lack of lidar sensors suitable for meeting application requirements appreciably limits practical widespread use of lidar in trucking, public livery, consumer cars, and fleet automobiles. To address this need, a system-engineering perspective to eyesafe lidar-system design for high-level advanced driver-assistance sensor systems and a design trade study including 1.5-μm spot-scanned, line-scanned, and flash-lidar systems are presented. A cost-effective lidar instrument design is then proposed based on high-repetition-rate diode-pumped solid-state lasers and high-gain, low-excess-noise InGaAs avalanche photodiode receivers and focal plane arrays. Using probabilistic receiver-operating-characteristic analysis, derived from measured component performance, a compact lidar system is proposed that is capable of 220 m ranging with 5-cm accuracy, which can be readily scaled to a 360-deg field of regard.

Autonomous Science Operations Technologies for Deep Space Gateway

NASA Astrophysics Data System (ADS)

Barnes, P. K.; Haddock, A. T.; Cruzen, C. A.

2018-02-01

Autonomous Science Operations Technologies for Deep Space Gateway (DSG) is an overview of how the DSG would benefit from autonomous systems utilizing proven technologies performing telemetry monitoring and science operations.

HALOS: fast, autonomous, holographic adaptive optics

NASA Astrophysics Data System (ADS)

Andersen, Geoff P.; Gelsinger-Austin, Paul; Gaddipati, Ravi; Gaddipati, Phani; Ghebremichael, Fassil

2014-08-01

We present progress on our holographic adaptive laser optics system (HALOS): a compact, closed-loop aberration correction system that uses a multiplexed hologram to deconvolve the phase aberrations in an input beam. The wavefront characterization is based on simple, parallel measurements of the intensity of fixed focal spots and does not require any complex calculations. As such, the system does not require a computer and is thus much cheaper, less complex than conventional approaches. We present details of a fully functional, closed-loop prototype incorporating a 32-element MEMS mirror, operating at a bandwidth of over 10kHz. Additionally, since the all-optical sensing is made in parallel, the speed is independent of actuator number - running at the same bandwidth for one actuator as for a million.

Autonomous Commanding of the WIRE Spacecraft

NASA Technical Reports Server (NTRS)

Prior, Mike; Walyus, Keith; Saylor, Rick

1999-01-01

This paper presents the end-to-end design architecture for an autonomous commanding capability to be used on the Wide Field Infrared Explorer (WIRE) mission for the uplink of command loads during unattended station contacts. The WIRE mission is the fifth and final mission of NASA's Goddard Space Flight Center Small Explorer (SMEX) series to be launched in March of 1999. Its primary mission is the targeting of deep space fields using an ultra-cooled infrared telescope. Due to its mission design WIRE command loads are large (approximately 40 Kbytes per 24 hours) and must be performed daily. To reduce the cost of mission operations support that would be required in order to uplink command loads, the WIRE Flight Operations Team has implemented an autonomous command loading capability. This capability allows completely unattended operations over a typical two- day weekend period. The key factors driving design and implementation of this capability were: 1) Integration with already existing ground system autonomous capabilities and systems, 2) The desire to evolve autonomous operations capabilities based upon previous SMEX operations experience 3) Integration with ground station operations - both autonomous and man-tended, 4) Low cost and quick implementation, and 5) End-to-end system robustness. A trade-off study was performed to examine these factors in light of the low-cost, higher-risk SMEX mission philosophy. The study concluded that a STOL (Spacecraft Test and Operations Language) based script, highly integrated with other scripts used to perform autonomous operations, was best suited given the budget and goals of the mission. Each of these factors is discussed to provide an overview of the autonomous operations capabilities implemented for the mission. The capabilities implemented on the WIRE mission are an example of a low-cost, robust, and efficient method for autonomous command loading when implemented with other autonomous features of the ground system. They can be used as a design and implementation template by other small satellite missions interested in evolving toward autonomous and lower cost operations.

Lead telluride as a thermoelectric material for thermoelectric power generation

NASA Astrophysics Data System (ADS)

Dughaish, Z. H.

2002-09-01

The specialized applications of thermoelectric generators are very successful and have motivated a search for materials with an improved figure of merit Z, and also for materials which operate at elevated temperatures. Lead telluride, PbTe, is an intermediate thermoelectric power generator. Its maximum operating temperature is 900 K. PbTe has a high melting point, good chemical stability, low vapor pressure and good chemical strength in addition to high figure of merit Z. Recently, research in thermoelectricity aims to obtain new improved materials for autonomous sources of electrical power in specialized medical, terrestial and space applications and to obtain an unconventional energy source after the oil crises of 1974. Although the efficiency of thermoelectric generators is rather low, typically ∼5%, the other advantages, such as compactness, silent, reliability, long life, and long period of operation without attention, led to a wide range of applications. PbTe thermoelectric generators have been widely used by the US army, in space crafts to provide onboard power, and in pacemakers batteries. The general physical properties of lead telluride and factors affecting the figure of merit have been reviewed. Various possibilities of improving the figure of merit of the material have been given, including effect of grain size on reducing the lattice thermal conductivity λL. Comparison of some transport properties of lead telluride with other thermoelectric materials and procedures of preparing compacts with transport properties very close to the single crystal values from PbTe powder by cold and hot-pressing techniques are discussed.

Advancing Autonomous Operations Technologies for NASA Missions

NASA Technical Reports Server (NTRS)

Cruzen, Craig; Thompson, Jerry Todd

2013-01-01

This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce operations cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing operations cost, ameliorating inefficiencies, and mitigating catastrophic anomalies.

Pilot In Command: A Feasibility Assessment of Autonomous Flight Management Operations

NASA Technical Reports Server (NTRS)

Wing, David J.; Ballin, Mark G.; Krishnamurthy, Karthik

2004-01-01

Several years of NASA research have produced the air traffic management operational concept of Autonomous Flight Management with high potential for operational feasibility, significant system and user benefits, and safety. Among the chief potential benefits are demand-adaptive or scalable capacity, user flexibility and autonomy that may finally enable truly successful business strategies, and compatibility with current-day operations such that the implementation rate can be driven from within the user community. A concept summary of Autonomous Flight Management is provided, including a description of how these operations would integrate in shared airspace with existing ground-controlled flight operations. The mechanisms enabling the primary benefits are discussed, and key findings of a feasibility assessment of airborne autonomous operations are summarized. Concept characteristics that impact safety are presented, and the potential for initially implementing Autonomous Flight Management is discussed.

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.

Cold Regions Issues for Off-Road Autonomous Vehicles

DTIC Science & Technology

2004-04-01

the operation of off-road autonomous vehicles . Low-temperature effects on lubricants, materials, and batteries can impair a robot’s ability to operate...demanding that off-road autonomous vehicles must be designed for and tested in cold regions if they are expected to operate there successfully.

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.

Miniature Robotic Spacecraft for Inspecting Other Spacecraft

NASA Technical Reports Server (NTRS)

Fredrickson, Steven; Abbott, Larry; Duran, Steve; Goode, Robert; Howard, Nathan; Jochim, David; Rickman, Steve; Straube, Tim; Studak, Bill; Wagenknecht, Jennifer;

Technologies for autonomous integrated lab-on-chip systems for space missions

NASA Astrophysics Data System (ADS)

Nascetti, A.; Caputo, D.; Scipinotti, R.; de Cesare, G.

2016-11-01

Lab-on-chip devices are ideal candidates for use in space missions where experiment automation, system compactness, limited weight and low sample and reagent consumption are required. Currently, however, most microfluidic systems require external desktop instrumentation to operate and interrogate the chip, thus strongly limiting their use as stand-alone systems. In order to overcome the above-mentioned limitations our research group is currently working on the design and fabrication of "true" lab-on-chip systems that integrate in a single device all the analytical steps from the sample preparation to the detection without the need for bulky external components such as pumps, syringes, radiation sources or optical detection systems. Three critical points can be identified to achieve 'true' lab-on-chip devices: sample handling, analytical detection and signal transduction. For each critical point, feasible solutions are presented and evaluated. Proposed microfluidic actuation and control is based on electrowetting on dielectrics, autonomous capillary networks and active valves. Analytical detection based on highly specific chemiluminescent reactions is used to avoid external radiation sources. Finally, the integration on the same chip of thin film sensors based on hydrogenated amorphous silicon is discussed showing practical results achieved in different sensing tasks.

Alternative Fuels Data Center

Science.gov Websites

Autonomous Vehicle Operation A person can operate a fully autonomous vehicle with the automated federal motor vehicle safety standards and is registered as a fully autonomous vehicle. Other conditions

A Flight Deck Decision Support Tool for Autonomous Airborne Operations

NASA Technical Reports Server (NTRS)

Ballin, Mark G.; Sharma, Vivek; Vivona, Robert A.; Johnson, Edward J.; Ramiscal, Ermin

2002-01-01

NASA is developing a flight deck decision support tool to support research into autonomous operations in a future distributed air/ground traffic management environment. This interactive real-time decision aid, referred to as the Autonomous Operations Planner (AOP), will enable the flight crew to plan autonomously in the presence of dense traffic and complex flight management constraints. In assisting the flight crew, the AOP accounts for traffic flow management and airspace constraints, schedule requirements, weather hazards, aircraft operational limits, and crew or airline flight-planning goals. This paper describes the AOP and presents an overview of functional and implementation design considerations required for its development. Required AOP functionality is described, its application in autonomous operations research is discussed, and a prototype software architecture for the AOP is presented.

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

Development and field application of a 6-bottle serial gas-tight fluid sampler for collecting seafloor cold seep and hydrothermal vent fluids with autonomous operation capability

NASA Astrophysics Data System (ADS)

Wu, S.; Ding, K.; Yang, C.; Seyfried, W. E., Jr.; Tan, C.; Schaen, A. T.; Luhmann, A. J.

2014-12-01

A 6-bottle serial gas-tight sampler (so-called "six-shooter") was developed for application with deep-sea vent fluids. The new device is composed of a custom-made 6-channel valve manifold and six sampling bottles which are circularly distributed around the valve manifold. Each valve channel consists of a high-pressure titanium cartridge valve and a motor-driven actuator. A sampling snorkel is connected to the inlet of the manifold that delivers the incoming fluid to different bottles. Each sampling bottle has a 160 ml-volume chamber and an accumulator chamber inside where compressed nitrogen is used to maintain the sample at near in-situ pressure. An electronics chamber that is located at the center of the sampler is used to carry out all sampling operations, autonomously, if desired. The sampler is of a compact circular configuration with a diameter of 26 cm and a length of 54 cm. During the SVC cruise AT 26-12, the sampler was deployed by DSV2 Alvin at a cold seep site MC036 with a depth of 1090 m in the Gulf of Mexico. The sampler collected fluid samples automatically following the tidal cycle to monitor the potential impact of the tide cycle on the fluid chemistry of cold seep in a period of two day. During the cruise AT 26-17, the sampler was used with newly upgraded DSV2 Alvin three times at the hydrothermal vent sites along Axial Seamount and Main Endeavor Field on Juan de Fuca Ridge. During a 4-day deployment at Anemone diffuse site (Axial Caldera), the sampler was set to work in an autonomous mode to collect fluid samples according to the preset interval. During other dives, the sampler was manually controlled via ICL (Inductively Coupled Link) communication through the hull. Gas-tight fluid samples were collected from different hydrothermal vents with temperatures between 267 ℃ and 335 ℃ at the depth up to 2200 m. The field results indicate unique advantages of the design. It can be deployed in extended time period with remote operation or working autonomously taking gas-tight fluid samples. If used with HOV or ROV, it will reduce basket space occupation and ICL communication cables compared to traditional single-bottle gas-tight samplers. This time serial gas-tight fluid sampler will be further developed into a 36 bottle system for remote operation with seafloor cabled observatory.

Regularity of random attractors for fractional stochastic reaction-diffusion equations on Rn

NASA Astrophysics Data System (ADS)

Gu, Anhui; Li, Dingshi; Wang, Bixiang; Yang, Han

2018-06-01

We investigate the regularity of random attractors for the non-autonomous non-local fractional stochastic reaction-diffusion equations in Hs (Rn) with s ∈ (0 , 1). We prove the existence and uniqueness of the tempered random attractor that is compact in Hs (Rn) and attracts all tempered random subsets of L2 (Rn) with respect to the norm of Hs (Rn). The main difficulty is to show the pullback asymptotic compactness of solutions in Hs (Rn) due to the noncompactness of Sobolev embeddings on unbounded domains and the almost sure nondifferentiability of the sample paths of the Wiener process. We establish such compactness by the ideas of uniform tail-estimates and the spectral decomposition of solutions in bounded domains.

Application of a distributed systems architecture for increased speed in image processing on an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Wright, Adam A.; Momin, Orko; Shin, Young Ho; Shakya, Rahul; Nepal, Kumud; Ahlgren, David J.

2010-01-01

This paper presents the application of a distributed systems architecture to an autonomous ground vehicle, Q, that participates in both the autonomous and navigation challenges of the Intelligent Ground Vehicle Competition. In the autonomous challenge the vehicle is required to follow a course, while avoiding obstacles and staying within the course boundaries, which are marked by white lines. For the navigation challenge, the vehicle is required to reach a set of target destinations, known as way points, with given GPS coordinates and avoid obstacles that it encounters in the process. Previously the vehicle utilized a single laptop to execute all processing activities including image processing, sensor interfacing and data processing, path planning and navigation algorithms and motor control. National Instruments' (NI) LabVIEW served as the programming language for software implementation. As an upgrade to last year's design, a NI compact Reconfigurable Input/Output system (cRIO) was incorporated to the system architecture. The cRIO is NI's solution for rapid prototyping that is equipped with a real time processor, an FPGA and modular input/output. Under the current system, the real time processor handles the path planning and navigation algorithms, the FPGA gathers and processes sensor data. This setup leaves the laptop to focus on running the image processing algorithm. Image processing as previously presented by Nepal et. al. is a multi-step line extraction algorithm and constitutes the largest processor load. This distributed approach results in a faster image processing algorithm which was previously Q's bottleneck. Additionally, the path planning and navigation algorithms are executed more reliably on the real time processor due to the deterministic nature of operation. The implementation of this architecture required exploration of various inter-system communication techniques. Data transfer between the laptop and the real time processor using UDP packets was established as the most reliable protocol after testing various options. Improvement can be made to the system by migrating more algorithms to the hardware based FPGA to further speed up the operations of the vehicle.

Autonomous intelligent assembly systems LDRD 105746 final report.

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

Anderson, Robert J.

2013-04-01

This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control frameworkmore » for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.« less

Improving Human/Autonomous System Teaming Through Linguistic Analysis

NASA Technical Reports Server (NTRS)

Meszaros, Erica L.

2016-01-01

An area of increasing interest for the next generation of aircraft is autonomy and the integration of increasingly autonomous systems into the national airspace. Such integration requires humans to work closely with autonomous systems, forming human and autonomous agent teams. The intention behind such teaming is that a team composed of both humans and autonomous agents will operate better than homogenous teams. Procedures exist for licensing pilots to operate in the national airspace system and current work is being done to define methods for validating the function of autonomous systems, however there is no method in place for assessing the interaction of these two disparate systems. Moreover, currently these systems are operated primarily by subject matter experts, limiting their use and the benefits of such teams. Providing additional information about the ongoing mission to the operator can lead to increased usability and allow for operation by non-experts. Linguistic analysis of the context of verbal communication provides insight into the intended meaning of commonly heard phrases such as "What's it doing now?" Analyzing the semantic sphere surrounding these common phrases enables the prediction of the operator's intent and allows the interface to supply the operator's desired information.

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

Alternative Fuels Data Center

Science.gov Websites

Autonomous Vehicle Regulations and Committee A fully autonomous vehicle is defined as a vehicle tactical control functions of the vehicle at any time.Effective December 1, 2017, the operator of a fully autonomous vehicle is not required to be licensed to operate a motor vehicle. A person may operate a fully

Advancing Autonomous Operations Technologies for NASA Missions

NASA Technical Reports Server (NTRS)

Cruzen, Craig; Thompson, Jerry T.

2013-01-01

This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing cost, ameliorating inefficiencies, and mitigating catastrophic anomalies

Advanced avionics concepts: Autonomous spacecraft control

NASA Technical Reports Server (NTRS)

1990-01-01

A large increase in space operations activities is expected because of Space Station Freedom (SSF) and long range Lunar base missions and Mars exploration. Space operations will also increase as a result of space commercialization (especially the increase in satellite networks). It is anticipated that the level of satellite servicing operations will grow tenfold from the current level within the next 20 years. This growth can be sustained only if the cost effectiveness of space operations is improved. Cost effectiveness is operational efficiency with proper effectiveness. A concept is presented of advanced avionics, autonomous spacecraft control, that will enable the desired growth, as well as maintain the cost effectiveness (operational efficiency) in satellite servicing operations. The concept of advanced avionics that allows autonomous spacecraft control is described along with a brief description of each component. Some of the benefits of autonomous operations are also described. A technology utilization breakdown is provided in terms of applications.

Compact propane fuel processor for auxiliary power unit application

NASA Astrophysics Data System (ADS)

Dokupil, M.; Spitta, C.; Mathiak, J.; Beckhaus, P.; Heinzel, A.

With focus on mobile applications a fuel cell auxiliary power unit (APU) using liquefied petroleum gas (LPG) is currently being developed at the Centre for Fuel Cell Technology (Zentrum für BrennstoffzellenTechnik, ZBT gGmbH). The system is consisting of an integrated compact and lightweight fuel processor and a low temperature PEM fuel cell for an electric power output of 300 W. This article is presenting the current status of development of the fuel processor which is designed for a nominal hydrogen output of 1 k Wth,H2 within a load range from 50 to 120%. A modular setup was chosen defining a reformer/burner module and a CO-purification module. Based on the performance specifications, thermodynamic simulations, benchmarking and selection of catalysts the modules have been developed and characterised simultaneously and then assembled to the complete fuel processor. Automated operation results in a cold startup time of about 25 min for nominal load and carbon monoxide output concentrations below 50 ppm for steady state and dynamic operation. Also fast transient response of the fuel processor at load changes with low fluctuations of the reformate gas composition have been achieved. Beside the development of the main reactors the transfer of the fuel processor to an autonomous system is of major concern. Hence, concepts for packaging have been developed resulting in a volume of 7 l and a weight of 3 kg. Further a selection of peripheral components has been tested and evaluated regarding to the substitution of the laboratory equipment.

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.

Integrated polarization-dependent sensor for autonomous navigation

NASA Astrophysics Data System (ADS)

Liu, Ze; Zhang, Ran; Wang, Zhiwen; Guan, Le; Li, Bin; Chu, Jinkui

2015-01-01

Based on the navigation strategy of insects utilizing the polarized skylight, an integrated polarization-dependent sensor for autonomous navigation is presented. The navigation sensor has the features of compact structure, high precision, strong robustness, and a simple manufacture technique. The sensor is composed by integrating a complementary-metal-oxide-semiconductor sensor with a multiorientation nanowire grid polarizer. By nanoimprint lithography, the multiorientation nanowire polarizer is fabricated in one step and the alignment error is eliminated. The statistical theory is added to the interval-division algorithm to calculate the polarization angle of the incident light. The laboratory and outdoor tests for the navigation sensor are implemented and the errors of the measured angle are ±0.02 deg and ±1.3 deg, respectively. The results show that the proposed sensor has potential for application in autonomous navigation.

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.

Adaptive Inner-Loop Rover Control

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

2006-01-01

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

The Jet Propulsion Laboratory shared control architecture and implementation

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Hayati, Samad

1990-01-01

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation for Logistical Use in Complex Environments

DTIC Science & Technology

2012-06-01

This document was downloaded on August 16, 2012 at 10:14:04 Author(s) Acton, Brian E.; Taylor, David L. Title Autonomous Dirigible Airships: a ...Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation for Logistical Use in Complex Environments...2. REPORT DATE June 2012 3. REPORT TYPE AND DATES COVERED MBA Professional Report 4. TITLE AND SUBTITLE: Autonomous Dirigible Airships: A

Towards Autonomous Airport Surface Operations: NextGen Flight Deck Implications

NASA Technical Reports Server (NTRS)

Foyle, David C.; Hooey, Becky Lee; Bakowski, Deborah Lee

2017-01-01

Surface Trajectory-based Operations (STBO) is a potential concept candidate for flight deck autonomous operations. Existing research will be reviewed and possible architectures and research issues will be presented.

Wi-Fi and satellite-based location techniques for intelligent agricultural machinery controlled by a human operator.

PubMed

Drenjanac, Domagoj; Tomic, Slobodanka; Agüera, Juan; Perez-Ruiz, Manuel

2014-10-22

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems' (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach.

Wi-Fi and Satellite-Based Location Techniques for Intelligent Agricultural Machinery Controlled by a Human Operator

PubMed Central

Drenjanac, Domagoj; Tomic, Slobodanka; Agüera, Juan; Perez-Ruiz, Manuel

2014-01-01

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems’ (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach. PMID:25340450

Design and Implementation of a Biomimetic Turtle Hydrofoil for an Autonomous Underwater Vehicle

PubMed Central

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. PMID:22247660

Investigation into legislative action needed to accommodate the future safe operation of autonomous vehicles in the state of Louisiana.

DOT National Transportation Integrated Search

2016-10-01

This report addresses the matter of autonomous vehicles and the regulation of their operation in the : state of Louisiana. It was prepared in response to a request from the Louisiana State Legislature to : study the subject of autonomous vehicles and...

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 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.

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.

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.

An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

DTIC Science & Technology

2013-02-01

Remotely Operated Vehicle RTOS Real-Time Operating System SAUC -E Student Autonomous Underwater Vehicle Challenge - Europe TCP Transmission Control Protocol...popularity, with examples including the Student Autonomous Underwater Vehicle Challenge - Europe ( SAUC -E) [7] and the AUVSI robosub competition [8]. For...28] for entry into AUV competitions such as SAUC -E [7], and AUVSI [8]. 8 UNCLASSIFIED UNCLASSIFIED DSTO–TN–1194 3.4 Windows CE Windows CE

JOMAR: Joint Operations with Mobile Autonomous Robots

DTIC Science & Technology

2015-12-21

AFRL-AFOSR-JP-TR-2015-0009 JOMAR: Joint Operations with Mobile Autonomous Robots Edwin Olson UNIVERSITY OF MICHIGAN Final Report 12/21/2015...SUBTITLE JOMAR: Joint Operations with Mobile Autonomous Robots 5a. CONTRACT NUMBER FA23861114024 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...14. ABSTRACT Under this grant, we formulated and implemented a variety of novel algorithms that address core problems in multi- robot systems. These

Compact Holographic Data Storage

NASA Technical Reports Server (NTRS)

Chao, T. H.; Reyes, G. F.; Zhou, H.

2001-01-01

NASA's future missions would require massive high-speed onboard data storage capability to Space Science missions. For Space Science, such as the Europa Lander mission, the onboard data storage requirements would be focused on maximizing the spacecraft's ability to survive fault conditions (i.e., no loss in stored science data when spacecraft enters the 'safe mode') and autonomously recover from them during NASA's long-life and deep space missions. This would require the development of non-volatile memory. In order to survive in the stringent environment during space exploration missions, onboard memory requirements would also include: (1) survive a high radiation environment (1 Mrad), (2) operate effectively and efficiently for a very long time (10 years), and (3) sustain at least a billion write cycles. Therefore, memory technologies requirements of NASA's Earth Science and Space Science missions are large capacity, non-volatility, high-transfer rate, high radiation resistance, high storage density, and high power efficiency. JPL, under current sponsorship from NASA Space Science and Earth Science Programs, is developing a high-density, nonvolatile and rad-hard Compact Holographic Data Storage (CHDS) system to enable large-capacity, high-speed, low power consumption, and read/write of data in a space environment. The entire read/write operation will be controlled with electrooptic mechanism without any moving parts. This CHDS will consist of laser diodes, photorefractive crystal, spatial light modulator, photodetector array, and I/O electronic interface. In operation, pages of information would be recorded and retrieved with random access and high-speed. The nonvolatile, rad-hard characteristics of the holographic memory will provide a revolutionary memory technology meeting the high radiation challenge facing the Europa Lander mission. Additional information is contained in the original extended abstract.

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

NASA Technical Reports Server (NTRS)

Soeder, James; Raitano, Paul; McNelis, Anne

2016-01-01

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

Autonomous Command Operations of the WIRE Spacecraft

NASA Technical Reports Server (NTRS)

Walyus, Keith; Prior, Mike; Saylor, Richard

1999-01-01

This paper presents operational innovations which will be introduced on NASA's Wide Field Infrared Explorer (WIRE) mission. These innovations include an end-to-end design architecture for an autonomous commanding capability for the uplink of command loads during unattended station contacts. The WIRE mission is the fifth and final mission of NASA's Goddard Space Flight Center Small Explorer (SMEX) series to be launched in March of 1999. Its primary mission is the targeting of deep space fields using an ultra-cooled infrared telescope. Due to its mission design WIRE command loads are large (approximately 40 Kbytes per 24 hours) and must be performed daily. To reduce the cost of mission operations support that would be required in order to uplink command loads, the WIRE Flight Operations Team has implemented all autonomous command loading capability. This capability allows completely unattended operations over a typical two-day weekend period. The key factors driving design and implementation of this capability were: 1) integration with already existing ground system autonomous capabilities and systems, 2) the desire to evolve autonomous operations capabilities based upon previous SMEX operations experience - specifically the TRACE mission, 3) integration with ground station operations - both autonomous and man-tended, 4) low cost and quick implementation, and 5) end-to-end system robustness. A trade-off study was performed to examine these factors in light of the low-cost, higher-risk SMEX mission philosophy. The study concluded that a STOL (Spacecraft Test and Operations Language) based script, highly integrated with other scripts used to perform autonomous operations, was best suited given the budget and goals of the mission. Each of these factors is discussed in addition to use of the TRACE mission as a testbed for autonomous commanding prior to implementation on WIRE. The capabilities implemented on the WIRE mission are an example of a low-cost, robust, and efficient method for autonomous command loading when implemented with other autonomous features of the ground system. They call be used as a design and implementation template by other missions interested in evolving toward autonomous and lower cost operations. Additionally, the WIRE spacecraft will be used as an operational testbed upon completion of its nominal mission later in 1999. One idea being studied is advanced on-board modeling. Advanced on-board modeling techniques will be used to more efficiently display the spacecraft state. This health and safety information could be used by engineers on the ground or could be used by tile spacecraft for its own assessments. Additionally, this same state information could also be input into the event-driven scheduling system, as the scheduling system will need to assess the spacecraft state before undertaking a new activity. Advanced modeling techniques are being evaluated for a number of NASA missions including The Next Generation Space Telescope (NGST), which is scheduled to launch in 2007.

Intrinsic Sensing and Evolving Internal Model Control of Compact Elastic Module for a Lower Extremity Exoskeleton

PubMed Central

Wang, Likun; Du, Zhijiang; Dong, Wei; Shen, Yi; Zhao, Guangyu

2018-01-01

To achieve strength augmentation, endurance enhancement, and human assistance in a functional autonomous exoskeleton, control precision, back drivability, low output impedance, and mechanical compactness are desired. In our previous work, two elastic modules were designed for human–robot interaction sensing and compliant control, respectively. According to the intrinsic sensing properties of the elastic module, in this paper, only one compact elastic module is applied to realize both purposes. Thus, the corresponding control strategy is required and evolving internal model control is proposed to address this issue. Moreover, the input signal to the controller is derived from the deflection of the compact elastic module. The human–robot interaction is considered as the disturbance which is approximated by the output error between the exoskeleton control plant and evolving forward learning model. Finally, to verify our proposed control scheme, several experiments are conducted with our robotic exoskeleton system. The experiment shows a satisfying result and promising application feasibility. PMID:29562684

Intrinsic Sensing and Evolving Internal Model Control of Compact Elastic Module for a Lower Extremity Exoskeleton.

PubMed

Wang, Likun; Du, Zhijiang; Dong, Wei; Shen, Yi; Zhao, Guangyu

2018-03-19

To achieve strength augmentation, endurance enhancement, and human assistance in a functional autonomous exoskeleton, control precision, back drivability, low output impedance, and mechanical compactness are desired. In our previous work, two elastic modules were designed for human-robot interaction sensing and compliant control, respectively. According to the intrinsic sensing properties of the elastic module, in this paper, only one compact elastic module is applied to realize both purposes. Thus, the corresponding control strategy is required and evolving internal model control is proposed to address this issue. Moreover, the input signal to the controller is derived from the deflection of the compact elastic module. The human-robot interaction is considered as the disturbance which is approximated by the output error between the exoskeleton control plant and evolving forward learning model. Finally, to verify our proposed control scheme, several experiments are conducted with our robotic exoskeleton system. The experiment shows a satisfying result and promising application feasibility.

Operator Informational Needs for Multiple Autonomous Small Vehicles

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

2015-01-01

With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

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.

PHM Enabled Autonomous Propellant Loading Operations

NASA Technical Reports Server (NTRS)

Walker, Mark; Figueroa, Fernando

2017-01-01

The utility of Prognostics and Health Management (PHM) software capability applied to Autonomous Operations (AO) remains an active research area within aerospace applications. The ability to gain insight into which assets and subsystems are functioning properly, along with the derivation of confident predictions concerning future ability, reliability, and availability, are important enablers for making sound mission planning decisions. When coupled with software that fully supports mission planning and execution, an integrated solution can be developed that leverages state assessment and estimation for the purposes of delivering autonomous operations. The authors have been applying this integrated, model-based approach to the autonomous loading of cryogenic spacecraft propellants at Kennedy Space Center.

Direct Burial Broadband Seismic Instrumentation that are Rugged and Tilt Tolerant for Polar Environments

NASA Astrophysics Data System (ADS)

Parker, Tim; Winberry, Paul; Huerta, Audrey; Bainbridge, Geoff; Devanney, Peter

2016-04-01

The integrated broadband Meridian Posthole and Compact seismic systems have been engineered and tested for extreme polar environments. Ten percent of the Earth's surface is covered in glacial ice and the dynamics of these environments is a strategic concern for all. The development for these systems was driven by researchers needing to densify observations in ice covered regions with difficult and limited logistics. Funding from an NSF MRI award, GEOICE and investment from the vendor enabled researchers to write the specifications for a hybrid family of instruments that can operate at -55C autonomously with very little power, 1 watt for the Meridian Compact system and 1.5 watts for the Meridian 120PH. Tilt tolerance in unstable ice conditions was a concern and these instruments have a range of up to +/-5 degrees. The form factor, extreme temperature tolerance and power load of the instruments has reduced the bulk of a complete station by 1/2 and simplified installation greatly allowing more instruments to be deployed with limited support and a lighter logistical load. These systems are being tested in the Antarctic at SouthPole Station and McMurdo for the second year and the investment has encouraged other instrument and power system vendors to offer polar rated equipment including telemetry for ancillary support.

In Situ Surveying of Saturn's Rings

NASA Technical Reports Server (NTRS)

Clark, P. E.; Curtis, S. A.; Rilee, M. L.; Cheung, C.

2004-01-01

The Saturn Autonomous Ring Array (SARA) mission concept is a new application for the Autonomous Nano-Technology Swarm (ANTS) architecture, a paradigm being developed for exploration of high surface area and/or multibody targets to minimize costs and maximize effectiveness of survey operations. Systems designed with ANTS architecture are built from potentially very large numbers of highly autonomous, yet socially interactive, specialists, in approximately ten specialist classes. Here, we analyze requirements for such a mission as well as specialized autonomous operations which would support this application.

Autonomous Control of Space Nuclear Reactors

NASA Technical Reports Server (NTRS)

Merk, John

2013-01-01

Nuclear reactors to support future robotic and manned missions impose new and innovative technological requirements for their control and protection instrumentation. Long-duration surface missions necessitate reliable autonomous operation, and manned missions impose added requirements for failsafe reactor protection. There is a need for an advanced instrumentation and control system for space-nuclear reactors that addresses both aspects of autonomous operation and safety. The Reactor Instrumentation and Control System (RICS) consists of two functionally independent systems: the Reactor Protection System (RPS) and the Supervision and Control System (SCS). Through these two systems, the RICS both supervises and controls a nuclear reactor during normal operational states, as well as monitors the operation of the reactor and, upon sensing a system anomaly, automatically takes the appropriate actions to prevent an unsafe or potentially unsafe condition from occurring. The RPS encompasses all electrical and mechanical devices and circuitry, from sensors to actuation device output terminals. The SCS contains a comprehensive data acquisition system to measure continuously different groups of variables consisting of primary measurement elements, transmitters, or conditioning modules. These reactor control variables can be categorized into two groups: those directly related to the behavior of the core (known as nuclear variables) and those related to secondary systems (known as process variables). Reliable closed-loop reactor control is achieved by processing the acquired variables and actuating the appropriate device drivers to maintain the reactor in a safe operating state. The SCS must prevent a deviation from the reactor nominal conditions by managing limitation functions in order to avoid RPS actions. The RICS has four identical redundancies that comply with physical separation, electrical isolation, and functional independence. This architecture complies with the safety requirements of a nuclear reactor and provides high availability to the host system. The RICS is intended to interface with a host computer (the computer of the spacecraft where the reactor is mounted). The RICS leverages the safety features inherent in Earth-based reactors and also integrates the wide range neutron detector (WRND). A neutron detector provides the input that allows the RICS to do its job. The RICS is based on proven technology currently in use at a nuclear research facility. In its most basic form, the RICS is a ruggedized, compact data-acquisition and control system that could be adapted to support a wide variety of harsh environments. As such, the RICS could be a useful instrument outside the scope of a nuclear reactor, including military applications where failsafe data acquisition and control is required with stringent size, weight, and power constraints.

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.

A Safe Cooperative Framework for Atmospheric Science Missions with Multiple Heterogeneous UAS using Piecewise Bezier Curves

NASA Technical Reports Server (NTRS)

Mehdi, S. Bilal; Puig-Navarro, Javier; Choe, Ronald; Cichella, Venanzio; Hovakimyan, Naira; Chandarana, Meghan; Trujillo, Anna; Rothhaar, Paul M.; Tran, Loc; Neilan, James H.;

Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation for Logistical Use in Complex Environments

DTIC Science & Technology

2012-06-01

NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA MBA PROFESSIONAL REPORT Autonomous Dirigible Airships: A Comparative Analysis...COVERED MBA Professional Report 4. TITLE AND SUBTITLE: Autonomous Dirigible Airships: A Comparative Analysis and Operational Efficiency Evaluation...NAME(S) AND ADDRESS(ES) N/ A 10. SPONSORING / MONITORING AGENCY REPORT NUMBER 11. SUPPLEMENTARY NOTES The views expressed in this report are

Innovation Talk at TARDEC by Dr. Tulga Ersal

Science.gov Websites

problems of teleoperation and fully autonomous operation of large Unmanned Ground Vehicles (UGVs) at high wide spectrum in their mode of operation ranging from teleoperated, in which the remote human operator implementable solution. High speeds also present a challenge to fully autonomous operation with respect to

Pathwise upper semi-continuity of random pullback attractors along the time axis

NASA Astrophysics Data System (ADS)

Cui, Hongyong; Kloeden, Peter E.; Wu, Fuke

2018-07-01

The pullback attractor of a non-autonomous random dynamical system is a time-indexed family of random sets, typically having the form {At(ṡ) } t ∈ R with each At(ṡ) a random set. This paper is concerned with the nature of such time-dependence. It is shown that the upper semi-continuity of the mapping t ↦At(ω) for each ω fixed has an equivalence relationship with the uniform compactness of the local union ∪s∈IAs(ω) , where I ⊂ R is compact. Applied to a semi-linear degenerate parabolic equation with additive noise and a wave equation with multiplicative noise we show that, in order to prove the above locally uniform compactness and upper semi-continuity, no additional conditions are required, in which sense the two properties appear to be general properties satisfied by a large number of real models.

Mission Operations of EO-1 with Onboard Autonomy

NASA Technical Reports Server (NTRS)

Tran, Daniel Q.

2006-01-01

Space mission operations are extremely labor and knowledge-intensive and are driven by the ground and flight systems. Inclusion of an autonomy capability can have dramatic effects on mission operations. We describe the prior, labor and knowledge intensive mission operations flow for the Earth Observing-1 (EO-1) spacecraft as well as the new autonomous operations as part of the Autonomous Sciencecraft Experiment.

Smart Ultrasound Remote Guidance Experiment (SURGE)- Concept of Operations Evaluation for Using Remote Guidance Ultrasound for Planetary Space Flight

NASA Technical Reports Server (NTRS)

Hurst, Victor, IV; Peterson, Sean; Garcia, Kathleen; Sargsyan, Ashot; Ebert, Douglas; Ham, David; Amponsah, David; Dulchavsky, Scott

2010-01-01

Introduction Use of remote guidance (RG) techniques aboard the International Space Station (ISS) has enabled astronauts to collect diagnostic-level ultrasound images. Exploration class missions will require this cohort of (typically) non-formally trained sonographers to operate with greater autonomy given the longer communication delays (2 seconds for ISS vs. >6 seconds for missions beyond the Moon) and communication blackouts. To determine the feasibility and training requirements for autonomous ultrasound image collection by non-expert ultrasound operators, ultrasound images were collected from a similar cohort using three different image collection protocols: RG only, RG with a computer-based learning tool (LT), and autonomous image collection with LT. The groups were assessed for both image quality and time to collect the images. Methods Subjects were randomized into three groups: RG only, RG with LT, and autonomous with LT. Each subject received 10 minutes of standardized training before the experiment. The subjects were tasked with making the following ultrasound assessments: 1) bone fracture and 2) focused assessment with sonography in trauma (FAST) to assess a patient s abdomen. Human factors-related questionnaire data were collected immediately after the assessments. Results The autonomous group did not out-perform the two groups that received RG. The mean time for the autonomous group to collect images was less than the RG groups, however the mean image quality for the autonomous group was less compared to both RG groups. Discussion Remote guidance continues to produce higher quality ultrasound images than autonomous ultrasound operation. This is likely due to near-instant feedback on image quality from the remote guider. Expansion in communication time delays, however, diminishes the capability to provide this feedback, thus requiring more autonomous ultrasound operation. The LT has the potential to be an excellent training and coaching component for autonomous ultrasound image collection during exploration missions.

An autonomous observation and control system based on EPICS and RTS2 for Antarctic telescopes

NASA Astrophysics Data System (ADS)

Zhang, Guang-yu; Wang, Jian; Tang, Peng-yi; Jia, Ming-hao; Chen, Jie; Dong, Shu-cheng; Jiang, Fengxin; Wu, Wen-qing; Liu, Jia-jing; Zhang, Hong-fei

2016-01-01

For unattended telescopes in Antarctic, the remote operation, autonomous observation and control are essential. An EPICS-(Experimental Physics and Industrial Control System) and RTS2-(Remote Telescope System, 2nd Version) based autonomous observation and control system with remoted operation is introduced in this paper. EPICS is a set of open source software tools, libraries and applications developed collaboratively and used worldwide to create distributed soft real-time control systems for scientific instruments while RTS2 is an open source environment for control of a fully autonomous observatory. Using the advantage of EPICS and RTS2, respectively, a combined integrated software framework for autonomous observation and control is established that use RTS2 to fulfil the function of astronomical observation and use EPICS to fulfil the device control of telescope. A command and status interface for EPICS and RTS2 is designed to make the EPICS IOC (Input/Output Controller) components integrate to RTS2 directly. For the specification and requirement of control system of telescope in Antarctic, core components named Executor and Auto-focus for autonomous observation is designed and implemented with remote operation user interface based on browser-server mode. The whole system including the telescope is tested in Lijiang Observatory in Yunnan Province for practical observation to complete the autonomous observation and control, including telescope control, camera control, dome control, weather information acquisition with the local and remote operation.

Advanced Autonomous Systems for Space Operations

NASA Astrophysics Data System (ADS)

Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

2002-01-01

New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not otherwise possible, as well as many more efficient and low cost applications. In addition, utilizing component and system modeling and reasoning capabilities, autonomous systems will play an increasing role in ground operations for space missions, where they will both reduce the human workload as well as provide greater levels of monitoring and system safety. This paper will focus specifically on new and innovative software for remote, autonomous, space systems flight operations. Topics to be presented will include a brief description of key autonomous control concepts, the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New on-board software for autonomous science data acquisition for planetary exploration will be described, as well as advanced systems for safe planetary landings. A new multi-agent architecture that addresses some of the challenges of autonomous systems will be presented. Autonomous operation of ground systems will also be considered, including software for autonomous in-situ propellant production and management, and closed- loop ecological life support systems (CELSS). Finally, plans and directions for the future will be discussed.

Advancing Autonomous Operations for Deep Space Vehicles

NASA Technical Reports Server (NTRS)

Haddock, Angie T.; Stetson, Howard K.

2014-01-01

Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

Non-Nuclear Testing of Compact Reactor Technologies at NASA MSFC

NASA Technical Reports Server (NTRS)

Houts, Michael G.; Pearson, J. Boise; Godfroy, Thomas J.

2011-01-01

Safe, reliable, compact, autonomous, long-life fission systems have numerous potential applications, both terrestrially and in space. Technologies and facilities developed in support of these systems could be useful to a variety of concepts. At moderate power levels, fission systems can be designed to operate for decades without the need for refueling. In addition, fast neutron damage to cladding and structural materials can be maintained at an acceptable level. Nuclear design codes have advanced to the stage where high confidence in the behavior and performance of a system can be achieved prior to initial testing. To help ensure reactor affordability, an optimal strategy must be devised for development and qualification. That strategy typically involves a combination of non-nuclear and nuclear testing. Non-nuclear testing is particularly useful for concepts in which nuclear operating characteristics are well understood and nuclear effects such as burnup and radiation damage are not likely to be significant. To be mass efficient, a SFPS must operate at higher coolant temperatures and use different types of power conversion than typical terrestrial reactors. The primary reason is the difficulty in rejecting excess heat to space. Although many options exist, NASA s current reference SFPS uses a fast spectrum, pumped-NaK cooled reactor coupled to a Stirling power conversion subsystem. The reference system uses technology with significant terrestrial heritage while still providing excellent performance. In addition, technologies from the SFPS system could be applicable to compact terrestrial systems. Recent non-nuclear testing at NASA s Early Flight Fission Test Facility (EFF-TF) has helped assess the viability of the reference SFPS and evaluate methods for system integration. In July, 2011 an Annular Linear Induction Pump (ALIP) provided by Idaho National Laboratory was tested at the EFF-TF to assess performance and verify suitability for use in a10 kWe technology demonstration unit (TDU). In November, 2011 testing of a 37-pin core simulator (designed in conjunction with Los Alamos National Laboratory) for use with the TDU will occur. Previous testing at the EFFTF has included the thermal and mechanical coupling of a pumped NaK loop to Stirling engines (provided by GRC). Testing related to heat pipe cooled systems, gas cooled systems, heat exchangers, and other technologies has also been performed. Integrated TDU testing will begin at GRC in 2013. Thermal simulators developed at the EFF-TF are capable of operating over the temperature and power range typically of interest to compact reactors. Small and large diameter simulators have been developed, and simulators (coupled with the facility) are able to closely match the axial and radial power profile of all potential systems of interest. A photograph of the TDU core simulator during assembly is provided in Figure 2.

Utilization of the International Space Station for Crew Autonomous Scheduling Test (CAST)

NASA Technical Reports Server (NTRS)

Healy, Matthew; Marquez, Jesica; Hillenius, Steven; Korth, David; Bakalyar, Laure Rush; Woodbury, Neil; Larsen, Crystal M.; Bates, Shelby; Kockler, Mikayla; Rhodes, Brooke;

Development and Evaluation of an Airborne Separation Assurance System for Autonomous Aircraft Operations

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Palmer, Michael T.; Eischeid, Todd M.

2004-01-01

NASA Langley Research Center is developing an Autonomous Operations Planner (AOP) that functions as an Airborne Separation Assurance System for autonomous flight operations. This development effort supports NASA s Distributed Air-Ground Traffic Management (DAG-TM) operational concept, designed to significantly increase capacity of the national airspace system, while maintaining safety. Autonomous aircraft pilots use the AOP to maintain traffic separation from other autonomous aircraft and managed aircraft flying under today's Instrument Flight Rules, while maintaining traffic flow management constraints assigned by Air Traffic Service Providers. AOP is designed to facilitate eventual implementation through careful modeling of its operational environment, interfaces with other aircraft systems and data links, and conformance with established flight deck conventions and human factors guidelines. AOP uses currently available or anticipated data exchanged over modeled Arinc 429 data buses and an Automatic Dependent Surveillance Broadcast 1090 MHz link. It provides pilots with conflict detection, prevention, and resolution functions and works with the Flight Management System to maintain assigned traffic flow management constraints. The AOP design has been enhanced over the course of several experiments conducted at NASA Langley and is being prepared for an upcoming Joint Air/Ground Simulation with NASA Ames Research Center.

Coherent Lidar Activities at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Kavaya, Michael J.; Amzajerdian, Farzin; Koch, Grady J.; Singh, Upendra N.; Yu, Jirong

2007-01-01

NASA Langley Research Center has been developing and using coherent lidar systems for many years. The current projects at LaRC are the Global Wind Observing Sounder (GWOS) mission preparation, the Laser Risk Reduction Program (LRRP), the Instrument Incubator Program (IIP) compact, rugged Doppler wind lidar project, the Autonomous precision Landing and Hazard detection and Avoidance Technology (ALHAT) project for lunar landing, and the Skywalker project to find and use thermals to extend UAV flight time. These five projects encompass coherent lidar technology development; characterization, validation, and calibration facilities; compact, rugged packaging; computer simulation; trade studies; data acquisition, processing, and display development; system demonstration; and space mission design. This paper will further discuss these activities at LaRC.

Reducing cost with autonomous operations of the Deep Space Network radio science receiver

NASA Technical Reports Server (NTRS)

Asmar, S.; Anabtawi, A.; Connally, M.; Jongeling, A.

2003-01-01

This paper describes the Radio Science Receiver system and the savings it has brought to mission operations. The design and implementation of remote and autonomous operations will be discussed along with the process of including user feedback along the way and lessons learned and procedures avoided.

Mission Operations of Earth Observing-1 with Onboard Autonomy

NASA Technical Reports Server (NTRS)

Rabideau, Gregg; Tran, Daniel Q.; Chien, Steve; Cichy, Benjamin; Sherwood, Rob; Mandl, Dan; Frye, Stuart; Shulman, Seth; Szwaczkowski, Joseph; Boyer, Darrell;

Tier-scalable reconnaissance: the future in autonomous C4ISR systems has arrived: progress towards an outdoor testbed

NASA Astrophysics Data System (ADS)

Fink, Wolfgang; Brooks, Alexander J.-W.; Tarbell, Mark A.; Dohm, James M.

2017-05-01

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-)deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous C4ISR systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous tele-commanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

Automation of Armored Four Wheel Counter Steer Vehicles

DTIC Science & Technology

2015-08-28

designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation. Automation...Public Release The U.S. Army’s efforts in vehicle auto- mation are designed in part to protect soldiers in the field as they traverse poten- tially...System (AMAS) convoy autonomy, sensor, and drive-by-wire kits, to ground-up autonomous vehicle designs , such as TARDEC’s Autonomous Platform

Recent Advances in Bathymetric Surveying of Continental Shelf Regions Using Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Holland, K. T.; Calantoni, J.; Slocum, D.

2016-02-01

Obtaining bathymetric observations within the continental shelf in areas closer to the shore is often time consuming and dangerous, especially when uncharted shoals and rocks present safety concerns to survey ships and launches. However, surveys in these regions are critically important to numerical simulation of oceanographic processes, as bathymetry serves as the bottom boundary condition in operational forecasting models. We will present recent progress in bathymetric surveying using both traditional vessels retrofitted for autonomous operations and relatively inexpensive, small team deployable, Autonomous Underwater Vehicles (AUV). Both systems include either high-resolution multibeam echo sounders or interferometric sidescan sonar sensors with integrated inertial navigation system capabilities consistent with present commercial-grade survey operations. The advantages and limitations of these two configurations employing both unmanned and autonomous strategies are compared using results from several recent survey operations. We will demonstrate how sensor data collected from unmanned platforms can augment or even replace traditional data collection technologies. Oceanographic observations (e.g., sound speed, temperature and currents) collected simultaneously with bathymetry using autonomous technologies provide additional opportunities for advanced data assimilation in numerical forecasts. Discussion focuses on our vision for unmanned and autonomous systems working in conjunction with manned or in-situ systems to optimally and simultaneously collect data in environmentally hostile or difficult to reach areas.

Autonomous Operations Mission Development Suite

NASA Technical Reports Server (NTRS)

Toro Medina, Jaime A.

2016-01-01

This is a presentation related to the development of Autonomous Operations Systems at NASA Kennedy Space Center. It covers a high level description of the work of FY14, FY15, FY16 for the AES IGODU and APL projects.

Autonomous calibration of single spin qubit operations

NASA Astrophysics Data System (ADS)

Frank, Florian; Unden, Thomas; Zoller, Jonathan; Said, Ressa S.; Calarco, Tommaso; Montangero, Simone; Naydenov, Boris; Jelezko, Fedor

2017-12-01

Fully autonomous precise control of qubits is crucial for quantum information processing, quantum communication, and quantum sensing applications. It requires minimal human intervention on the ability to model, to predict, and to anticipate the quantum dynamics, as well as to precisely control and calibrate single qubit operations. Here, we demonstrate single qubit autonomous calibrations via closed-loop optimisations of electron spin quantum operations in diamond. The operations are examined by quantum state and process tomographic measurements at room temperature, and their performances against systematic errors are iteratively rectified by an optimal pulse engineering algorithm. We achieve an autonomous calibrated fidelity up to 1.00 on a time scale of minutes for a spin population inversion and up to 0.98 on a time scale of hours for a single qubit π/2 -rotation within the experimental error of 2%. These results manifest a full potential for versatile quantum technologies.

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

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.

Autonomous onboard crew operations: A review and developmental approach

NASA Technical Reports Server (NTRS)

Rogers, J. G.

1982-01-01

A review of the literature generated by an intercenter mission approach and consolidation team and their contractors was performed to obtain background information on the development of autonomous operations concepts for future space shuttle and space platform missions. The Boeing 757/767 flight management system was examined to determine the relevance for transfer of the developmental approach and technology to the performance of the crew operations function. In specific, the engine indications and crew alerting system was studied to determine the relevance of this display for the performance of crew operations onboard the vehicle. It was concluded that the developmental approach and technology utilized in the aeronautics industry would be appropriate for development of an autonomous operations concept for the space platform.

The design and implementation of on-line monitoring system for UHV compact shunt capacitors

NASA Astrophysics Data System (ADS)

Tao, Weiliang; Ni, Xuefeng; Lin, Hao; Jiang, Shengbao

2017-08-01

Because of the large capacity and compact structure of the UHV compact shunt capacitor, it is difficult to take effective measures to detect and prevent the faults. If the fault capacitor fails to take timely maintenance, it will pose a threat to the safe operation of the system and the life safety of the maintenance personnel. The development of UHV compact shunt capacitor on-line monitoring system can detect and record the on-line operation information of UHV compact shunt capacitors, analyze and evaluate the early fault warning signs, find out the fault capacitor or the capacitor with fault symptom, to ensure safe and reliable operation of the system.

Continuous measurements of surface mass balance, firn compaction, and meltwater retention in Greenland for altimetry validation.

NASA Astrophysics Data System (ADS)

de la Peña, S.; Howat, I.; Behar, A.; Price, S. F.; Thanga, J.; Crowell, J. M.; Huseas, S.; Tedesco, M.

2016-12-01

Observations made in recent years by repeated altimetry from CryoSat-2 and NASA's Operation IceBridge reveal large fluctuations in the firn volume of the Greenland Ice Sheet. Although an order of magnitude smaller than ice thinning rates observed in some areas at the margins of the ice sheet, short-term departures in surface elevation trends occur over most of the accumulation zone of Greenland. Changes in the thickness of the firn column are influenced by variability in surface mass balance, firn compaction, and abrupt seasonal densification near the surface caused by refreezing at depth of variable amounts of surface meltwater in the summer. These processes and dynamic thinning cannot be differentiated from each other by altimetry alone. Until recently, nearly all information on density and surface mass balance changes over the firn layer came from ice core and snow pit stratigraphy that provided annual rates with relatively large uncertainties. Here we present direct, continuous measurements of firn density and surface mass balance along with annual estimates of firn ice content used to assess observed elevation change in the percolation zone of western Greenland in relation to firn processes. Since 2012, autonomous in-situ firn compaction sensors have monitored several sites in the catchment area of Jakobshavn Isbrae, and since 2015 surface mass balance and surface displacement has been measured continuously using a combination of sensors. In addition to identify the different components in the altimetry signal, The temporal resolution of the data acquired provide a means to monitor short-term changes in the near-surface firn, and identifying individual events causing surface elevation displacement.

The Radiation Assessment Detector (RAD) Investigation

NASA Astrophysics Data System (ADS)

Hassler, D. M.; Zeitlin, C.; Wimmer-Schweingruber, R. F.; Böttcher, S.; Martin, C.; Andrews, J.; Böhm, E.; Brinza, D. E.; Bullock, M. A.; Burmeister, S.; Ehresmann, B.; Epperly, M.; Grinspoon, D.; Köhler, J.; Kortmann, O.; Neal, K.; Peterson, J.; Posner, A.; Rafkin, S.; Seimetz, L.; Smith, K. D.; Tyler, Y.; Weigle, G.; Reitz, G.; Cucinotta, F. A.

2012-09-01

The Radiation Assessment Detector (RAD) on the Mars Science Laboratory (MSL) is an energetic particle detector designed to measure a broad spectrum of energetic particle radiation. It will make the first-ever direct radiation measurements on the surface of Mars, detecting galactic cosmic rays, solar energetic particles, secondary neutrons, and other secondary particles created both in the atmosphere and in the Martian regolith. The radiation environment on Mars, both past and present, may have implications for habitability and the ability to sustain life. Radiation exposure is also a major concern for future human missions. The RAD instrument combines charged- and neutral-particle detection capability over a wide dynamic range in a compact, low-mass, low-power instrument. These capabilities are required in order to measure all the important components of the radiation environment. RAD consists of the RAD Sensor Head (RSH) and the RAD Electronics Box (REB) integrated together in a small, compact volume. The RSH contains a solid-state detector telescope with three silicon PIN diodes for charged particle detection, a thallium doped Cesium Iodide scintillator, plastic scintillators for neutron detection and anti-coincidence shielding, and the front-end electronics. The REB contains three circuit boards, one with a novel mixed-signal ASIC for processing analog signals and an associated control FPGA, another with a second FPGA to communicate with the rover and perform onboard analysis of science data, and a third board with power supplies and power cycling or "sleep"-control electronics. The latter enables autonomous operation, independent of commands from the rover. RAD is a highly capable and highly configurable instrument that paves the way for future compact energetic particle detectors in space.

Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

NASA Technical Reports Server (NTRS)

Neilan, James H.; Cross, Charles; Rothhaar, Paul; Tran, Loc; Motter, Mark; Qualls, Garry; Trujillo, Anna; Allen, B. Danette

2016-01-01

Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

Intelligent Decisions? Intelligent Support? Agenda and Participants for the Internal Workshop on Intelligent Decision Support Systems : Retrospects and Prospects, August 29 - September 2, 2005, Certosa di Pontignano (Siena), Italy

DTIC Science & Technology

2005-09-01

ENGINEERING APPROACH TO INTELLIGENT OPERATOR ASSISTANCE AND AUTONOMOUS VEHICLE GUIDANCE ..................100 27. SHARPLE, SARAH (WITH COX, GEMMA & STEDMON...104 30. TANGO, FABIO: CONCEPT OF AUTONOMIC COMPUTING APPLIED TO TRANSPORTATION ISSUES: THE SENSITIVE CAR .....105 31. TAYLOR, ROBERT: POSITION...SYSTEMS ENGINEERING APPROACH TO INTELLIGENT OPERATOR ASSISTANCE AND AUTONOMOUS VEHICLE GUIDANCE Today’s automation systems are typically introduced

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

NASA Technical Reports Server (NTRS)

Regalado Reyes, Bjorn Constant

2015-01-01

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

Raman technology for future planetary missions

NASA Astrophysics Data System (ADS)

Thiele, Hans; Hofer, Stefan; Stuffler, Timo; Glier, Markus; Popp, Jürgen; Sqalli, Omar; Wuttig, Andreas; Riesenberg, Rainer

2017-11-01

Scientific experiments on mineral and biological samples with Raman excitation below 300nm show a wealth of scientific information. The fluorescence, which typically decreases signal quality in the visual or near infrared wavelength regime can be avoided with deep ultraviolet excitation. This wavelength regime is therefore regarded as highly attractive for a compact high performance Raman spectrometer for in-situ planetary research. Main objective of the MIRAS II breadboard activity presented here (MIRAS: Mineral Investigation with Raman Spectroscopy) is to evaluate, design and build a compact fiber coupled deep-UV Raman system breadboard. Additionally, the Raman system is combined with an innovative scanning microscope system to allow effective auto-focusing and autonomous orientation on the sample surface for high precise positioning or high resolution Raman mapping.

Compact, High Energy 2-micron Coherent Doppler Wind Lidar Development for NASA's Future 3-D Winds Measurement from Space

NASA Technical Reports Server (NTRS)

Singh, Upendra N.; Koch, Grady; Yu, Jirong; Petros, Mulugeta; Beyon, Jeffrey; Kavaya, Michael J.; Trieu, Bo; Chen, Songsheng; Bai, Yingxin; Petzar, paul;

Principles of control automation of soil compacting machine operating mechanism

NASA Astrophysics Data System (ADS)

Anatoly Fedorovich, Tikhonov; Drozdov, Anatoly

2018-03-01

The relevance of the qualitative compaction of soil bases in the erection of embankment and foundations in building and structure construction is given.The quality of the compactible gravel and sandy soils provides the bearing capability and, accordingly, the strength and durability of constructed buildings.It has been established that the compaction quality depends on many external actions, such as surface roughness and soil moisture; granulometry, chemical composition and degree of elasticity of originalfilled soil for compaction.The analysis of technological processes of soil bases compaction of foreign and domestic information sources showed that the solution of such important problem as a continuous monitoring of soil compaction actual degree in the process of machine operation carry out only with the use of modern means of automation. An effective vibrodynamic method of gravel and sand material sealing for the building structure foundations for various applications was justified and suggested.The method of continuous monitoring the soil compaction by measurement of the amplitudes and frequencies of harmonic oscillations on the compactible surface was determined, which allowed to determine the basic elements of facilities of soil compacting machine monitoring system of operating, etc. mechanisms: an accelerometer, a bandpass filter, a vibro-harmonics, an on-board microcontroller. Adjustable parameters have been established to improve the soil compaction degree and the soil compacting machine performance, and the adjustable parameter dependences on the overall indexhave been experimentally determined, which is the soil compaction degree.A structural scheme of automatic control of the soil compacting machine control mechanism and theoperation algorithm has been developed.

Estimation of heart rate variability using a compact radiofrequency motion sensor.

PubMed

Sugita, Norihiro; Matsuoka, Narumi; Yoshizawa, Makoto; Abe, Makoto; Homma, Noriyasu; Otake, Hideharu; Kim, Junghyun; Ohtaki, Yukio

2015-12-01

Physiological indices that reflect autonomic nervous activity are considered useful for monitoring peoples' health on a daily basis. A number of such indices are derived from heart rate variability, which is obtained by a radiofrequency (RF) motion sensor without making physical contact with the user's body. However, the bulkiness of RF motion sensors used in previous studies makes them unsuitable for home use. In this study, a new method to measure heart rate variability using a compact RF motion sensor that is sufficiently small to fit in a user's shirt pocket is proposed. To extract a heart rate related component from the sensor signal, an algorithm that optimizes a digital filter based on the power spectral density of the signal is proposed. The signals of the RF motion sensor were measured for 29 subjects during the resting state and their heart rate variability was estimated from the measured signals using the proposed method and a conventional method. A correlation coefficient between true heart rate and heart rate estimated from the proposed method was 0.69. Further, the experimental results showed the viability of the RF sensor for monitoring autonomic nervous activity. However, some improvements such as controlling the direction of sensing were necessary for stable measurement. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Progress of Crew Autonomous Scheduling Test (CAST) On the ISS

NASA Technical Reports Server (NTRS)

Healy, Matthew; Marquez, Jessica; Hillenius, Steven; Korth, David; Bakalyar, Lauren Rush; Woodbury, Neil; Larsen, Crystal M.; Bates, Shelby; Kockler, Mikayla; Rhodes, Brooke;

Development of a semi-autonomous service robot with telerobotic capabilities

NASA Technical Reports Server (NTRS)

Jones, J. E.; White, D. R.

1987-01-01

The importance to the United States of semi-autonomous systems for application to a large number of manufacturing and service processes is very clear. Two principal reasons emerge as the primary driving forces for development of such systems: enhanced national productivity and operation in environments whch are hazardous to humans. Completely autonomous systems may not currently be economically feasible. However, autonomous systems that operate in a limited operation domain or that are supervised by humans are within the technology capability of this decade and will likely provide reasonable return on investment. The two research and development efforts of autonomy and telerobotics are distinctly different, yet interconnected. The first addresses the communication of an intelligent electronic system with a robot while the second requires human communication and ergonomic consideration. Discussed here are work in robotic control, human/robot team implementation, expert system robot operation, and sensor development by the American Welding Institute, MTS Systems Corporation, and the Colorado School of Mines--Center for Welding Research.

A memory module for experimental data handling

NASA Astrophysics Data System (ADS)

De Blois, J.

1985-02-01

A compact CAMAC memory module for experimental data handling was developed to eliminate the need of direct memory access in computer controlled measurements. When using autonomous controllers it also makes measurements more independent of the program and enlarges the available space for programs in the memory of the micro-computer. The memory module has three modes of operation: an increment-, a list- and a fifo mode. This is achieved by connecting the main parts, being: the memory (MEM), the fifo buffer (FIFO), the address buffer (BUF), two counters (AUX and ADDR) and a readout register (ROR), by an internal 24-bit databus. The time needed for databus operations is 1 μs, for measuring cycles as well as for CAMAC cycles. The FIFO provides temporary data storage during CAMAC cycles and separates the memory part from the application part. The memory is variable from 1 to 64K (24 bits) by using different types of memory chips. The application part, which forms 1/3 of the module, will be specially designed for each application and is added to the memory chian internal connector. The memory unit will be used in Mössbauer experiments and in thermal neutron scattering experiments.

Automated cross-modal mapping in robotic eye/hand systems using plastic radial basis function networks

NASA Astrophysics Data System (ADS)

Meng, Qinggang; Lee, M. H.

2007-03-01

Advanced autonomous artificial systems will need incremental learning and adaptive abilities similar to those seen in humans. Knowledge from biology, psychology and neuroscience is now inspiring new approaches for systems that have sensory-motor capabilities and operate in complex environments. Eye/hand coordination is an important cross-modal cognitive function, and is also typical of many of the other coordinations that must be involved in the control and operation of embodied intelligent systems. This paper examines a biologically inspired approach for incrementally constructing compact mapping networks for eye/hand coordination. We present a simplified node-decoupled extended Kalman filter for radial basis function networks, and compare this with other learning algorithms. An experimental system consisting of a robot arm and a pan-and-tilt head with a colour camera is used to produce results and test the algorithms in this paper. We also present three approaches for adapting to structural changes during eye/hand coordination tasks, and the robustness of the algorithms under noise are investigated. The learning and adaptation approaches in this paper have similarities with current ideas about neural growth in the brains of humans and animals during tool-use, and infants during early cognitive development.

Shape memory alloy actuated accumulator for ultra-deepwater oil and gas exploration

NASA Astrophysics Data System (ADS)

Patil, Devendra; Song, Gangbing

2016-04-01

As offshore oil and gas exploration moves further offshore and into deeper waters to reach hydrocarbon reserves, it is becoming essential for the industry to develop more reliable and efficient hydraulic accumulators to supply pressured hydraulic fluid for various control and actuation operations, such as closing rams of blowout preventers and controlling subsea valves on the seafloor. By utilizing the shape memory effect property of nitinol, which is a type of shape memory alloy (SMA), an innovative SMA actuated hydraulic accumulator prototype has been developed and successfully tested at Smart Materials and Structure Laboratory at the University of Houston. Absence of gas in the developed SMA accumulator prototype makes it immune to hydrostatic head loss caused by water depth and thus reduces the number of accumulators required in deep water operations. Experiments with a feedback control have demonstrated that the proposed SMA actuated accumulator can provide precisely regulated pressurized fluids. Furthermore the potential use of ultracapacitors along with an embedded system to control the electric power supplied to SMA allows this accumulator to be an autonomous device for deployment. The developed SMA accumulator will make deepwater oil extraction systems more compact and cost effective.

An intelligent algorithm for autonomous scientific sampling with the VALKYRIE cryobot

NASA Astrophysics Data System (ADS)

Clark, Evan B.; Bramall, Nathan E.; Christner, Brent; Flesher, Chris; Harman, John; Hogan, Bart; Lavender, Heather; Lelievre, Scott; Moor, Joshua; Siegel, Vickie

2018-07-01

The development of algorithms for agile science and autonomous exploration has been pursued in contexts ranging from spacecraft to planetary rovers to unmanned aerial vehicles to autonomous underwater vehicles. In situations where time, mission resources and communications are limited and the future state of the operating environment is unknown, the capability of a vehicle to dynamically respond to changing circumstances without human guidance can substantially improve science return. Such capabilities are difficult to achieve in practice, however, because they require intelligent reasoning to utilize limited resources in an inherently uncertain environment. Here we discuss the development, characterization and field performance of two algorithms for autonomously collecting water samples on VALKYRIE (Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer), a glacier-penetrating cryobot deployed to the Matanuska Glacier, Alaska (Mission Control location: 61°42'09.3''N 147°37'23.2''W). We show performance on par with human performance across a wide range of mission morphologies using simulated mission data, and demonstrate the effectiveness of the algorithms at autonomously collecting samples with high relative cell concentration during field operation. The development of such algorithms will help enable autonomous science operations in environments where constant real-time human supervision is impractical, such as penetration of ice sheets on Earth and high-priority planetary science targets like Europa.

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.

Integrating small satellite communication in an autonomous vehicle network: A case for oceanography

NASA Astrophysics Data System (ADS)

Guerra, André G. C.; Ferreira, António Sérgio; Costa, Maria; Nodar-López, Diego; Aguado Agelet, Fernando

2018-04-01

Small satellites and autonomous vehicles have greatly evolved in the last few decades. Hundreds of small satellites have been launched with increasing functionalities, in the last few years. Likewise, numerous autonomous vehicles have been built, with decreasing costs and form-factor payloads. Here we focus on combining these two multifaceted assets in an incremental way, with an ultimate goal of alleviating the logistical expenses in remote oceanographic operations. The first goal is to create a highly reliable and constantly available communication link for a network of autonomous vehicles, taking advantage of the small satellite lower cost, with respect to conventional spacecraft, and its higher flexibility. We have developed a test platform as a proving ground for this network, by integrating a satellite software defined radio on an unmanned air vehicle, creating a system of systems, and several tests have been run successfully, over land. As soon as the satellite is fully operational, we will start to move towards a cooperative network of autonomous vehicles and small satellites, with application in maritime operations, both in-situ and remote sensing.

Autonomous mission planning and scheduling: Innovative, integrated, responsive

NASA Technical Reports Server (NTRS)

Sary, Charisse; Liu, Simon; Hull, Larry; Davis, Randy

1994-01-01

Autonomous mission scheduling, a new concept for NASA ground data systems, is a decentralized and distributed approach to scientific spacecraft planning, scheduling, and command management. Systems and services are provided that enable investigators to operate their own instruments. In autonomous mission scheduling, separate nodes exist for each instrument and one or more operations nodes exist for the spacecraft. Each node is responsible for its own operations which include planning, scheduling, and commanding; and for resolving conflicts with other nodes. One or more database servers accessible to all nodes enable each to share mission and science planning, scheduling, and commanding information. The architecture for autonomous mission scheduling is based upon a realistic mix of state-of-the-art and emerging technology and services, e.g., high performance individual workstations, high speed communications, client-server computing, and relational databases. The concept is particularly suited to the smaller, less complex missions of the future.

Development of a non-contextual model for determining the autonomy level of intelligent unmanned systems

NASA Astrophysics Data System (ADS)

Durst, Phillip J.; Gray, Wendell; Trentini, Michael

2013-05-01

A simple, quantitative measure for encapsulating the autonomous capabilities of unmanned systems (UMS) has yet to be established. Current models for measuring a UMS's autonomy level require extensive, operational level testing, and provide a means for assessing the autonomy level for a specific mission/task and operational environment. A more elegant technique for quantifying autonomy using component level testing of the robot platform alone, outside of mission and environment contexts, is desirable. Using a high level framework for UMS architectures, such a model for determining a level of autonomy has been developed. The model uses a combination of developmental and component level testing for each aspect of the UMS architecture to define a non-contextual autonomous potential (NCAP). The NCAP provides an autonomy level, ranging from fully non- autonomous to fully autonomous, in the form of a single numeric parameter describing the UMS's performance capabilities when operating at that level of autonomy.

Nature-Inspired Acoustic Sensor Projects

DTIC Science & Technology

1999-08-24

m). The pager motors are worn on the wrists. Yale Intelligent Sensors Lab 8 Autonomous vehicle navigation Yago – Yale Autonomous Go-Cart Yago is used...proximity sensor determined the presence of close-by objects missed by the sonars. Yago operated autonomously by avoiding obstacles. Problems being

Non-autonomous equations with unpredictable solutions

NASA Astrophysics Data System (ADS)

Akhmet, Marat; Fen, Mehmet Onur

2018-06-01

To make research of chaos more amenable to investigating differential and discrete equations, we introduce the concepts of an unpredictable function and sequence. The topology of uniform convergence on compact sets is applied to define unpredictable functions [1,2]. The unpredictable sequence is defined as a specific unpredictable function on the set of integers. The definitions are convenient to be verified as solutions of differential and discrete equations. The topology is metrizable and easy for applications with integral operators. To demonstrate the effectiveness of the approach, the existence and uniqueness of the unpredictable solution for a delay differential equation are proved as well as for quasilinear discrete systems. As a corollary of the theorem, a similar assertion for a quasilinear ordinary differential equation is formulated. The results are demonstrated numerically, and an application to Hopfield neural networks is provided. In particular, Poincaré chaos near periodic orbits is observed. The completed research contributes to the theory of chaos as well as to the theory of differential and discrete equations, considering unpredictable solutions.

Software Architecture to Support the Evolution of the ISRU RESOLVE Engineering Breadboard Unit 2 (EBU2)

NASA Technical Reports Server (NTRS)

Moss, Thomas; Nurge, Mark; Perusich, Stephen

2011-01-01

The In-Situ Resource Utilization (ISRU) Regolith & Environmental Science and Oxygen & Lunar Volatiles Extraction (RESOLVE) software provides operation of the physical plant from a remote location with a high-level interface that can access and control the data from external software applications of other subsystems. This software allows autonomous control over the entire system with manual computer control of individual system/process components. It gives non-programmer operators the capability to easily modify the high-level autonomous sequencing while the software is in operation, as well as the ability to modify the low-level, file-based sequences prior to the system operation. Local automated control in a distributed system is also enabled where component control is maintained during the loss of network connectivity with the remote workstation. This innovation also minimizes network traffic. The software architecture commands and controls the latest generation of RESOLVE processes used to obtain, process, and quantify lunar regolith. The system is grouped into six sub-processes: Drill, Crush, Reactor, Lunar Water Resource Demonstration (LWRD), Regolith Volatiles Characterization (RVC) (see example), and Regolith Oxygen Extraction (ROE). Some processes are independent, some are dependent on other processes, and some are independent but run concurrently with other processes. The first goal is to analyze the volatiles emanating from lunar regolith, such as water, carbon monoxide, carbon dioxide, ammonia, hydrogen, and others. This is done by heating the soil and analyzing and capturing the volatilized product. The second goal is to produce water by reducing the soil at high temperatures with hydrogen. This is done by raising the reactor temperature in the range of 800 to 900 C, causing the reaction to progress by adding hydrogen, and then capturing the water product in a desiccant bed. The software needs to run the entire unit and all sub-processes; however, throughout testing, many variables and parameters need to be changed as more is learned about the system operation. The Master Events Controller (MEC) is run on a standard laptop PC using Windows XP. This PC runs in parallel to another laptop that monitors the GC, and a third PC that monitors the drilling/ crushing operation. These three PCs interface to the process through a CompactRIO, OPC Servers, and modems.

Hardware design for the Autonomous Visibility Monitoring (AVM) observatory

NASA Technical Reports Server (NTRS)

Cowles, K.

1993-01-01

The hardware for the three Autonomous Visibility Monitoring (AVM) observatories was redesigned. Changes in hardware design include electronics components, weather sensors, and the telescope drive system. Operation of the new hardware is discussed, as well as some of its features. The redesign will allow reliable automated operation.

Autonomous Mission Manager for Rendezvous, Inspection and Mating

NASA Technical Reports Server (NTRS)

Zimpfer, Douglas J.

2003-01-01

To meet cost and safety objectives, space missions that involve proximity operations between two vehicles require a high level of autonomy to successfully complete their missions. The need for autonomy is primarily driven by the need to conduct complex operations outside of communication windows, and the communication time delays inherent in space missions. Autonomy also supports the goals of both NASA and the DOD to make space operations more routine, and lower operational costs by reducing the requirement for ground personnel. NASA and the DoD have several programs underway that require a much higher level of autonomy for space vehicles. NASA's Space Launch Initiative (SLI) program has ambitious goals of reducing costs by a factor or 10 and improving safety by a factor of 100. DARPA has recently begun its Orbital Express to demonstrate key technologies to make satellite servicing routine. The Air Force's XSS-ll program is developing a protoflight demonstration of an autonomous satellite inspector. A common element in space operations for many NASA and DOD missions is the ability to rendezvous, inspect anclJor dock with another spacecraft. For DARPA, this is required to service or refuel military satellites. For the Air Force, this is required to inspect un-cooperative resident space objects. For NASA, this is needed to meet the primary SLI design reference mission of International Space Station re-supply. A common aspect for each of these programs is an Autonomous Mission Manager that provides highly autonomous planning, execution and monitoring of the rendezvous, inspection and docking operations. This paper provides an overview of the Autonomous Mission Manager (AMM) design being incorporated into many of these technology programs. This AMM provides a highly scalable level of autonomous operations, ranging from automatic execution of ground-derived plans to highly autonomous onboard planning to meet ground developed mission goals. The AMM provides the capability to automatically execute the plans and monitor the system performance. In the event of system dispersions or failures the AMM can modify plans or abort to assure overall system safety. This paper describes the design and functionality of Draper's AMM framework, presents concept of operations associated with the use of the AMM, and outlines the relevant features of the flight demonstrations.

Cooperative Control of Multiple Unmanned Autonomous Vehicles

DTIC Science & Technology

2005-06-03

I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

Lower cost offshore field development utilizing autonomous vehicles

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

Frisbie, F.R.; Vie, K.J.; Welch, D.W.

1996-12-31

The offshore oil and gas industry has the requirement to inspect offshore oil and gas pipelines for scour, corrosion and damage as well as inspect and intervene on satellite production facilities. This task is currently performed with Remotely Operated Vehicles (ROV) operated from dynamically positioned (DP) offshore supply or diving support boats. Currently, these tasks are expensive due to the high day rates for DP ships and the slow, umbilical impeded, 1 knot inspection rates of the tethered ROVs, Emerging Autonomous Undersea Vehicle (AUV) technologies offer opportunities to perform these same inspection tasks for 50--75% lower cost, with comparable ormore » improved quality. The new generation LAPV (Linked Autonomous Power Vehicles) will operate from fixed facilities such as TLPs or FPFs and cover an operating field 10 kms in diameter.« less

Development of an Autonomous, Compact, Broadband Acoustic Backscattering System for Remote Characterization of Zooplankton Variability (PART II)

DTIC Science & Technology

2010-09-30

proposal include: 1) complete the development of second-generation sonar boards, 2) complete the integration of new transducers with the second... sonar board and transducer. APPROACH Over the last 40 years, there has been significant research effort directed towards the use of high...narrowband frequency, and some AUVs carry single-frequency sidescan sonars (and this technology has been adapted for gliders), the lack of suitable

Multi-agent autonomous system

NASA Technical Reports Server (NTRS)

Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

2010-01-01

A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Turning a remotely controllable observatory into a fully autonomous system

NASA Astrophysics Data System (ADS)

Swindell, Scott; Johnson, Chris; Gabor, Paul; Zareba, Grzegorz; Kubánek, Petr; Prouza, Michael

2014-08-01

We describe a complex process needed to turn an existing, old, operational observatory - The Steward Observatory's 61" Kuiper Telescope - into a fully autonomous system, which observers without an observer. For this purpose, we employed RTS2,1 an open sourced, Linux based observatory control system, together with other open sourced programs and tools (GNU compilers, Python language for scripting, JQuery UI for Web user interface). This presentation provides a guide with time estimates needed for a newcomers to the field to handle such challenging tasks, as fully autonomous observatory operations.

Wireless IR Image Transfer System for Autonomous Vehicles

DTIC Science & Technology

2003-12-01

the camera can operate between 0 and 500 C; this uniquely suites it for employment on autonomous vehicles in rugged environments. The camera is...system is suitable for used on autonomous vehicles under varying antenna orientations. • The third is the use of MDS transceivers allows the received

On τ-Compactness of Products of τ-Measurable Operators

NASA Astrophysics Data System (ADS)

Bikchentaev, Airat M.

2017-12-01

Let M be a von Neumann algebra of operators on a Hilbert space H, τ be a faithful normal semifinite trace on M. We obtain some new inequalities for rearrangements of τ-measurable operators products. We also establish some sufficient τ-compactness conditions for products of selfadjoint τ-measurable operators. Next we obtain a τ-compactness criterion for product of a nonnegative τ-measurable operator with an arbitrary τ-measurable operator. We construct an example that shows importance of nonnegativity for one of the factors. The similar results are obtained also for elementary operators from M. We apply our results to symmetric spaces on (M, τ ). The results are new even for the *-algebra B(H) of all linear bounded operators on H endowed with the canonical trace τ = tr.

Video Guidance Sensor for Surface Mobility Operations

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Fischer, Richard; Bryan, Thomas; Howell, Joe; Howard, Ricky; Peters, Bruce

2008-01-01

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame.

Defining the Levels of Adjustable Autonomy: A Means of Improving Resilience in an Unmanned Aerial System

DTIC Science & Technology

2014-09-01

efficient yet safe operations. • Further understanding of human psychology in the operation of autonomous systems. • Interfaces, be they visual...that system, especially when included in aspects or during times where automation backup is required, when the human-operators anticipatory skills...political and psychological domains, where it connotes self-determination (Christman 2009). The autonomous systems domain that has evolved since

The HAL 9000 Space Operating System Real-Time Planning Engine Design and Operations Requirements

NASA Technical Reports Server (NTRS)

Stetson, Howard; Watson, Michael D.; Shaughnessy, Ray

2012-01-01

In support of future deep space manned missions, an autonomous/automated vehicle, providing crew autonomy and an autonomous response planning system, will be required due to the light time delays in communication. Vehicle capabilities as a whole must provide for tactical response to vehicle system failures and space environmental effects induced failures, for risk mitigation of permanent loss of communication with Earth, and for assured crew return capabilities. The complexity of human rated space systems and the limited crew sizes and crew skills mix drive the need for a robust autonomous capability on-board the vehicle. The HAL 9000 Space Operating System[2] designed for such missions and space craft includes the first distributed real-time planning / re-planning system. This paper will detail the software architecture of the multiple planning engine system, and the interface design for plan changes, approval and implementation that is performed autonomously. Operations scenarios will be defined for analysis of the planning engines operations and its requirements for nominal / off nominal activities. An assessment of the distributed realtime re-planning system, in the defined operations environment, will be provided as well as findings as it pertains to the vehicle, crew, and mission control requirements needed for implementation.

Onboard Processing and Autonomous Operations on the IPEX Cubesat

NASA Technical Reports Server (NTRS)

Chien, Steve; Doubleday, Joshua; Ortega, Kevin; Flatley, Tom; Crum, Gary; Geist, Alessandro; Lin, Michael; Williams, Austin; Bellardo, John; Puig-Suari, Jordi;

Mission Operations with an Autonomous Agent

NASA Technical Reports Server (NTRS)

Pell, Barney; Sawyer, Scott R.; Muscettola, Nicola; Smith, Benjamin; Bernard, Douglas E.

1998-01-01

The Remote Agent (RA) is an Artificial Intelligence (AI) system which automates some of the tasks normally reserved for human mission operators and performs these tasks autonomously on-board the spacecraft. These tasks include activity generation, sequencing, spacecraft analysis, and failure recovery. The RA will be demonstrated as a flight experiment on Deep Space One (DSI), the first deep space mission of the NASA's New Millennium Program (NMP). As we moved from prototyping into actual flight code development and teamed with ground operators, we made several major extensions to the RA architecture to address the broader operational context in which PA would be used. These extensions support ground operators and the RA sharing a long-range mission profile with facilities for asynchronous ground updates; support ground operators monitoring and commanding the spacecraft at multiple levels of detail simultaneously; and enable ground operators to provide additional knowledge to the RA, such as parameter updates, model updates, and diagnostic information, without interfering with the activities of the RA or leaving the system in an inconsistent state. The resulting architecture supports incremental autonomy, in which a basic agent can be delivered early and then used in an increasingly autonomous manner over the lifetime of the mission. It also supports variable autonomy, as it enables ground operators to benefit from autonomy when L'@ey want it, but does not inhibit them from obtaining a detailed understanding and exercising tighter control when necessary. These issues are critical to the successful development and operation of autonomous spacecraft.

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.

Autonomous Payload Operations Onboard the International Space Station

NASA Technical Reports Server (NTRS)

Stetson, Howard K.; Deitsch, David K.; Cruzen, Craig A.; Haddock, Angie T.

2007-01-01

Operating the International Space Station (ISS) involves many complex crew tended, ground operated and combined systems. Over the life of the ISS program, it has become evident that by having automated and autonomous systems on board, more can be accomplished and at the same time reduce the workload of the crew and ground operators. Engineers at the National Aeronautics and Space Administration's (NASA) Marshall Space Flight Center in Huntsville Alabama, working in collaboration with The Charles Stark Draper Laboratory have developed an autonomous software system that uses the Timeliner User Interface Language and expert logic to continuously monitor ISS payload systems, issue commands and signal ground operators as required. This paper describes the development history of the system, its concept of operation and components. The paper also discusses the testing process as well as the facilities used to develop the system. The paper concludes with a description of future enhancement plans for use on the ISS as well as potential applications to Lunar and Mars exploration systems.

Autonomous Command Operation of the WIRE Spacecraft

NASA Technical Reports Server (NTRS)

Prior, Mike; Walyus, Keith; Saylor, Rick

1999-01-01

This paper presents the end-to-end design architecture for an autonomous commanding capability to be used on the Wide Field Infrared Explorer (WIRE) mission for the uplink of command loads during unattended station contacts. The WIRE mission is the fifth and final mission of NASA's Goddard Space Flight Center Small Explorer (SMEX) series to be launched in March of 1999. Its primary mission is the targeting of deep space fields using an ultra-cooled infrared telescope. Due to its mission design WIRE command loads are large (approximately 40 Kbytes per 24 hours) and must be performed daily. To reduce the cost of mission operations support that would be required in order to uplink command loads, the WIRE Flight Operations Team has implemented an autonomous command loading capability. This capability allows completely unattended operations over a typical two-day weekend period.

Sign detection for autonomous navigation

NASA Astrophysics Data System (ADS)

Goodsell, Thomas G.; Snorrason, Magnus S.; Cartwright, Dustin; Stube, Brian; Stevens, Mark R.; Ablavsky, Vitaly X.

2003-09-01

Mobile robots currently cannot detect and read arbitrary signs. This is a major hindrance to mobile robot usability, since they cannot be tasked using directions that are intuitive to humans. It also limits their ability to report their position relative to intuitive landmarks. Other researchers have demonstrated some success on traffic sign recognition, but using template based methods limits the set of recognizable signs. There is a clear need for a sign detection and recognition system that can process a much wider variety of signs: traffic signs, street signs, store-name signs, building directories, room signs, etc. We are developing a system for Sign Understanding in Support of Autonomous Navigation (SUSAN), that detects signs from various cues common to most signs: vivid colors, compact shape, and text. We have demonstrated the feasibility of our approach on a variety of signs in both indoor and outdoor locations.

Solving Autonomy Technology Gaps through Wireless Technology and Orion Avionics Architectural Principles

NASA Astrophysics Data System (ADS)

Black, Randy; Bai, Haowei; Michalicek, Andrew; Shelton, Blaine; Villela, Mark

2008-01-01

Currently, autonomy in space applications is limited by a variety of technology gaps. Innovative application of wireless technology and avionics architectural principles drawn from the Orion crew exploration vehicle provide solutions for several of these gaps. The Vision for Space Exploration envisions extensive use of autonomous systems. Economic realities preclude continuing the level of operator support currently required of autonomous systems in space. In order to decrease the number of operators, more autonomy must be afforded to automated systems. However, certification authorities have been notoriously reluctant to certify autonomous software in the presence of humans or when costly missions may be jeopardized. The Orion avionics architecture, drawn from advanced commercial aircraft avionics, is based upon several architectural principles including partitioning in software. Robust software partitioning provides "brick wall" separation between software applications executing on a single processor, along with controlled data movement between applications. Taking advantage of these attributes, non-deterministic applications can be placed in one partition and a "Safety" application created in a separate partition. This "Safety" partition can track the position of astronauts or critical equipment and prevent any unsafe command from executing. Only the Safety partition need be certified to a human rated level. As a proof-of-concept demonstration, Honeywell has teamed with the Ultra WideBand (UWB) Working Group at NASA Johnson Space Center to provide tracking of humans, autonomous systems, and critical equipment. Using UWB the NASA team can determine positioning to within less than one inch resolution, allowing a Safety partition to halt operation of autonomous systems in the event that an unplanned collision is imminent. Another challenge facing autonomous systems is the coordination of multiple autonomous agents. Current approaches address the issue as one of networking and coordination of multiple independent units, each with its own mission. As a proof-of-concept Honeywell is developing and testing various algorithms that lead to a deterministic, fault tolerant, reliable wireless backplane. Just as advanced avionics systems control several subsystems, actuators, sensors, displays, etc.; a single "master" autonomous agent (or base station computer) could control multiple autonomous systems. The problem is simplified to controlling a flexible body consisting of several sensors and actuators, rather than one of coordinating multiple independent units. By filling technology gaps associated with space based autonomous system, wireless technology and Orion architectural principles provide the means for decreasing operational costs and simplifying problems associated with collaboration of multiple autonomous systems.

Real-Time Systems

DTIC Science & Technology

1992-02-01

Postgraduate School Autonomous Under Vehicle (AUV) are then examined. Autonomous underwater vehicle (AUV), hard real-time system, real - time operating system , real-time programming language, real-time system, soft real-time system.

Infrastructure-Based Sensors Augmenting Efficient Autonomous Vehicle Operations: Preprint

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

Jun, Myungsoo; Markel, Anthony J

Autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehicles is seen as a potential barrier to broad adoption and achieving system energy efficiency gains. Since traffic in autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehiclesmore » is seen as a potential barrier to broad adoption and achieving system energy efficiency gains.« less

Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer

NASA Technical Reports Server (NTRS)

Wehner, Walter S.

2012-01-01

The Simulation Software, KATE (Knowledgebase Autonomous Test Engineer), is used to demonstrate the automatic identification of faults in a system. The ACLO (Autonomous Cryogenics Loading Operation) project uses KATE to monitor and find faults in the loading of the cryogenics int o a vehicle fuel tank. The KATE software interfaces with the IHM (Integrated Health Management) systems bus to communicate with other systems that are part of ACLO. One system that KATE uses the IHM bus to communicate with is AIS (Advanced Inspection System). KATE will send messages to AIS when there is a detected anomaly. These messages include visual inspection of specific valves, pressure gauges and control messages to have AIS open or close manual valves. My goals include implementing the connection to the IHM bus within KATE and for the AIS project. I will also be working on implementing changes to KATE's Ul and implementing the physics objects in KATE that will model portions of the cryogenics loading operation.

System and method of self-properties for an autonomous and automatic computer environment

NASA Technical Reports Server (NTRS)

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

2010-01-01

Systems, methods and apparatus are provided through which in some embodiments self health/urgency data and environment health/urgency data may be transmitted externally from an autonomic element. Other embodiments may include transmitting the self health/urgency data and environment health/urgency data together on a regular basis similar to the lub-dub of a heartbeat. Yet other embodiments may include a method for managing a system based on the functioning state and operating status of the system, wherein the method may include processing received signals from the system indicative of the functioning state and the operating status to obtain an analysis of the condition of the system, generating one or more stay alive signals based on the functioning status and the operating state of the system, transmitting the stay-alive signal, transmitting self health/urgency data, and transmitting environment health/urgency data. Still other embodiments may include an autonomic element that includes a self monitor, a self adjuster, an environment monitor, and an autonomic manager.

Orbital Express mission operations planning and resource management using ASPEN

NASA Astrophysics Data System (ADS)

Chouinard, Caroline; Knight, Russell; Jones, Grailing; Tran, Daniel

2008-04-01

As satellite equipment and mission operations become more costly, the drive to keep working equipment running with less labor-power rises. Demonstrating the feasibility of autonomous satellite servicing was the main goal behind the Orbital Express (OE) mission. Like a tow-truck delivering gas to a car on the road, the "servicing" satellite of OE had to find the "client" from several kilometers away, connect directly to the client, and transfer fluid (or a battery) autonomously, while on earth-orbit. The mission met 100% of its success criteria, and proved that autonomous satellite servicing is now a reality for space operations. Planning the satellite mission operations for OE required the ability to create a plan which could be executed autonomously over variable conditions. As the constraints for execution could change weekly, daily, and even hourly, the tools used create the mission execution plans needed to be flexible and adaptable to many different kinds of changes. At the same time, the hard constraints of the plans needed to be maintained and satisfied. The Automated Scheduling and Planning Environment (ASPEN) tool, developed at the Jet Propulsion Laboratory, was used to create the schedule of events in each daily plan for the two satellites of the OE mission. This paper presents an introduction to the ASPEN tool, an overview of the constraints of the OE domain, the variable conditions that were presented within the mission, and the solution to operations that ASPEN provided. ASPEN has been used in several other domains, including research rovers, Deep Space Network scheduling research, and in flight operations for the NASA's Earth Observing One mission's EO1 satellite. Related work is discussed, as are the future of ASPEN and the future of autonomous satellite servicing.

A Simulation Study of a Speed Control System for Autonomous On-Road Operation of Automotive Vehicles.

DTIC Science & Technology

1987-06-01

by block numoiber) The study of human driving of automotive vehicles is an important aid to the development of viable autonomous vehicle navigation...of human driving which could provide some different insights into possible approaches to autonomous vehicle control. At the start of this work, it was...advanced work in the behavioral aspects of human driving . Research of this nature can have a significant impact on the development of autonomous vehicles

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-02-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-06-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

Collaborating with Autonomous Agents

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Cross, Charles D.; Fan, Henry; Hempley, Lucas E.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc D.; Allen, B. Danette

2015-01-01

With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.

True-sky demonstration of an autonomous star tracker

NASA Astrophysics Data System (ADS)

van Bezooijen, Roelof W.

1994-07-01

An autonomous star tracker (AST) is basically a `star field in, attitude out' device capable of determining its attitude without requiring any a priori attitude knowledge. In addition to this attitude acquisition capability, an AST can perform attitude updates autonomously and is able to provide its attitude `continuously' while tracking a star field. The Lockheed Palo Alto Research Laboratory is developing a reliable, low-cost, miniature AST that has a one arcsec overall accuracy, weighs less than 1.5 kg, consumes less than 7 watts of power, and is sufficiently sensitive to be used at all sky locations. The device performs attitude acquisition in a fraction of a second and outputs its attitude at a 10 Hz rate when operating in its tracking mode. Besides providing the functionality needed for future advanced attitude control and navigation systems, an AST also improves spacecraft reliability, mass, power, cost, and operating expenses. The AST comprises a-thermalized, refractive optics, a frame-transfer CCD with a sensitive area of 1024 by 1024 pixels, camera electronics implemented with application- specific integrated circuits, a compact single board computer with a radiation hard 32 bit RISC processor, and an all-sky guide star database. Star identification is performed by a memory- efficient and highly robust algorithm that finds the largest group of observed stars matching a group of guide stars. An important milestone has recently been achieved with the validation of the attitude acquisition capability through correct and rapid identification of all 704 true-sky star fields obtained at the Lick Observatory, using an uncalibrated prototype AST with a 512 by 1024 pixel frame-transfer CCD and a 50 mm f/1.2 lens that provided an effective 6.5 by 13.2 degree field of view. The overlapping fields cover 47% of the sky, including both rich and sparse areas. The paper contains a description of the AST, a summary of the functions enabled or improved by the device, an overview of the identification algorithm, results obtained with a realistic simulation program, a description of the true-sky star field identification method and a presentation of the results obtained. The AST tolerates the presence of bright objects as was demonstrated by a field that included Jupiter.

Secure, Autonomous, Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations

NASA Astrophysics Data System (ADS)

Ivancic, W. D.; Paulsen, P. E.; Miller, E. M.; Sage, S. P.

This report describes a Secure, Autonomous, and Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations. It includes a description of current improvements to existing Virtual Mission Operations Center technology being used by US Department of Defense and originally developed under NASA funding. The report also highlights a technology demonstration performed in partnership with the United States Geological Service for Earth Resources Observation and Science using DigitalGlobe® satellites to obtain space-based sensor data.

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.

Airborne Management of Traffic Conflicts in Descent With Arrival Constraints

NASA Technical Reports Server (NTRS)

Doble, Nathan A.; Barhydt, Richard; Krishnamurthy, Karthik

2005-01-01

NASA is studying far-term air traffic management concepts that may increase operational efficiency through a redistribution of decisionmaking authority among airborne and ground-based elements of the air transportation system. One component of this research, En Route Free Maneuvering, allows trained pilots of equipped autonomous aircraft to assume responsibility for traffic separation. Ground-based air traffic controllers would continue to separate traffic unequipped for autonomous operations and would issue flow management constraints to all aircraft. To evaluate En Route Free Maneuvering operations, a human-in-the-loop experiment was jointly conducted by the NASA Ames and Langley Research Centers. In this experiment, test subject pilots used desktop flight simulators to resolve conflicts in cruise and descent, and to adhere to air traffic flow constraints issued by test subject controllers. Simulators at NASA Langley were equipped with a prototype Autonomous Operations Planner (AOP) flight deck toolset to assist pilots with conflict management and constraint compliance tasks. Results from the experiment are presented, focusing specifically on operations during the initial descent into the terminal area. Airborne conflict resolution performance in descent, conformance to traffic flow management constraints, and the effects of conflicting traffic on constraint conformance are all presented. Subjective data from subject pilots are also presented, showing perceived levels of workload, safety, and acceptability of autonomous arrival operations. Finally, potential AOP functionality enhancements are discussed along with suggestions to improve arrival procedures.

Automated Operations Development for Advanced Exploration Systems

NASA Technical Reports Server (NTRS)

Haddock, Angie; Stetson, Howard K.

2012-01-01

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

Automated Operations Development for Advanced Exploration Systems

NASA Technical Reports Server (NTRS)

Haddock, Angie T.; Stetson, Howard

2012-01-01

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

Contingency Software in Autonomous Systems: Technical Level Briefing

NASA Technical Reports Server (NTRS)

Lutz, Robyn R.; Patterson-Hines, Ann

2006-01-01

Contingency management is essential to the robust operation of complex systems such as spacecraft and Unpiloted Aerial Vehicles (UAVs). Automatic contingency handling allows a faster response to unsafe scenarios with reduced human intervention on low-cost and extended missions. Results, applied to the Autonomous Rotorcraft Project and Mars Science Lab, pave the way to more resilient autonomous systems.

Autonomous Aircraft Operations using RTCA Guidelines for Airborne Conflict Management

NASA Technical Reports Server (NTRS)

Krishnamurthy, Karthik; Wing, David J.; Barmore, Bryan E.; Barhydt, Richard; Palmer, Michael T.; Johnson, Edward J.; Ballin, Mark G.; Eischeid, Todd M.

2003-01-01

A human-in-the-loop experiment was performed at the NASA Langley Research Center to study the feasibility of DAG-TM autonomous aircraft operations in highly constrained airspace. The airspace was constrained by a pair of special-use airspace (SUA) regions on either side of the pilot's planned route. Traffic flow management (TFM) constraints were imposed as a required time of arrival and crossing altitude at an en route fix. Key guidelines from the RTCA Airborne Conflict Management (ACM) concept were applied to autonomous aircraft operations for this experiment. These concepts included the RTCA ACM definitions of distinct conflict detection and collision avoidance zones, and the use of a graded system of conflict alerts for the flight crew. Three studies were conducted in the course of the experiment. The first study investigated the effect of hazard proximity upon pilot ability to meet constraints and solve conflict situations. The second study investigated pilot use of the airborne tools when faced with an unexpected loss of separation (LOS). The third study explored pilot interactions in an over-constrained conflict situation, with and without priority rules dictating who should move first. Detailed results from these studies were presented at the 5th USA/Europe Air Traffic Management R&D Seminar (ATM2003). This overview paper focuses on the integration of the RTCA ACM concept into autonomous aircraft operations in highly constrained situations, and provides an overview of the results presented at the ATM2003 seminar. These results, together with previously reported studies, continue to support the feasibility of autonomous aircraft operations.

Soluble Protein Analysis using a Compact Bench-top Flow Cytometer

NASA Technical Reports Server (NTRS)

Pappas, Dimitri; Kao, Shib-Hsin; Cyr, Johnathan

2004-01-01

Future space exploration missions will require analytical technology capable of providing both autonomous medical care to the crew and investigative capabilities to researchers. While several promising candidate technologies exist for further development, flow cytometry is an attractive technology as it offers both crew health (blood cell count, leukocyte differential, etc.) and a wide array of biochemistry and immunology assays. research settings, the application of this technique to soluble protein analysis is also possible. Proteomic beads using fluorescent dyes for optical encoding were used to monitor six cytokines simultaneously in cell medium of cell cultures in stationary and rotating cell culture systems. The results of this work demonstrate that a compact flow cytometer, such as a system proposed for space flight, can detect a variety of soluble proteins for crew health and biotechnology experiments during long-term missions.

Unifying Model-Based and Reactive Programming within a Model-Based Executive

NASA Technical Reports Server (NTRS)

Williams, Brian C.; Gupta, Vineet; Norvig, Peter (Technical Monitor)

1999-01-01

Real-time, model-based, deduction has recently emerged as a vital component in AI's tool box for developing highly autonomous reactive systems. Yet one of the current hurdles towards developing model-based reactive systems is the number of methods simultaneously employed, and their corresponding melange of programming and modeling languages. This paper offers an important step towards unification. We introduce RMPL, a rich modeling language that combines probabilistic, constraint-based modeling with reactive programming constructs, while offering a simple semantics in terms of hidden state Markov processes. We introduce probabilistic, hierarchical constraint automata (PHCA), which allow Markov processes to be expressed in a compact representation that preserves the modularity of RMPL programs. Finally, a model-based executive, called Reactive Burton is described that exploits this compact encoding to perform efficIent simulation, belief state update and control sequence generation.

Autonomous System Technologies for Resilient Airspace Operations

NASA Technical Reports Server (NTRS)

Houston, Vincent E.; Le Vie, Lisa R.

2017-01-01

Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

Autonomous Integrated Receive System (AIRS) requirements definition. Volume 3: Performance and simulation

NASA Technical Reports Server (NTRS)

Chie, C. M.; Su, Y. T.; Lindsey, W. C.; Koukos, J.

1984-01-01

The autonomous and integrated aspects of the operation of the AIRS (Autonomous Integrated Receive System) are discussed from a system operation point of view. The advantages of AIRS compared to the existing SSA receive chain equipment are highlighted. The three modes of AIRS operation are addressed in detail. The configurations of the AIRS are defined as a function of the operating modes and the user signal characteristics. Each AIRS configuration selection is made up of three components: the hardware, the software algorithms and the parameters used by these algorithms. A comparison between AIRS and the wide dynamics demodulation (WDD) is provided. The organization of the AIRS analytical/simulation software is described. The modeling and analysis is for simulating the performance of the PN subsystem is documented. The frequence acquisition technique using a frequency-locked loop is also documented. Doppler compensation implementation is described. The technological aspects of employing CCD's for PN acquisition are addressed.

Fuzzy logic in autonomous orbital operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.; Jani, Yashvant

1991-01-01

Fuzzy logic can be used advantageously in autonomous orbital operations that require the capability of handling imprecise measurements from sensors. Several applications are underway to investigate fuzzy logic approaches and develop guidance and control algorithms for autonomous orbital operations. Translational as well as rotational control of a spacecraft have been demonstrated using space shuttle simulations. An approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Pattern recognition and object identification algorithms currently under development will become part of this camera system at an appropriate level in the future. A concept to control environment and life support systems for large Lunar based crew quarters is also under development. Investigations in the area of reinforcement learning, utilizing neural networks, combined with a fuzzy logic controller, are planned as a joint project with the Ames Research Center.

Laser Range and Bearing Finder for Autonomous Missions

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

NASA has recently re-confirmed their interest in autonomous systems as an enabling technology for future missions. In order for autonomous missions to be possible, highly-capable relative sensor systems are needed to determine an object's distance, direction, and orientation. This is true whether the mission is autonomous in-space assembly, rendezvous and docking, or rover surface navigation. Advanced Optical Systems, Inc. has developed a wide-angle laser range and bearing finder (RBF) for autonomous space missions. The laser RBF has a number of features that make it well-suited for autonomous missions. It has an operating range of 10 m to 5 km, with a 5 deg field of view. Its wide field of view removes the need for scanning systems such as gimbals, eliminating moving parts and making the sensor simpler and space qualification easier. Its range accuracy is 1% or better. It is designed to operate either as a stand-alone sensor or in tandem with a sensor that returns range, bearing, and orientation at close ranges, such as NASA's Advanced Video Guidance Sensor. We have assembled the initial prototype and are currently testing it. We will discuss the laser RBF's design and specifications. Keywords: laser range and bearing finder, autonomous rendezvous and docking, space sensors, on-orbit sensors, advanced video guidance sensor

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.

Orbital Express Mission Operations Planning and Resource Management using ASPEN

NASA Technical Reports Server (NTRS)

Chouinard, Caroline; Knight, Russell; Jones, Grailing; Tran, Daniel

2008-01-01

As satellite equipment and mission operations become more costly, the drive to keep working equipment running with less man-power rises.Demonstrating the feasibility of autonomous satellite servicing was the main goal behind the Orbital Express (OE) mission. Planning the satellite mission operations for OE required the ability to create a plan which could be executed autonomously over variable conditions. The Automated-Scheduling and Planning Environment (ASPEN)tool, developed at the Jet Propulsion Laboratory, was used to create the schedule of events in each daily plan for the two satellites of the OE mission. This paper presents an introduction to the ASPEN tool, the constraints of the OE domain, the variable conditions that were presented within the mission, and the solution to operations that ASPEN provided. ASPEN has been used in several other domains, including research rovers, Deep Space Network scheduling research, and in flight operations for the ASE project's EO1 satellite. Related work is discussed, as are the future of ASPEN and the future of autonomous satellite servicing.

Development and Execution of Autonomous Procedures Onboard the International Space Station to Support the Next Phase of Human Space Exploration

NASA Technical Reports Server (NTRS)

Beisert, Susan; Rodriggs, Michael; Moreno, Francisco; Korth, David; Gibson, Stephen; Lee, Young H.; Eagles, Donald E.

2013-01-01

Now that major assembly of the International Space Station (ISS) is complete, NASA's focus has turned to using this high fidelity in-space research testbed to not only advance fundamental science research, but also demonstrate and mature technologies and develop operational concepts that will enable future human exploration missions beyond low Earth orbit. The ISS as a Testbed for Analog Research (ISTAR) project was established to reduce risks for manned missions to exploration destinations by utilizing ISS as a high fidelity micro-g laboratory to demonstrate technologies, operations concepts, and techniques associated with crew autonomous operations. One of these focus areas is the development and execution of ISS Testbed for Analog Research (ISTAR) autonomous flight crew procedures intended to increase crew autonomy that will be required for long duration human exploration missions. Due to increasing communications delays and reduced logistics resupply, autonomous procedures are expected to help reduce crew reliance on the ground flight control team, increase crew performance, and enable the crew to become more subject-matter experts on both the exploration space vehicle systems and the scientific investigation operations that will be conducted on a long duration human space exploration mission. These tests make use of previous or ongoing projects tested in ground analogs such as Research and Technology Studies (RATS) and NASA Extreme Environment Mission Operations (NEEMO). Since the latter half of 2012, selected non-critical ISS systems crew procedures have been used to develop techniques for building ISTAR autonomous procedures, and ISS flight crews have successfully executed them without flight controller involvement. Although the main focus has been preparing for exploration, the ISS has been a beneficiary of this synergistic effort and is considering modifying additional standard ISS procedures that may increase crew efficiency, reduce operational costs, and raise the amount of crew time available for scientific research. The next phase of autonomous procedure development is expected to include payload science and human research investigations. Additionally, ISS International Partners have expressed interest in participating in this effort. The recently approved one-year crew expedition starting in 2015, consisting of one Russian and one U.S. Operating Segment (USOS) crewmember, will be used not only for long duration human research investigations but also for the testing of exploration operations concepts, including crew autonomy.

Autonomous Aerobraking: A Design, Development, and Feasibility Study

NASA Technical Reports Server (NTRS)

Prince, Jill L. H.; Powell, Richard W.; Murri, Dan

2011-01-01

Aerobraking has been used four times to decrease the apoapsis of a spacecraft in a captured orbit around a planetary body with a significant atmosphere utilizing atmospheric drag to decelerate the spacecraft. While aerobraking requires minimum fuel, the long time required for aerobraking requires both a large operations staff, and large Deep Space Network resources. A study to automate aerobraking has been sponsored by the NASA Engineering and Safety Center to determine initial feasibility of equipping a spacecraft with the onboard capability for autonomous aerobraking, thus saving millions of dollars incurred by a large aerobraking operations workforce and continuous DSN coverage. This paper describes the need for autonomous aerobraking, the development of the Autonomous Aerobraking Development Software that includes an ephemeris estimator, an atmospheric density estimator, and maneuver calculation, and the plan forward for continuation of this study.

Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer

NASA Technical Reports Server (NTRS)

Wehner, Walter S., Jr.

2013-01-01

Working on the ACLO (Autonomous Cryogenics Loading Operations) project I have had the opportunity to add functionality to the physics simulation software known as KATE (Knowledgebase Autonomous Test Engineer), create a new application allowing WYSIWYG (what-you-see-is-what-you-get) creation of KATE schematic files and begin a preliminary design and implementation of a new subsystem that will provide vision services on the IHM (Integrated Health Management) bus. The functionality I added to KATE over the past few months includes a dynamic visual representation of the fluid height in a pipe based on number of gallons of fluid in the pipe and implementing the IHM bus connection within KATE. I also fixed a broken feature in the system called the Browser Display, implemented many bug fixes and made changes to the GUI (Graphical User Interface).

Multiband rectenna for microwave applications

NASA Astrophysics Data System (ADS)

Okba, Abderrahim; Takacs, Alexandru; Aubert, Hervé; Charlot, Samuel; Calmon, Pierre-François

2017-02-01

This paper reports a multiband rectenna (rectifier + antenna) suitable for the electromagnetic energy harvesting of the spill-over loss of microwave antennas placed on board of geostationary satellites. Such rectenna is used for powering autonomous wireless sensors for satellite health monitoring. The topology of the rectenna is presented. The experimental results demonstrate that the proposed compact rectenna can harvest efficiently the incident electromagnetic energy at three different frequencies that are close to the resonant frequencies of the cross-dipoles implemented in the antenna array. xml:lang="fr"

Autonomous Flight Rules Concept: User Implementation Costs and Strategies

NASA Technical Reports Server (NTRS)

Cotton, William B.; Hilb, Robert

2014-01-01

The costs to implement Autonomous Flight Rules (AFR) were examined for estimates in acquisition, installation, training and operations. The user categories were airlines, fractional operators, general aviation and unmanned aircraft systems. Transition strategies to minimize costs while maximizing operational benefits were also analyzed. The primary cost category was found to be the avionics acquisition. Cost ranges for AFR equipment were given to reflect the uncertainty of the certification level for the equipment and the extent of existing compatible avionics in the aircraft to be modified.

Secure, Autonomous, Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations

NASA Technical Reports Server (NTRS)

Ivancic, William D.; Paulsen, Phillip E.; Miller, Eric M.; Sage, Steen P.

2013-01-01

This report describes a Secure, Autonomous, and Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations. It includes a description of current improvements to existing Virtual Mission Operations Center technology being used by US Department of Defense and originally developed under NASA funding. The report also highlights a technology demonstration performed in partnership with the United States Geological Service for Earth Resources Observation and Science using DigitalGlobe(Registered TradeMark) satellites to obtain space-based sensor data.

Tele-autonomous systems: New methods for projecting and coordinating intelligent action at a distance

NASA Technical Reports Server (NTRS)

Conway, Lynn; Volz, Richard; Walker, Michael W.

1989-01-01

There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. It is asserted that a blending of human intelligence, modern information technology, remote control, and intelligent autonomous systems is required, and have coined the term tele-autonomous technology, or tele-automation, for methods producing intelligent action at a distance. Tele-automation goes beyond autonomous control by blending in human intelligence. It goes beyond tele-operation by incorporating as much autonomy as possible and/or reasonable. A new approach is discussed for solving one of the fundamental problems facing tele-autonomous systems: The need to overcome time delays due to telemetry and signal propagation. New concepts are introduced called time and position clutches, that allow the time and position frames between the local user control and the remote device being controlled, to be desynchronized respectively. The design and implementation of these mechanisms are described in detail. It is demonstrated that these mechanisms lead to substantial telemanipulation performance improvements, including the result of improvements even in the absence of time delays. The new controls also yield a simple protocol for control handoffs of manipulation tasks between local operators and remote systems.

Investigation of methods and equipment for compaction of composite mixtures during their granulation

NASA Astrophysics Data System (ADS)

Shkarpetkin, E. A.; Osokin, A. V.; Sabaev, V. G.

2018-03-01

The article presents the results of a literature analysis of the methods of compaction of materials, analytical and experimental research on the creation of a roller compacting device and the determination of its operation modes, which provides an efficient preliminary compaction of a composite mixture based on technogenic materials.

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.

The MAP Autonomous Mission Control System

NASA Technical Reports Server (NTRS)

Breed, Juile; Coyle, Steven; Blahut, Kevin; Dent, Carolyn; Shendock, Robert; Rowe, Roger

2000-01-01

The Microwave Anisotropy Probe (MAP) mission is the second mission in NASA's Office of Space Science low-cost, Medium-class Explorers (MIDEX) program. The Explorers Program is designed to accomplish frequent, low cost, high quality space science investigations utilizing innovative, streamlined, efficient management, design and operations approaches. The MAP spacecraft will produce an accurate full-sky map of the cosmic microwave background temperature fluctuations with high sensitivity and angular resolution. The MAP spacecraft is planned for launch in early 2001, and will be staffed by only single-shift operations. During the rest of the time the spacecraft must be operated autonomously, with personnel available only on an on-call basis. Four (4) innovations will work cooperatively to enable a significant reduction in operations costs for the MAP spacecraft. First, the use of a common ground system for Spacecraft Integration and Test (I&T) as well as Operations. Second, the use of Finite State Modeling for intelligent autonomy. Third, the integration of a graphical planning engine to drive the autonomous systems without an intermediate manual step. And fourth, the ability for distributed operations via Web and pager access.

Crew/Robot Coordinated Planetary EVA Operations at a Lunar Base Analog Site

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Bluethmann, W. J.; Delgado, F. J.; Herrera, E.; Kosmo, J. J.; Janoiko, B. A.; Wilcox, B. H.; Townsend, J. A.; Matthews, J. B.;

The Spacecraft Emergency Response System (SERS) for Autonomous Mission Operations

NASA Technical Reports Server (NTRS)

Breed, Julia; Chu, Kai-Dee; Baker, Paul; Starr, Cynthia; Fox, Jeffrey; Baitinger, Mick

1998-01-01

Today, most mission operations are geared toward lowering cost through unmanned operations. 7-day/24-hour operations are reduced to either 5-day/8-hour operations or become totally autonomous, especially for deep-space missions. Proper and effective notification during a spacecraft emergency could mean success or failure for an entire mission. The Spacecraft Emergency Response System (SERS) is a tool designed for autonomous mission operations. The SERS automatically contacts on-call personnel as needed when crises occur, either on-board the spacecraft or within the automated ground systems. Plus, the SERS provides a group-ware solution to facilitate the work of the person(s) contacted. The SERS is independent of the spacecraft's automated ground system. It receives and catalogues reports for various ground system components in near real-time. Then, based on easily configurable parameters, the SERS determines whom, if anyone, should be alerted. Alerts may be issued via Sky-Tel 2-way pager, Telehony, or e-mail. The alerted personnel can then review and respond to the spacecraft anomalies through the Netscape Internet Web Browser, or directly review and respond from the Sky-Tel 2-way pager.

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.

On-board emergent scheduling of autonomous spacecraft payload operations

NASA Technical Reports Server (NTRS)

Lindley, Craig A.

1994-01-01

This paper describes a behavioral competency level concerned with emergent scheduling of spacecraft payload operations. The level is part of a multi-level subsumption architecture model for autonomous spacecraft, and it functions as an action selection system for processing a spacecraft commands that can be considered as 'plans-as-communication'. Several versions of the selection mechanism are described, and their robustness is qualitatively compared.

Automated Detection and Classification in High-Resolution Sonar Imagery for Autonomous Underwater Vehicle Operations

DTIC Science & Technology

2008-12-01

n. , ’>, ,. Australian Government Department of Defence Defence Science and Technology Organisation Automated Detection and Classification in... Organisation DSTO-GD-0537 ABSTRACT Autonomous Underwater Vehicles (AUVs) are increasingly being used by military forces to acquire high-resolution sonar...release Published by Maritime Operations Division DsTO Defrnce sdence and Technology Organisation PO Box 1500 Edinburgh South Australia 5111 Australia

Active Control of NITINOL-Reinforced Structural Composites

DTIC Science & Technology

1992-10-12

useful in many critical structures that are intended to operate autonomously for long durations in isolated environments such as defense vehicles , space...durations in isolated environment such as defense vehicles , space structures and satellites. ACKNOWLEDGEMENTS This work is funded by a grant from the US Army...are intended to operate autonomously for long durations in isolated environment such as defense vehicles , space structures and satellites. REFERENCES

System for autonomous monitoring of bioagents

DOEpatents

Langlois, Richard G.; Milanovich, Fred P.; Colston, Jr, Billy W.; Brown, Steve B.; Masquelier, Don A.; Mariella, Jr., Raymond P.; Venkateswaran, Kodomudi

2015-06-09

An autonomous monitoring system for monitoring for bioagents. A collector gathers the air, water, soil, or substance being monitored. A sample preparation means for preparing a sample is operatively connected to the collector. A detector for detecting the bioagents in the sample is operatively connected to the sample preparation means. One embodiment of the present invention includes confirmation means for confirming the bioagents in the sample.

Explanation Capabilities for Behavior-Based Robot Control

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2012-01-01

A recent study that evaluated issues associated with remote interaction with an autonomous vehicle within the framework of grounding found that missing contextual information led to uncertainty in the interpretation of collected data, and so introduced errors into the command logic of the vehicle. As the vehicles became more autonomous through the activation of additional capabilities, more errors were made. This is an inefficient use of the platform, since the behavior of remotely located autonomous vehicles didn't coincide with the "mental models" of human operators. One of the conclusions of the study was that there should be a way for the autonomous vehicles to describe what action they choose and why. Robotic agents with enough self-awareness to dynamically adjust the information conveyed back to the Operations Center based on a detail level component analysis of requests could provide this description capability. One way to accomplish this is to map the behavior base of the robot into a formal mathematical framework called a cost-calculus. A cost-calculus uses composition operators to build up sequences of behaviors that can then be compared to what is observed using well-known inference mechanisms.

Results of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA Technical Reports Server (NTRS)

Folta, David C.; Hawkins, Albin; Bauer, Frank H. (Technical Monitor)

2001-01-01

NASA's first autonomous formation flying mission completed its primary goal of demonstrating an advanced technology called enhanced formation flying. To enable this technology, the Guidance, Navigation, and Control center at the Goddard Space Flight Center (GSFC) implemented a universal 3-axis formation flying algorithm in an autonomous executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm and the onboard flight design and presents the validation results of this unique system. Results from functionality assessment through fully autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(tm), its ground-based predecessor, and a standalone algorithm.

Comparison of three control methods for an autonomous vehicle

NASA Astrophysics Data System (ADS)

Deshpande, Anup; Mathur, Kovid; Hall, Ernest

2010-01-01

The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

Situation Awareness of Onboard System Autonomy

NASA Technical Reports Server (NTRS)

Schreckenghost, Debra; Thronesbery, Carroll; Hudson, Mary Beth

2005-01-01

We have developed intelligent agent software for onboard system autonomy. Our approach is to provide control agents that automate crew and vehicle systems, and operations assistants that aid humans in working with these autonomous systems. We use the 3 Tier control architecture to develop the control agent software that automates system reconfiguration and routine fault management. We use the Distributed Collaboration and Interaction (DCI) System to develop the operations assistants that provide human services, including situation summarization, event notification, activity management, and support for manual commanding of autonomous system. In this paper we describe how the operations assistants aid situation awareness of the autonomous control agents. We also describe our evaluation of the DCI System to support control engineers during a ground test at Johnson Space Center (JSC) of the Post Processing System (PPS) for regenerative water recovery.

Autonomous Vehicles: A Policy Roadmap for Law Enforcement

DTIC Science & Technology

2015-09-01

Timeline for Autonomous Vehicle Development ................................48 Figure 3. RAS 2020 Strategic Theme, Five Areas of Strategic Activity to...BLANK 1 I. INTRODUCTION It would be like an elevator. They used to have elevator operators, and then we developed some simple circuitry to have...advancements to make autonomous vehicles possible are being developed , manufactured, and tested. These two advantages should be used to help develop a solid

Testing the Intelligence of Unmanned Autonomous Systems

DTIC Science & Technology

2008-01-01

decisions without the operator. The term autonomous is also used interchangeably with intelligent, giving rise to the name unmanned autonomous system ( UAS ...For the purposes of this article, UAS describes an unmanned system that makes decisions based on gathered information. Because testers should not...make assumptions about the decision process within a UAS , there is a need for a methodology that completely tests this decision process without biasing

Full-Time, Eye-Safe Cloud and Aerosol Lidar Observation at Atmospheric Radiation Measurement Program Sites: Instruments and Data Analysis

NASA Technical Reports Server (NTRS)

Campbell, James R.; Hlavka, Dennis L.; Welton, Ellsworth J.; Flynn, Connor J.; Turner, David D.; Spinhirne, James D.; Scott, V. Stanley, III; Hwang, I. H.; Einaudi, Franco (Technical Monitor)

2001-01-01

Atmospheric radiative forcing, surface radiation budget, and top of the atmosphere radiance interpretation involves a knowledge of the vertical height structure of overlying cloud and aerosol layers. During the last decade, the U.S. Department of Energy through I the Atmospheric Radiation Measurement (ARM) program has constructed four long- term atmospheric observing sites in strategic climate regimes (north central Oklahoma, In Barrow. Alaska, and Nauru and Manus Islands in the tropical western Pacific). Micro Pulse Lidar (MPL) systems provide continuous, autonomous observation of all significant atmospheric cloud and aerosol at each of the central ARM facilities. Systems are compact and transmitted pulses are eye-safe. Eye-safety is achieved by expanding relatively low-powered outgoing Pulse energy through a shared, coaxial transmit/receive telescope. ARM NIPL system specifications, and specific unit optical designs are discussed. Data normalization and calibration techniques are presented. A multiple cloud boundary detection algorithm is also described. These techniques in tandem represent an operational value added processing package used to produce normalized data products for Cloud and aerosol research and the historical ARM data archive.

Boeing's variable geometry chevron: morphing aerospace structures for jet noise reduction

NASA Astrophysics Data System (ADS)

Calkins, Frederick T.; Mabe, James H.; Butler, George W.

2006-03-01

Boeing is applying cutting edge smart material actuators to the next generation morphing technologies for aircraft. This effort has led to the Variable Geometry Chevrons (VGC), which utilize compact, light weight, and robust shape memory alloy (SMA) actuators. These actuators morph the shape of chevrons on the trailing edge of a jet engine in order to optimize acoustic and performance objectives at multiple flight conditions. We have demonstrated a technical readiness level of 7 by successfully flight testing the VGCs on a Boeing 777-300ER with GE-115B engines. In this paper we describe the VGC design, development and performance during flight test. Autonomous operation of the VGCs, which did not require a control system or aircraft power, was demonstrated. A parametric study was conducted showing the influence of VGC configurations on shockcell generated cabin noise reduction during cruise. The VGC system provided a robust test vehicle to explore chevron configurations for community and shockcell noise reduction. Most importantly, the VGC concept demonstrated an exciting capability to optimize jet nozzle performance at multiple flight conditions.

Development of Mission Enabling Infrastructure — Cislunar Autonomous Positioning System (CAPS)

NASA Astrophysics Data System (ADS)

Cheetham, B. W.

2017-10-01

Advanced Space, LLC is developing the Cislunar Autonomous Positioning System (CAPS) which would provide a scalable and evolvable architecture for navigation to reduce ground congestion and improve operations for missions throughout cislunar space.

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.

Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

DTIC Science & Technology

2007-12-01

programs may be the XSS-11. The AFRL Space Vehicle Directorate at Kirtland Air Force Base in New Mexico developed the XSS-11 in order to exhibit the...the LQR/APF algorithm appears to be a promising new development for the field of multiple spacecraft close proximity maneuver control. Monte...dissertation reports the development of an autonomous distributed control algorithm for multiple spacecraft during close proximity operations

Investigating the Usefulness of Soldier Aids for Autonomous Unmanned Ground Vehicles, Part 2

DTIC Science & Technology

2015-03-01

distribution is unlimited. 13. SUPPLEMENTARY NOTES DCS Corporation, Alexandria, VA 14. ABSTRACT In the past, robot operation has been a high-cognitive...increase performance and reduce perceived workload. The aids were overlays displaying what an autonomous robot perceived in the environment and the...subsequent course of action planned by the robot . Eight active-duty, US Army Soldiers completed 16 scenario missions using an operator interface

Ultrafast optical ranging using microresonator soliton frequency combs

NASA Astrophysics Data System (ADS)

Trocha, P.; Karpov, M.; Ganin, D.; Pfeiffer, M. H. P.; Kordts, A.; Wolf, S.; Krockenberger, J.; Marin-Palomo, P.; Weimann, C.; Randel, S.; Freude, W.; Kippenberg, T. J.; Koos, C.

2018-02-01

Light detection and ranging is widely used in science and industry. Over the past decade, optical frequency combs were shown to offer advantages in optical ranging, enabling fast distance acquisition with high accuracy. Driven by emerging high-volume applications such as industrial sensing, drone navigation, or autonomous driving, there is now a growing demand for compact ranging systems. Here, we show that soliton Kerr comb generation in integrated silicon nitride microresonators provides a route to high-performance chip-scale ranging systems. We demonstrate dual-comb distance measurements with Allan deviations down to 12 nanometers at averaging times of 13 microseconds along with ultrafast ranging at acquisition rates of 100 megahertz, allowing for in-flight sampling of gun projectiles moving at 150 meters per second. Combining integrated soliton-comb ranging systems with chip-scale nanophotonic phased arrays could enable compact ultrafast ranging systems for emerging mass applications.

Mixed-mode VLSI optic flow sensors for in-flight control of a micro air vehicle

NASA Astrophysics Data System (ADS)

Barrows, Geoffrey L.; Neely, C.

2000-11-01

NRL is developing compact optic flow sensors for use in a variety of small-scale navigation and collision avoidance tasks. These sensors are being developed for use in micro air vehicles (MAVs), which are autonomous aircraft whose maximum dimension is on the order of 15 cm. To achieve desired weight specifications of 1 - 2 grams, mixed-signal VLSI circuitry is being used to develop compact focal plane sensors that directly compute optic flow. As an interim proof of principle, we have constructed a sensor comprising a focal plane sensor head with on-chip processing and a back-end PIC microcontroller. This interim sensors weighs approximately 25 grams and is able to measure optic flow with real-world and low-contrast textures. Variations of this sensor have been used to control the flight of a glider in real-time to avoid collisions with walls.

High-power VCSELs for smart munitions

NASA Astrophysics Data System (ADS)

Geske, Jon; MacDougal, Michael; Cole, Garrett; Snyder, Donald

2006-08-01

The next generation of low-cost smart munitions will be capable of autonomously detecting and identifying targets aided partly by the ability to image targets with compact and robust scanning rangefinder and LADAR capabilities. These imaging systems will utilize arrays of high performance, low-cost semiconductor diode lasers capable of achieving high peak powers in pulses ranging from 5 to 25 nanoseconds in duration. Aerius Photonics is developing high-power Vertical-Cavity Surface-Emitting Lasers (VCSELs) to meet the needs of these smart munitions applications. The authors will report the results of Aerius' development program in which peak pulsed powers exceeding 60 Watts were demonstrated from single VCSEL emitters. These compact packaged emitters achieved pulse energies in excess of 1.5 micro-joules with multi kilo-hertz pulse repetition frequencies. The progress of the ongoing effort toward extending this performance to arrays of VCSEL emitters and toward further improving laser slope efficiency will be reported.

Application Research of Quality Control Technology of Asphalt Pavement based on GPS Intelligent

NASA Astrophysics Data System (ADS)

Wang, Min; Gao, Bo; Shang, Fei; Wang, Tao

2017-10-01

Due to the difficulty of steel deck pavement asphalt layer compaction caused by the effect of the flexible supporting system (orthotropic steel deck plate), it is usually hard and difficult to control for the site compactness to reach the design goal. The intelligent compaction technology is based on GPS control technology and real-time acquisition of actual compaction tracks, and then forms a cloud maps of compaction times, which guide the roller operator to do the compaction in accordance with the design requirement to ensure the deck compaction technology and compaction quality. From the actual construction situation of actual bridge and checked data, the intelligent compaction technology is significant in guaranteeing the steel deck asphalt pavement compactness and quality stability.

Development of autonomous eating mechanism for biomimetic robots

NASA Astrophysics Data System (ADS)

Jeong, Kil-Woong; Cho, Ik-Jin; Lee, Yun-Jung

2005-12-01

Most of the recently developed robots are human friendly robots which imitate animals or humans such as entertainment robot, bio-mimetic robot and humanoid robot. Interest for these robots are being increased because the social trend is focused on health, welfare, and graying. Autonomous eating functionality is most unique and inherent behavior of pets and animals. Most of entertainment robots and pet robots make use of internal-type battery. Entertainment robots and pet robots with internal-type battery are not able to operate during charging the battery. Therefore, if a robot has an autonomous function for eating battery as its feeds, the robot is not only able to operate during recharging energy but also become more human friendly like pets. Here, a new autonomous eating mechanism was introduced for a biomimetic robot, called ELIRO-II(Eating LIzard RObot version 2). The ELIRO-II is able to find a food (a small battery), eat and evacuate by itself. This work describe sub-parts of the developed mechanism such as head-part, mouth-part, and stomach-part. In addition, control system of autonomous eating mechanism is described.

A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

PubMed

Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

2014-12-01

Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

Pelvic autonomic neuromonitoring: present reality, future prospects.

PubMed

Skinner, Stanley A

2014-08-01

Currently, the means to assess the autonomic nervous system primarily depend on end organ functional measurement: intravesical pressure, skin resistance, and penile strain gauge tension, for example. None of these measures has been generally accepted in the operating room. Nevertheless, the segmental and peripheral pelvic autonomic nerve supply is placed at risk during both pelvic and lower spine surgery. In this difficult era of suboptimal post-prostatectomy outcomes, the urological literature does reveal the salutary development of safer dissection techniques about the peri-prostatic and cavernous plexus. Means of reliably specific nerve identification remain elusive. The need for actual nerve monitoring (not just identification) has only recently been proposed. Data from the animal lab reinforce an appreciation of the intimate and elegant interconnectedness of autonomic and somatic structures, particularly at the segmental level. Also, the biochemistry of erectile tissue engorgement (in both sexes) is very well understood (the electrophysiology increasingly so). Understanding these principles should permit parallel investigation and implementation of neurophysiological techniques which both identify and monitor pelvic autonomic function. The predicates for these proposed new approaches in the operating room are discussed in this review.

Feasibility of Turing-Style Tests for Autonomous Aerial Vehicle "Intelligence"

NASA Technical Reports Server (NTRS)

Young, Larry A.

2007-01-01

A new approach is suggested to define and evaluate key metrics as to autonomous aerial vehicle performance. This approach entails the conceptual definition of a "Turing Test" for UAVs. Such a "UAV Turing test" would be conducted by means of mission simulations and/or tailored flight demonstrations of vehicles under the guidance of their autonomous system software. These autonomous vehicle mission simulations and flight demonstrations would also have to be benchmarked against missions "flown" with pilots/human-operators in the loop. In turn, scoring criteria for such testing could be based upon both quantitative mission success metrics (unique to each mission) and by turning to analog "handling quality" metrics similar to the well-known Cooper-Harper pilot ratings used for manned aircraft. Autonomous aerial vehicles would be considered to have successfully passed this "UAV Turing Test" if the aggregate mission success metrics and handling qualities for the autonomous aerial vehicle matched or exceeded the equivalent metrics for missions conducted with pilots/human-operators in the loop. Alternatively, an independent, knowledgeable observer could provide the "UAV Turing Test" ratings of whether a vehicle is autonomous or "piloted." This observer ideally would, in the more sophisticated mission simulations, also have the enhanced capability of being able to override the scripted mission scenario and instigate failure modes and change of flight profile/plans. If a majority of mission tasks are rated as "piloted" by the observer, when in reality the vehicle/simulation is fully- or semi- autonomously controlled, then the vehicle/simulation "passes" the "UAV Turing Test." In this regards, this second "UAV Turing Test" approach is more consistent with Turing s original "imitation game" proposal. The overall feasibility, and important considerations and limitations, of such an approach for judging/evaluating autonomous aerial vehicle "intelligence" will be discussed from a theoretical perspective.

The experimental studies of operating modes of a diesel-generator set at variable speed

NASA Astrophysics Data System (ADS)

Obukhov, S. G.; Plotnikov, I. A.; Surkov, M. A.; Sumarokova, L. P.

2017-02-01

A diesel generator set working at variable speed to save fuel is studied. The results of experimental studies of the operating modes of an autonomous diesel generator set are presented. Areas for regulating operating modes are determined. It is demonstrated that the transfer of the diesel generator set to variable speed of the diesel engine makes it possible to improve the energy efficiency of the autonomous generator source, as well as the environmental and ergonomic performance of the equipment as compared with general industrial analogues.

Fitting primitive shapes in point clouds: a practical approach to improve autonomous underwater grasp specification of unknown objects

NASA Astrophysics Data System (ADS)

Fornas, D.; Sales, J.; Peñalver, A.; Pérez, J.; Fernández, J. J.; Marín, R.; Sanz, P. J.

2016-03-01

This article presents research on the subject of autonomous underwater robot manipulation. Ongoing research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction in order to achieve social benefits in fields such as archaeology or biology that cannot afford the expenses of costly underwater operations using remote operated vehicles. Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and adverse conditions that affect the robot perception and control systems. To tackle these issues, we propose the use of vision and segmentation techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to gather 3D information in order to obtain a model of the object. Using a RANSAC segmentation algorithm, the model parameters are estimated and a set of feasible grasps are computed. This approach is validated in both simulated and real underwater scenarios.

Safe Autonomous Flight Environment (SAFE50) for the Notional Last 50 ft of Operation of 55 lb Class of UAS

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje; Kopardekar, Parimal; Ippolito, Corey; Melton, John E.; Stepanyan, Vahram; Sankararaman, Shankar; Nikaido, Ben

2017-01-01

The most difficult phase of small Unmanned Aerial System (sUAS) deployment is autonomous operations below the notional 50 ft in urban landscapes. Understanding the feasibility of safely flying sUAS autonomously below 50 ft is a game changer for many civilian applications. This paper outlines three areas of research currently underway which address key challenges for flight in the urban landscape. These are: (1) Off-line and On-board wind estimation and accommodation; (2) Real-time trajectory planning via characterization of obstacles using a LIDAR; (3) On-board information fusion for real-time decision-making and safe trajectory generation.

Development of a field-deployable method for simultaneous, real-time measurements of the four most abundant N2O isotopocules.

PubMed

Ibraim, Erkan; Harris, Eliza; Eyer, Simon; Tuzson, Béla; Emmenegger, Lukas; Six, Johan; Mohn, Joachim

2018-03-01

Understanding and quantifying the biogeochemical cycle of N 2 O is essential to develop effective N 2 O emission mitigation strategies. This study presents a novel, fully automated measurement technique that allows simultaneous, high-precision quantification of the four main N 2 O isotopocules ( 14 N 14 N 16 O, 14 N 15 N 16 O, 15 N 14 N 16 O and 14 N 14 N 18 O) in ambient air. The instrumentation consists of a trace gas extractor (TREX) coupled to a quantum cascade laser absorption spectrometer, designed for autonomous operation at remote measurement sites. The main advantages this system has over its predecessors are a compact spectrometer design with improved temperature control and a more compact and powerful TREX device. The adopted TREX device enhances the flexibility of the preconcentration technique for higher adsorption volumes to target rare isotope species and lower adsorption temperatures for highly volatile substances. All system components have been integrated into a standardized instrument rack to improve portability and accessibility for maintenance. With an average sampling frequency of approximately 1 h -1 , this instrumentation achieves a repeatability of 0.09, 0.13, 0.17 and 0.12 ‰ for δ 15 N α , δ 15 N β , δ 18 O and site preference of N 2 O, respectively, for pressurized ambient air. The repeatability for N 2 O mole fraction measurements is better than 1 ppb (parts per billion, 10 -9 moles per mole of dry air).

Project : transit demand and routing after autonomous vehicle availability.

DOT National Transportation Integrated Search

2015-12-01

Autonomous vehicles (AVs) create the potential for improvements in traffic operations as well as : new behaviors for travelers such as car sharing among trips through driverless repositioning. Most studies : on AVs have focused on technology or traff...

Preliminary Results of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA Technical Reports Server (NTRS)

Folta, David; Hawkins, Albin

2001-01-01

NASA's first autonomous formation flying mission is completing a primary goal of demonstrating an advanced technology called enhanced formation flying. To enable this technology, the Guidance, Navigation, and Control center at the Goddard Space Flight Center has implemented an autonomous universal three-axis formation flying algorithm in executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm and the onboard design and presents the preliminary validation results of this unique system. Results from functionality assessment and autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(tm), its ground-based predecessor, and a stand-alone algorithm.

Conflict Resolution Performance in an Experimental Study of En Route Free Maneuvering Operations

NASA Technical Reports Server (NTRS)

Doble, Nathan A.; Barhydt, Richard; Hitt, James M., II

2005-01-01

NASA has developed a far-term air traffic management concept, termed Distributed Air/Ground Traffic Management (DAG-TM). One component of DAG-TM, En Route Free Maneuvering, allows properly trained flight crews of equipped autonomous aircraft to assume responsibility for separation from other autonomous aircraft and from Instrument Flight Rules (IFR) aircraft. Ground-based air traffic controllers continue to separate IFR traffic and issue flow management constraints to all aircraft. To examine En Route Free Maneuvering operations, a joint human-in-the-loop experiment was conducted in summer 2004 at the NASA Ames and Langley Research Centers. Test subject pilots used desktop flight simulators to resolve traffic conflicts and adhere to air traffic flow constraints issued by subject controllers. The experimental airspace integrated both autonomous and IFR aircraft at varying traffic densities. This paper presents a subset of the En Route Free Maneuvering experimental results, focusing on airborne and ground-based conflict resolution, and the effects of increased traffic levels on the ability of pilots and air traffic controllers to perform this task. The results show that, in general, increases in autonomous traffic do not significantly impact conflict resolution performance. In addition, pilot acceptability of autonomous operations remains high throughout the range of traffic densities studied. Together with previously reported findings, these results continue to support the feasibility of the En Route Free Maneuvering component of DAG-TM.

A compact, rugged, high repetition rate CO2 laser incorporating catalyst

NASA Technical Reports Server (NTRS)

Schwarzenberger, P. M.; Matzangou, X.

1990-01-01

The principal design features and operating characteristics of a high repetition rate CO2 laser are outlined. The laser is a compact, rugged unit, completely sealed and incorporating an unheated solid catalyst. Stable operation has been successfully demonstrated over a temperature range of -35 C to 65 C.

GOATS 2008: Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2010-09-30

carried out jointly with the NATO Undersea Research Centre in the Tuscan archipelago July 26 – August 16, 2010. MIT operated the Unicorn AUV and...4 trail behavior with the physical Unicorn AUV, and is accidentally passing close the R/V Leonardo, fully autonomously changing its depth from...vehicles. The AUV Unicorn is performing an adaptive thermocline mapping mission, with the vehicle trail shown in green. Note the autonomous collision

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.

Distributed subterranean exploration and mapping with teams of UAVs

NASA Astrophysics Data System (ADS)

Rogers, John G.; Sherrill, Ryan E.; Schang, Arthur; Meadows, Shava L.; Cox, Eric P.; Byrne, Brendan; Baran, David G.; Curtis, J. Willard; Brink, Kevin M.

2017-05-01

Teams of small autonomous UAVs can be used to map and explore unknown environments which are inaccessible to teams of human operators in humanitarian assistance and disaster relief efforts (HA/DR). In addition to HA/DR applications, teams of small autonomous UAVs can enhance Warfighter capabilities and provide operational stand-off for military operations such as cordon and search, counter-WMD, and other intelligence, surveillance, and reconnaissance (ISR) operations. This paper will present a hardware platform and software architecture to enable distributed teams of heterogeneous UAVs to navigate, explore, and coordinate their activities to accomplish a search task in a previously unknown environment.

Boiler water regime

NASA Astrophysics Data System (ADS)

Khavanov, Pavel; Chulenyov, Anatoly

2017-10-01

Active development of autonomous heating the past 25 years has led to the widespread use of hot-water boilers of small capacity up to 2.5 MW. Rational use of the design of autonomous sources of heating boilers design features significantly improve their technical, economic and operational performance. This publication reviewed and analyzed a number of features of the design, operation and exploitation of boilers of small capacity, significantly affecting the efficiency and reliability of their application.

Development of autonomous grasping and navigating robot

NASA Astrophysics Data System (ADS)

Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

2015-01-01

The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

NASA Tech Briefs, June 2007

NASA Technical Reports Server (NTRS)

2007-01-01

Topics covered include: High-Accuracy, High-Dynamic-Range Phase-Measurement System; Simple, Compact, Safe Impact Tester; Multi-Antenna Radar Systems for Doppler Rain Measurements; 600-GHz Electronically Tunable Vector Measurement System; Modular Architecture for the Measurement of Space Radiation; VLSI Design of a Turbo Decoder; Architecture of an Autonomous Radio Receiver; Improved On-Chip Measurement of Delay in an FPGA or ASIC; Resource Selection and Ranking; Accident/Mishap Investigation System; Simplified Identification of mRNA or DNA in Whole Cells; Printed Multi-Turn Loop Antennas for RF Biotelemetry; Making Ternary Quantum Dots From Single-Source Precursors; Improved Single-Source Precursors for Solar-Cell Absorbers; Spray CVD for Making Solar-Cell Absorber Layers; Glass/BNNT Composite for Sealing Solid Oxide Fuel Cells; A Method of Assembling Compact Coherent Fiber-Optic Bundles; Manufacturing Diamond Under Very High Pressure; Ring-Resonator/Sol-Gel Interferometric Immunosensor; Compact Fuel-Cell System Would Consume Neat Methanol; Algorithm Would Enable Robots to Solve Problems Creatively; Hypothetical Scenario Generator for Fault-Tolerant Diagnosis; Smart Data Node in the Sky; Pseudo-Waypoint Guidance for Proximity Spacecraft Maneuvers; Update on Controlling Herds of Cooperative Robots; and Simulation and Testing of Maneuvering of a Planetary Rover.

Multi-Spacecraft Autonomous Positioning System

NASA Technical Reports Server (NTRS)

Anzalone, Evan

2015-01-01

As the number of spacecraft in simultaneous operation continues to grow, there is an increased dependency on ground-based navigation support. The current baseline system for deep space navigation utilizes Earth-based radiometric tracking, requiring long-duration observations to perform orbit determination and generate a state update. The age, complexity, and high utilization of the ground assets pose a risk to spacecraft navigation performance. In order to perform complex operations at large distances from Earth, such as extraterrestrial landing and proximity operations, autonomous systems are required. With increasingly complex mission operations, the need for frequent and Earth-independent navigation capabilities is further reinforced. The Multi-spacecraft Autonomous Positioning System (MAPS) takes advantage of the growing interspacecraft communication network and infrastructure to allow for Earth-autonomous state measurements to enable network-based space navigation. A notional concept of operations is given in figure 1. This network is already being implemented and routinely used in Martian communications through the use of the Mars Reconnaissance Orbiter and Mars Odyssey spacecraft as relays for surface assets. The growth of this communications architecture is continued through MAVEN, and future potential commercial Mars telecom orbiters. This growing network provides an initial Marslocal capability for inter-spacecraft communication and navigation. These navigation updates are enabled by cross-communication between assets in the network, coupled with onboard navigation estimation routines to integrate packet travel time to generate ranging measurements. Inter-spacecraft communication allows for frequent state broadcasts and time updates from trusted references. The architecture is a software-based solution, enabling its implementation on a wide variety of current assets, with the operational constraints and measurement accuracy determined by onboard systems.

Optimized autonomous operations of a 20 K space hydrogen sorption cryocooler

NASA Astrophysics Data System (ADS)

Borders, J.; Morgante, G.; Prina, M.; Pearson, D.; Bhandari, P.

2004-06-01

A fully redundant hydrogen sorption cryocooler is being developed for the European Space Agency Planck mission, dedicated to the measurement of the temperature anisotropies of the cosmic microwave background radiation with unprecedented sensitivity and resolution [Advances in Cryogenic Engineering 45A (2000) 499]. In order to achieve this ambitious scientific task, this cooler is required to provide a stable temperature reference (˜20 K) and appropriate cooling (˜1 W) to the two instruments on-board, with a flight operational lifetime of 18 months. During mission operations, communication with the spacecraft will be possible in a restricted time-window, not longer than 2 h/day. This implies the need for an operations control structure with the required robustness to safely perform autonomous procedures. The cooler performance depends on many operating parameters (such as the temperatures of the pre-cooling stages and the warm radiator), therefore the operation control system needs the capability to adapt to variations of these boundary conditions, while maintaining safe operating procedures. An engineering bread board (EBB) cooler was assembled and tested to evaluate the behavior of the system under conditions simulating flight operations and the test data were used to refine and improve the operation control software. In order to minimize scientific data loss, the cooler is required to detect all possible failure modes and to autonomously react to them by taking the appropriate action in a rapid fashion. Various procedures and schemes both general and specific in nature were developed, tested and implemented to achieve these goals. In general, the robustness to malfunctions was increased by implementing an automatic classification of anomalies in different levels relative to the seriousness of the error. The response is therefore proportional to the failure level. Specifically, the start-up sequence duration was significantly reduced, allowing a much faster activation of the system, particularly useful in case of restarts after inadvertent shutdowns arising from malfunctions in the spacecraft. The capacity of the system to detect J-T plugs was increased to the point that the cooler is able to autonomously identify actual contaminants clogging from gas flow reductions due to off-nominal operating conditions. Once a plug is confirmed, the software autonomously energizes, and subsequently turns off, a J-T defrost heater until the clog is removed, bringing the system back to normal operating conditions. In this paper, all the cooler Operational Modes are presented, together with the description of the logic structure of the procedures and the advantages they produce for the operations.

Autonomous Agents and Intelligent Assistants for Exploration Operations

NASA Technical Reports Server (NTRS)

Malin, Jane T.

2000-01-01

Human exploration of space will involve remote autonomous crew and systems in long missions. Data to earth will be delayed and limited. Earth control centers will not receive continuous real-time telemetry data, and there will be communication round trips of up to one hour. There will be reduced human monitoring on the planet and earth. When crews are present on the planet, they will be occupied with other activities, and system management will be a low priority task. Earth control centers will use multi-tasking "night shift" and on-call specialists. A new project at Johnson Space Center is developing software to support teamwork between distributed human and software agents in future interplanetary work environments. The Engineering and Mission Operations Directorates at Johnson Space Center (JSC) are combining laboratories and expertise to carry out this project, by establishing a testbed for hWl1an centered design, development and evaluation of intelligent autonomous and assistant systems. Intelligent autonomous systems for managing systems on planetary bases will commuicate their knowledge to support distributed multi-agent mixed-initiative operations. Intelligent assistant agents will respond to events by developing briefings and responses according to instructions from human agents on earth and in space.

Break-even analysis revisited: the need to adjust for profitability, the collection rate and autonomous income.

PubMed

Broyles, R W; Narine, L; Khaliq, A

2003-08-01

This paper modifies traditional break-even analysis and develops a model that reflects the influence of variation in payer mix, the collection rate, profitability and autonomous income on the desired volume alternative. The augmented model indicates that a failure to adjust for uncollectibles and the net surplus results in a systematic understatement of the desired volume alternative. Conversely, a failure to adjust for autonomous income derived from the operation of cafeterias, gift shops or an organization's investment in marketable securities produces an overstatement of the desired volume. In addition, this paper uses Microsoft Excel to develop a spreadsheet that constructs a pro forma income statement, expressed in terms of the contribution margin. The spreadsheet also relies on the percentage of sales or revenue approach to prepare a balance sheet from which indicators of fiscal performance are calculated. Hence, the analysis enables the organization to perform a sensitivity analysis of potential changes in the desired volume, the operating margin, the current ratio, the debt: equity ratio and the amount of cash derived from operations that are associated with expected variation in payer mix, the collection rate, grouped by payer, the net surplus and autonomous income.

Design, Development and Testing of the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) Guidance, Navigation and Control System

NASA Technical Reports Server (NTRS)

Wagenknecht, J.; Fredrickson, S.; Manning, T.; Jones, B.

2003-01-01

Engineers at NASA Johnson Space Center have designed, developed, and tested a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spaceflight activities. The technology demonstration system, known as the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam), has been integrated into the approximate form and function of a flight system. The primary focus has been to develop a system capable of providing external views of the International Space Station. The Mini AERCam system is spherical-shaped and less than eight inches in diameter. It has a full suite of guidance, navigation, and control hardware and software, and is equipped with two digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations. Tests have been performed in both a six degree-of-freedom closed-loop orbital simulation and on an air-bearing table. The Mini AERCam system can also be used as a test platform for evaluating algorithms and relative navigation for autonomous proximity operations and docking around the Space Shuttle Orbiter or the ISS.

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

Hybrid ARQ Scheme with Autonomous Retransmission for Multicasting in Wireless Sensor Networks.

PubMed

Jung, Young-Ho; Choi, Jihoon

2017-02-25

A new hybrid automatic repeat request (HARQ) scheme for multicast service for wireless sensor networks is proposed in this study. In the proposed algorithm, the HARQ operation is combined with an autonomous retransmission method that ensure a data packet is transmitted irrespective of whether or not the packet is successfully decoded at the receivers. The optimal number of autonomous retransmissions is determined to ensure maximum spectral efficiency, and a practical method that adjusts the number of autonomous retransmissions for realistic conditions is developed. Simulation results show that the proposed method achieves higher spectral efficiency than existing HARQ techniques.

Compact Cr:ZnS Channel Waveguide Laser Operating at 2333 nm

DTIC Science & Technology

2014-03-24

B. Mirov and V. V. Federov, “Mid-IR microchip laser : ZnS:Cr2+ laser with saturable absorber material,” (US Patent No 6,960,486., 2009). 23. A...Compact Cr:ZnS channel waveguide laser operating at 2333 nm John R. Macdonald,1* Stephen J. Beecher,2 Adam Lancaster,1 Patrick A. Berry,3 Kenneth...35294, USA *J.R.Macdonald@hw.ac.uk Abstract: A compact mid-infrared channel waveguide laser is demonstrated in Cr:ZnS with a view to power scaling

Methods of monitoring the technical condition of the braking system of an autonomous vehicle during operation

NASA Astrophysics Data System (ADS)

Revin, A.; Dygalo, V.; Boyko, G.; Lyaschenko, M.; Dygalo, L.

2018-02-01

Possibilities of diagnosing of a technical condition of braking system of the autonomous vehicles with automated modules while in service are considered. The concept of sharing of onboard means and stands for diagnosing is presented.

Autonomous Power System intelligent diagnosis and control

NASA Technical Reports Server (NTRS)

Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

1991-01-01

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

Autonomous power system intelligent diagnosis and control

NASA Technical Reports Server (NTRS)

Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

1991-01-01

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

Autonomous spacecraft maintenance study group

NASA Technical Reports Server (NTRS)

Marshall, M. H.; Low, G. D.

1981-01-01

A plan to incorporate autonomous spacecraft maintenance (ASM) capabilities into Air Force spacecraft by 1989 is outlined. It includes the successful operation of the spacecraft without ground operator intervention for extended periods of time. Mechanisms, along with a fault tolerant data processing system (including a nonvolatile backup memory) and an autonomous navigation capability, are needed to replace the routine servicing that is presently performed by the ground system. The state of the art fault handling capabilities of various spacecraft and computers are described, and a set conceptual design requirements needed to achieve ASM is established. Implementations for near term technology development needed for an ASM proof of concept demonstration by 1985, and a research agenda addressing long range academic research for an advanced ASM system for 1990s are established.

Human-Interaction Challenges in UAV-Based Autonomous Surveillance

NASA Technical Reports Server (NTRS)

Freed, Michael; Harris, Robert; Shafto, Michael G.

2004-01-01

Autonomous UAVs provide a platform for intelligent surveillance in application domains ranging from security and military operations to scientific information gathering and land management. Surveillance tasks are often long duration, requiring that any approach be adaptive to changes in the environment or user needs. We describe a decision- theoretic model of surveillance, appropriate for use on our autonomous helicopter, that provides a basis for optimizing the value of information returned by the UAV. From this approach arise a range of challenges in making this framework practical for use by human operators lacking specialized knowledge of autonomy and mathematics. This paper describes our platform and approach, then describes human-interaction challenges arising from this approach that we have identified and begun to address.

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.

Multidisciplinary unmanned technology teammate (MUTT)

NASA Astrophysics Data System (ADS)

Uzunovic, Nenad; Schneider, Anne; Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark

2013-01-01

The U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) held an autonomous robot competition called CANINE in June 2012. The goal of the competition was to develop innovative and natural control methods for robots. This paper describes the winning technology, including the vision system, the operator interaction, and the autonomous mobility. The rules stated only gestures or voice commands could be used for control. The robots would learn a new object at the start of each phase, find the object after it was thrown into a field, and return the object to the operator. Each of the six phases became more difficult, including clutter of the same color or shape as the object, moving and stationary obstacles, and finding the operator who moved from the starting location to a new location. The Robotic Research Team integrated techniques in computer vision, speech recognition, object manipulation, and autonomous navigation. A multi-filter computer vision solution reliably detected the objects while rejecting objects of similar color or shape, even while the robot was in motion. A speech-based interface with short commands provided close to natural communication of complicated commands from the operator to the robot. An innovative gripper design allowed for efficient object pickup. A robust autonomous mobility and navigation solution for ground robotic platforms provided fast and reliable obstacle avoidance and course navigation. The research approach focused on winning the competition while remaining cognizant and relevant to real world applications.

Joint NASA Ames/Langley Experimental Evaluation of Integrated Air/Ground Operations for En Route Free Maneuvering

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Kopardekar, Parimal; Battiste, Vernol; Doble, Nathan; Johnson, Walter; Lee, Paul; Prevot, Thomas; Smith, Nancy

2005-01-01

In order to meet the anticipated future demand for air travel, the National Aeronautics and Space Administration (NASA) is investigating a new concept of operations known as Distributed Air-Ground Traffic Management (DAG-TM). Under the En Route Free Maneuvering component of DAG-TM, appropriately equipped autonomous aircraft self separate from other autonomous aircraft and from managed aircraft that continue to fly under today s Instrument Flight Rules (IFR). Controllers provide separation services between IFR aircraft and assign traffic flow management constraints to all aircraft. To address concept feasibility issues pertaining to integrated air/ground operations at various traffic levels, NASA Ames and Langley Research Centers conducted a joint human-in-the-loop experiment. Professional airline pilots and air traffic controllers flew a total of 16 scenarios under four conditions: mixed autonomous/managed operations at three traffic levels and a baseline all-managed condition at the lowest traffic level. These scenarios included en route flights and descents to a terminal area meter fix in airspace modeled after the Dallas Ft. Worth area. Pilots of autonomous aircraft met controller assigned meter fix constraints with high success. Separation violations by subject pilots did not appear to vary with traffic level and were mainly attributable to software errors and procedural lapses. Controller workload was lower for mixed flight conditions, even at higher traffic levels. Pilot workload was deemed acceptable under all conditions. Controllers raised several safety concerns, most of which pertained to the occurrence of near-term conflicts between autonomous and managed aircraft. These issues are being addressed through better compatibility between air and ground systems and refinements to air and ground procedures.

Caching Servers for ATLAS

NASA Astrophysics Data System (ADS)

Gardner, R. W.; Hanushevsky, A.; Vukotic, I.; Yang, W.

2017-10-01

As many LHC Tier-3 and some Tier-2 centers look toward streamlining operations, they are considering autonomously managed storage elements as part of the solution. These storage elements are essentially file caching servers. They can operate as whole file or data block level caches. Several implementations exist. In this paper we explore using XRootD caching servers that can operate in either mode. They can also operate autonomously (i.e. demand driven), be centrally managed (i.e. a Rucio managed cache), or operate in both modes. We explore the pros and cons of various configurations as well as practical requirements for caching to be effective. While we focus on XRootD caches, the analysis should apply to other kinds of caches as well.

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

NASA Technical Reports Server (NTRS)

Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

2007-01-01

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

NASA's Autonomous Formation Flying Technology Demonstration, Earth Observing-1(EO-1)

NASA Technical Reports Server (NTRS)

Folta, David; Bristow, John; Hawkins, Albin; Dell, Greg

2002-01-01

NASA's first autonomous formation flying mission, the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft, recently completed its principal goal of demonstrating advanced formation control technology. This paper provides an overview of the evolution of an onboard system that was developed originally as a ground mission planning and operations tool. We discuss the Goddard Space Flight Center s formation flying algorithm, the onboard flight design and its implementation, the interface and functionality of the onboard system, and the implementation of a Kalman filter based GPS data smoother. A number of safeguards that allow the incremental phasing in of autonomy and alleviate the potential for mission-impacting anomalies from the on- board autonomous system are discussed. A comparison of the maneuvers planned onboard using the EO-1 autonomous control system to those from the operational ground-based maneuver planning system is presented to quantify our success. The maneuvers discussed encompass reactionary and routine formation maintenance. Definitive orbital data is presented that verifies all formation flying requirements.

Radioisotope Power: A Key Technology for Deep Space Explorations

NASA Technical Reports Server (NTRS)

Schmidt, George R.; Sutliff, Thomas J.; Duddzinski, Leonard

2009-01-01

A Radioisotope Power System (RPS) generates power by converting the heat released from the nuclear decay of radioactive isotopes, such as Plutonium-238 (Pu-238), into electricity. First used in space by the U.S. in 1961, these devices have enabled some of the most challenging and exciting space missions in history, including the Pioneer and Voyager probes to the outer solar system; the Apollo lunar surface experiments; the Viking landers; the Ulysses polar orbital mission about the Sun; the Galileo mission to Jupiter; the Cassini mission orbiting Saturn; and the recently launched New Horizons mission to Pluto. Radioisotopes have also served as a versatile heat source for moderating equipment thermal environments on these and many other missions, including the Mars exploration rovers, Spirit and Opportunity. The key advantage of RPS is its ability to operate continuously, independent of orientation and distance relative to the Sun. Radioisotope systems are long-lived, rugged, compact, highly reliable, and relatively insensitive to radiation and other environmental effects. As such, they are ideally suited for missions involving long-lived, autonomous operations in the extreme conditions of space and other planetary bodies. This paper reviews the history of RPS for the U.S. space program. It also describes current development of a new Stirling cycle-based generator that will greatly expand the application of nuclear-powered missions in the future.

Radioisotope Power: A Key Technology for Deep Space Exploration

NASA Technical Reports Server (NTRS)

Schmidt, George; Sutliff, Tom; Dudzinski, Leonard

2008-01-01

A Radioisotope Power System (RPS) generates power by converting the heat released from the nuclear decay of radioactive isotopes, such as Plutonium-238 (Pu-238), into electricity. First used in space by the U.S. in 1961, these devices have enabled some of the most challenging and exciting space missions in history, including the Pioneer and Voyager probes to the outer solar system; the Apollo lunar surface experiments; the Viking landers; the Ulysses polar orbital mission about the Sun; the Galileo mission to Jupiter; the Cassini mission orbiting Saturn; and the recently launched New Horizons mission to Pluto. Radioisotopes have also served as a versatile heat source for moderating equipment thermal environments on these and many other missions, including the Mars exploration rovers, Spirit and Opportunity. The key advantage of RPS is its ability to operate continuously, independent of orientation and distance relative to the Sun. Radioisotope systems are long-lived, rugged, compact, highly reliable, and relatively insensitive to radiation and other environmental effects. As such, they are ideally suited for missions involving long-lived, autonomous operations in the extreme conditions of space and other planetary bodies. This paper reviews the history of RPS for the U.S. space program. It also describes current development of a new Stirling cycle-based generator that will greatly expand the application of nuclear-powered missions in the future.

Workshop on Critical ORI Issues Held in Bordeaux, France on OCtober 27 - 29, 1992. Program and Abstracts.

DTIC Science & Technology

1992-10-29

These people try to make their robotic vehicle as intelligent and autonomous as possible with the current state of technology. The robot only interacts... Robotics Peter J. Burt David Sarnoff Research Center Princeton, NJ 08543-5300 U.S.A. The ability of an operator to drive a remotely piloted vehicle depends...RESUPPLY - System which can rapidly and autonomously load and unload palletized ammunition. (18) AUTONOMOUS COMBAT EVACUATION VEHICLE - Robotic arms

Linear FMCW Laser Radar for Precision Range and Vector Velocity Measurements

NASA Technical Reports Server (NTRS)

Pierrottet, Diego; Amzajerdian, Farzin; Petway, Larry; Barnes, Bruce; Lockhard, George; Rubio, Manuel

2008-01-01

An all fiber linear frequency modulated continuous wave (FMCW) coherent laser radar system is under development with a goal to aide NASA s new Space Exploration initiative for manned and robotic missions to the Moon and Mars. By employing a combination of optical heterodyne and linear frequency modulation techniques and utilizing state-of-the-art fiber optic technologies, highly efficient, compact and reliable laser radar suitable for operation in a space environment is being developed. Linear FMCW lidar has the capability of high-resolution range measurements, and when configured into a multi-channel receiver system it has the capability of obtaining high precision horizontal and vertical velocity measurements. Precision range and vector velocity data are beneficial to navigating planetary landing pods to the preselected site and achieving autonomous, safe soft-landing. The all-fiber coherent laser radar has several important advantages over more conventional pulsed laser altimeters or range finders. One of the advantages of the coherent laser radar is its ability to measure directly the platform velocity by extracting the Doppler shift generated from the motion, as opposed to time of flight range finders where terrain features such as hills, cliffs, or slopes add error to the velocity measurement. Doppler measurements are about two orders of magnitude more accurate than the velocity estimates obtained by pulsed laser altimeters. In addition, most of the components of the device are efficient and reliable commercial off-the-shelf fiber optic telecommunication components. This paper discusses the design and performance of a second-generation brassboard system under development at NASA Langley Research Center as part of the Autonomous Landing and Hazard Avoidance (ALHAT) project.

Elliptic complexes over C∗-algebras of compact operators

NASA Astrophysics Data System (ADS)

Krýsl, Svatopluk

2016-03-01

For a C∗-algebra A of compact operators and a compact manifold M, we prove that the Hodge theory holds for A-elliptic complexes of pseudodifferential operators acting on smooth sections of finitely generated projective A-Hilbert bundles over M. For these C∗-algebras and manifolds, we get a topological isomorphism between the cohomology groups of an A-elliptic complex and the space of harmonic elements of the complex. Consequently, the cohomology groups appear to be finitely generated projective C∗-Hilbert modules and especially, Banach spaces. We also prove that in the category of Hilbert A-modules and continuous adjointable Hilbert A-module homomorphisms, the property of a complex of being self-adjoint parametrix possessing characterizes the complexes of Hodge type.

Ground Operations Autonomous Control and Integrated Health Management

NASA Technical Reports Server (NTRS)

Daniels, James

2014-01-01

The Ground Operations Autonomous Control and Integrated Health Management plays a key role for future ground operations at NASA. The software that is integrated into this system is called G2 2011 Gensym. The purpose of this report is to describe the Ground Operations Autonomous Control and Integrated Health Management with the use of the G2 Gensym software and the G2 NASA toolkit for Integrated System Health Management (ISHM) which is a Computer Software Configuration Item (CSCI). The decision rationale for the use of the G2 platform is to develop a modular capability for ISHM and AC. Toolkit modules include knowledge bases that are generic and can be applied in any application domain module. That way, there's a maximization of reusability, maintainability, and systematic evolution, portability, and scalability. Engine modules are generic, while application modules represent the domain model of a specific application. Furthermore, the NASA toolkit, developed since 2006 (a set of modules), makes it possible to create application domain models quickly, using pre-defined objects that include sensors and components libraries for typical fluid, electrical, and mechanical systems.

Test Operations Procedure (TOP) 02-2-546 Teleoperated Unmanned Ground Vehicle (UGV) Latency Measurements

DTIC Science & Technology

2017-01-11

discrete system components or measurements of latency in autonomous systems. 15. SUBJECT TERMS Unmanned Ground Vehicles, Basic Video Latency, End-to... discrete system components or measurements of latency in autonomous systems. 1.1 Basic Video Latency. Teleoperation latency, or lag, describes

VML 3.0 Reactive Sequencing Objects and Matrix Math Operations for Attitude Profiling

NASA Technical Reports Server (NTRS)

Grasso, Christopher A.; Riedel, Joseph E.

2012-01-01

VML (Virtual Machine Language) has been used as the sequencing flight software on over a dozen JPL deep-space missions, most recently flying on GRAIL and JUNO. In conjunction with the NASA SBIR entitled "Reactive Rendezvous and Docking Sequencer", VML version 3.0 has been enhanced to include object-oriented element organization, built-in queuing operations, and sophisticated matrix / vector operations. These improvements allow VML scripts to easily perform much of the work that formerly would have required a great deal of expensive flight software development to realize. Autonomous turning and tracking makes considerable use of new VML features. Profiles generated by flight software are managed using object-oriented VML data constructs executed in discrete time by the VML flight software. VML vector and matrix operations provide the ability to calculate and supply quaternions to the attitude controller flight software which produces torque requests. Using VML-based attitude planning components eliminates flight software development effort, and reduces corresponding costs. In addition, the direct management of the quaternions allows turning and tracking to be tied in with sophisticated high-level VML state machines. These state machines provide autonomous management of spacecraft operations during critical tasks like a hypothetic Mars sample return rendezvous and docking. State machines created for autonomous science observations can also use this sort of attitude planning system, allowing heightened autonomy levels to reduce operations costs. VML state machines cannot be considered merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. The state machine approach enabled by VML 3.0 is progressing toward flight capability with a wide array of applicable mission activities.

Autonomous Mechanical Assembly on the Space Shuttle: An Overview

NASA Technical Reports Server (NTRS)

Raibert, M. H.

1979-01-01

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed.

The Collaborative Compact: Operating Principles Lay the Groundwork for Successful Group Work

ERIC Educational Resources Information Center

Garmston, Robert J.; Zimmerman, Diane P.

2013-01-01

Leaders often have common complaints about managing meetings and feel thwarted by attempts to collaborate. Teachers feel that time spent on collaboration is often wasted because of poor meeting management. Leaders can accelerate collaboration by creating collaborative compacts. A collaborative compact is a set of accords about how a group will…

75 FR 17161 - Meeting of the Compact Council for the National Crime Prevention and Privacy Compact

Federal Register 2010, 2011, 2012, 2013, 2014

2010-04-05

... Compact also provides a legal framework for the establishment of a cooperative federal-state system to... agencies to serve on the Council. The Council will prescribe system rules and procedures for the effective and proper operation of the Interstate Identification Index system. Matters for discussion are...

The operator algebra approach to quantum groups

PubMed Central

Kustermans, Johan; Vaes, Stefaan

2000-01-01

A relatively simple definition of a locally compact quantum group in the C*-algebra setting will be explained as it was recently obtained by the authors. At the same time, we put this definition in the historical and mathematical context of locally compact groups, compact quantum groups, Kac algebras, multiplicative unitaries, and duality theory. PMID:10639116

Validating a UAV artificial intelligence control system using an autonomous test case generator

NASA Astrophysics Data System (ADS)

Straub, Jeremy; Huber, Justin

2013-05-01

The validation of safety-critical applications, such as autonomous UAV operations in an environment which may include human actors, is an ill posed problem. To confidence in the autonomous control technology, numerous scenarios must be considered. This paper expands upon previous work, related to autonomous testing of robotic control algorithms in a two dimensional plane, to evaluate the suitability of similar techniques for validating artificial intelligence control in three dimensions, where a minimum level of airspeed must be maintained. The results of human-conducted testing are compared to this automated testing, in terms of error detection, speed and testing cost.

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

NASA Technical Reports Server (NTRS)

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

2006-01-01

With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting 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. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

Influences of operational practices on municipal solid waste landfill storage capacity.

PubMed

Li, Yu-Chao; Liu, Hai-Long; Cleall, Peter John; Ke, Han; Bian, Xue-Cheng

2013-03-01

The quantitative effects of three operational factors, that is initial compaction, decomposition condition and leachate level, on municipal solid waste (MSW) landfill settlement and storage capacity are investigated in this article via consideration of a hypothetical case. The implemented model for calculating landfill compression displacement is able to consider decreases in compressibility induced by biological decomposition and load dependence of decomposition compression for the MSW. According to the investigation, a significant increase in storage capacity can be achieved by intensive initial compaction, adjustment of decomposition condition and lowering of leachate levels. The quantitative investigation presented aims to encourage landfill operators to improve management to enhance storage capacity. Furthermore, improving initial compaction and creating a preferential decomposition condition can also significantly reduce operational and post-closure settlements, respectively, which helps protect leachate and gas management infrastructure and monitoring equipment in modern landfills.

Design of an autonomous exterior security robot

NASA Technical Reports Server (NTRS)

Myers, Scott D.

1994-01-01

This paper discusses the requirements and preliminary design of robotic vehicle designed for performing autonomous exterior perimeter security patrols around warehouse areas, ammunition supply depots, and industrial parks for the U.S. Department of Defense. The preliminary design allows for the operation of up to eight vehicles in a six kilometer by six kilometer zone with autonomous navigation and obstacle avoidance. In addition to detection of crawling intruders at 100 meters, the system must perform real-time inventory checking and database comparisons using a microwave tags system.

Expert system isssues in automated, autonomous space vehicle rendezvous

NASA Technical Reports Server (NTRS)

Goodwin, Mary Ann; Bochsler, Daniel C.

1987-01-01

The problems involved in automated autonomous rendezvous are briefly reviewed, and the Rendezvous Expert (RENEX) expert system is discussed with reference to its goals, approach used, and knowledge structure and contents. RENEX has been developed to support streamlining operations for the Space Shuttle and Space Station program and to aid definition of mission requirements for the autonomous portions of rendezvous for the Mars Surface Sample Return and Comet Nucleus Sample return unmanned missions. The experience with REMEX to date and recommendations for further development are presented.

Autonomous operations through onboard artificial intelligence

NASA Technical Reports Server (NTRS)

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2002-01-01

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Swarming Unmanned Aerial Vehicles (UAVS): Extending Marine Aviation Ground Task Force Communications Using UAVS

DTIC Science & Technology

2015-03-02

balloons , large UAVs, and satellite communications are all employed to mitigate LOS and OTH communication on the battlefield. The Marine Corps’ fleets...Phang, N. S. (2006). Tethered operation of autonomous aerial vehicles to provide extended fields of view for autonomous ground vehicles (Master’s

Systems autonomy

NASA Technical Reports Server (NTRS)

Lum, Henry, Jr.

1988-01-01

Information on systems autonomy is given in viewgraph form. Information is given on space systems integration, intelligent autonomous systems, automated systems for in-flight mission operations, the Systems Autonomy Demonstration Project on the Space Station Thermal Control System, the architecture of an autonomous intelligent system, artificial intelligence research issues, machine learning, and real-time image processing.

An autonomous rendezvous and docking system using cruise missile technologies

NASA Technical Reports Server (NTRS)

Jones, Ruel Edwin

1991-01-01

In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

SOLON: An autonomous vehicle mission planner

NASA Technical Reports Server (NTRS)

Dudziak, M. J.

1987-01-01

The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

Intelligent unmanned vehicle systems suitable for individual or cooperative missions

NASA Astrophysics Data System (ADS)

Anderson, Matthew O.; McKay, Mark D.; Wadsworth, Derek C.

2007-04-01

The Department of Energy's Idaho National Laboratory (INL) has been researching autonomous unmanned vehicle systems for over fifteen years. Areas of research have included unmanned ground and aerial vehicles used for hazardous and remote operations as well as teamed together for advanced payloads and mission execution. Areas of application include aerial particulate sampling, cooperative remote radiological sampling, and persistent surveillance including real-time mosaic and geo-referenced imagery in addition to high-resolution still imagery. Both fixed-wing and rotary airframes are used possessing capabilities spanning remote control to fully autonomous operation. Patented INL-developed auto steering technology is taken advantage of to provide autonomous parallel path swathing with either manned or unmanned ground vehicles. Aerial look-ahead imagery is utilized to provide a common operating picture for the ground and air vehicles during cooperative missions. This paper will discuss the various robotic vehicles, including sensor integration, used to achieve these missions and anticipated cost and labor savings.

Supervisory autonomous local-remote control system design: Near-term and far-term applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul

1993-01-01

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Using Model-Based Reasoning for Autonomous Instrument Operation - Lessons Learned From IMAGE/LENA

NASA Technical Reports Server (NTRS)

Johnson, Michael A.; Rilee, Michael L.; Truszkowski, Walt; Bailin, Sidney C.

2001-01-01

Model-based reasoning has been applied as an autonomous control strategy on the Low Energy Neutral Atom (LENA) instrument currently flying on board the Imager for Magnetosphere-to-Aurora Global Exploration (IMAGE) spacecraft. Explicit models of instrument subsystem responses have been constructed and are used to dynamically adapt the instrument to the spacecraft's environment. These functions are cast as part of a Virtual Principal Investigator (VPI) that autonomously monitors and controls the instrument. In the VPI's current implementation, LENA's command uplink volume has been decreased significantly from its previous volume; typically, no uplinks are required for operations. This work demonstrates that a model-based approach can be used to enhance science instrument effectiveness. The components of LENA are common in space science instrumentation, and lessons learned by modeling this system may be applied to other instruments. Future work involves the extension of these methods to cover more aspects of LENA operation and the generalization to other space science instrumentation.

Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Mount, Frances; Carreon, Patricia; Torney, Susan E.

2001-01-01

The Engineering and Mission Operations Directorates at NASA Johnson Space Center are combining laboratories and expertise to establish the Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations. This is a testbed for human centered design, development and evaluation of intelligent autonomous and assistant systems that will be needed for human exploration and development of space. This project will improve human-centered analysis, design and evaluation methods for developing intelligent software. This software will support human-machine cognitive and collaborative activities in future interplanetary work environments where distributed computer and human agents cooperate. We are developing and evaluating prototype intelligent systems for distributed multi-agent mixed-initiative operations. The primary target domain is control of life support systems in a planetary base. Technical approaches will be evaluated for use during extended manned tests in the target domain, the Bioregenerative Advanced Life Support Systems Test Complex (BIO-Plex). A spinoff target domain is the International Space Station (ISS) Mission Control Center (MCC). Prodl}cts of this project include human-centered intelligent software technology, innovative human interface designs, and human-centered software development processes, methods and products. The testbed uses adjustable autonomy software and life support systems simulation models from the Adjustable Autonomy Testbed, to represent operations on the remote planet. Ground operations prototypes and concepts will be evaluated in the Exploration Planning and Operations Center (ExPOC) and Jupiter Facility.

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.

Autonomous Dome for a Robotic Telescope

NASA Astrophysics Data System (ADS)

Kumar, A.; Sengupta, A.; Ganesh, S.

2016-12-01

The Physical Research Laboratory operates a 50 cm robotic observatory at Mount Abu (Rajsthan, India). This Automated Telescope for Variability Studies (ATVS) makes use of the Remote Telescope System 2 (RTS2) for autonomous operations. The observatory uses a 3.5 m dome from Sirius Observatories. We have developed electronics using Arduino electronic circuit boards with home grown logic and software to control the dome operations. We are in the process of completing the drivers to link our Arduino based dome controller with RTS2. This document is a short description of the various phases of the development and their integration to achieve the required objective.

SAMURAI: Polar AUV-Based Autonomous Dexterous Sampling

NASA Astrophysics Data System (ADS)

Akin, D. L.; Roberts, B. J.; Smith, W.; Roderick, S.; Reves-Sohn, R.; Singh, H.

2006-12-01

While autonomous undersea vehicles are increasingly being used for surveying and mapping missions, as of yet there has been little concerted effort to create a system capable of performing physical sampling or other manipulation of the local environment. This type of activity has typically been performed under teleoperated control from ROVs, which provides high-bandwidth real-time human direction of the manipulation activities. Manipulation from an AUV will require a completely autonomous sampling system, which implies both advanced technologies such as machine vision and autonomous target designation, but also dexterous robot manipulators to perform the actual sampling without human intervention. As part of the NASA Astrobiology Science and Technology for Exploring the Planets (ASTEP) program, the University of Maryland Space Systems Laboratory has been adapting and extending robotics technologies developed for spacecraft assembly and maintenance to the problem of autonomous sampling of biologicals and soil samples around hydrothermal vents. The Sub-polar ice Advanced Manipulator for Universal Sampling and Autonomous Intervention (SAMURAI) system is comprised of a 6000-meter capable six-degree-of-freedom dexterous manipulator, along with an autonomous vision system, multi-level control system, and sampling end effectors and storage mechanisms to allow collection of samples from vent fields. SAMURAI will be integrated onto the Woods Hole Oceanographic Institute (WHOI) Jaguar AUV, and used in Arctic during the fall of 2007 for autonomous vent field sampling on the Gakkel Ridge. Under the current operations concept, the JAGUAR and PUMA AUVs will survey the water column and localize on hydrothermal vents. Early mapping missions will create photomosaics of the vents and local surroundings, allowing scientists on the mission to designate desirable sampling targets. Based on physical characteristics such as size, shape, and coloration, the targets will be loaded into the SAMURAI control system, and JAGUAR (with SAMURAI mounted to the lower forward hull) will return to the designated target areas. Once on site, vehicle control will be turned over to the SAMURAI controller, which will perform vision-based guidance to the sampling site and will then ground the AUV to the sea bottom for stability. The SAMURAI manipulator will collect samples, such as sessile biologicals, geological samples, and (potentially) vent fluids, and store the samples for the return trip. After several hours of sampling operations on one or several sites, JAGUAR control will be returned to the WHOI onboard controller for the return to the support ship. (Operational details of AUV operations on the Gakkel Ridge mission are presented in other papers at this conference.) Between sorties, SAMURAI end effectors can be changed out on the surface for specific targets, such as push cores or larger biologicals such as tube worms. In addition to the obvious challenges in autonomous vision-based manipulator control from a free-flying support vehicle, significant development challenges have been the design of a highly capable robotic arm within the mass limitations (both wet and dry) of the JAGUAR vehicle, the development of a highly robust manipulator with modular maintenance units for extended polar operations, and the creation of a robot-based sample collection and holding system for multiple heterogeneous samples on a single extended sortie.

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.

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation thru the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The application of many different types of AI techniques for flight will be explored during this research effort. The research concentration will be directed to the application of different AI methods within the UAV arena. By evaluating AI approaches, which will include Expert Systems, Neural Networks, Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI techniques applied to achieving true autonomous operation of these systems thus providing new intellectual merit to this research field. The major area of discussion will be limited to the UAV. The systems of interest include small aircraft, insects, and miniature aircraft. Although flight systems will be explored, the benefits should apply to many Unmanned Vehicles such as: Rovers, Ocean Explorers, Robots, and autonomous operation systems. The flight system will be broken down into control agents that will represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework of applying a Security Overseer will be added in an attempt to address errors, emergencies, failures, damage, or over dynamic environment. The chosen control problem was the landing phase of UAV operation. The initial results from simulation in FlightGear are presented.

Alerting, orienting or executive attention networks: differential patters of pupil dilations

PubMed Central

Geva, Ronny; Zivan, Michal; Warsha, Aviv; Olchik, Dov

2013-01-01

Attention capacities, alerting responses, orienting to sensory stimulation, and executive monitoring of performance are considered independent yet interrelated systems. These operations play integral roles in regulating the behavior of diverse species along the evolutionary ladder. Each of the primary attention constructs—alerting, orienting, and executive monitoring—involves salient autonomic correlates as evidenced by changes in reactive pupil dilation (PD), heart rate, and skin conductance. Recent technological advances that use remote high-resolution recording may allow the discernment of temporo-spatial attributes of autonomic responses that characterize the alerting, orienting, and executive monitoring networks during free viewing, irrespective of voluntary performance. This may deepen the understanding of the roles of autonomic regulation in these mental operations and may deepen our understanding of behavioral changes in verbal as well as in non-verbal species. The aim of this study was to explore differences between psychosensory PD responses in alerting, orienting, and executive conflict monitoring tasks to generate estimates of concurrent locus coeruleus (LC) noradrenergic input trajectories in healthy human adults using the attention networks test (ANT). The analysis revealed a construct-specific pattern of pupil responses: alerting is characterized by an early component (Pa), its acceleration enables covert orienting, and executive control is evidenced by a prominent late component (Pe). PD characteristics seem to be task-sensitive, allowing exploration of mental operations irrespective of conscious voluntary responses. These data may facilitate development of studies designed to assess mental operations in diverse species using autonomic responses. PMID:24133422

20 years of KVH fiber optic gyro technology: the evolution from large, low performance FOGs to compact, precise FOGs and FOG-based inertial systems

NASA Astrophysics Data System (ADS)

Napoli, Jay

2016-05-01

Precision fiber optic gyroscopes (FOGs) are critical components for an array of platforms and applications ranging from stabilization and pointing orientation of payloads and platforms to navigation and control for unmanned and autonomous systems. In addition, FOG-based inertial systems provide extremely accurate data for geo-referencing systems. Significant improvements in the performance of FOGs and FOG-based inertial systems at KVH are due, in large part, to advancements in the design and manufacture of optical fiber, as well as in manufacturing operations and signal processing. Open loop FOGs, such as those developed and manufactured by KVH Industries, offer tactical-grade performance in a robust, small package. The success of KVH FOGs and FOG-based inertial systems is due to innovations in key fields, including the development of proprietary D-shaped fiber with an elliptical core, and KVH's unique ThinFiber. KVH continually improves its FOG manufacturing processes and signal processing, which result in improved accuracies across its entire FOG product line. KVH acquired its FOG capabilities, including its patented E•Core fiber, when the company purchased Andrew Corporation's Fiber Optic Group in 1997. E•Core fiber is unique in that the light-guiding core - critical to the FOG's performance - is elliptically shaped. The elliptical core produces a fiber that has low loss and high polarization-maintaining ability. In 2010, KVH developed its ThinFiber, a 170-micron diameter fiber that retains the full performance characteristics of E•Core fiber. ThinFiber has enabled the development of very compact, high-performance open-loop FOGs, which are also used in a line of FOG-based inertial measurement units and inertial navigation systems.

Adjustable Autonomy Testbed

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Schrenkenghost, Debra K.

2001-01-01

The Adjustable Autonomy Testbed (AAT) is a simulation-based testbed located in the Intelligent Systems Laboratory in the Automation, Robotics and Simulation Division at NASA Johnson Space Center. The purpose of the testbed is to support evaluation and validation of prototypes of adjustable autonomous agent software for control and fault management for complex systems. The AA T project has developed prototype adjustable autonomous agent software and human interfaces for cooperative fault management. This software builds on current autonomous agent technology by altering the architecture, components and interfaces for effective teamwork between autonomous systems and human experts. Autonomous agents include a planner, flexible executive, low level control and deductive model-based fault isolation. Adjustable autonomy is intended to increase the flexibility and effectiveness of fault management with an autonomous system. The test domain for this work is control of advanced life support systems for habitats for planetary exploration. The CONFIG hybrid discrete event simulation environment provides flexible and dynamically reconfigurable models of the behavior of components and fluids in the life support systems. Both discrete event and continuous (discrete time) simulation are supported, and flows and pressures are computed globally. This provides fast dynamic simulations of interacting hardware systems in closed loops that can be reconfigured during operations scenarios, producing complex cascading effects of operations and failures. Current object-oriented model libraries support modeling of fluid systems, and models have been developed of physico-chemical and biological subsystems for processing advanced life support gases. In FY01, water recovery system models will be developed.

Sun shield

NASA Technical Reports Server (NTRS)

Frank, Arthur M. (Inventor); Derespinis, Silvio F. (Inventor); Mockovciak, John, Jr. (Inventor)

1987-01-01

A shading device which is capable of compactly storing a flexible shade on a biased, window shade type spring roller is disclosed. It is controlled to deliver the shade selectively to either its operative shading or compact storage orientation.

Compact turbidity meter

NASA Technical Reports Server (NTRS)

Hirschberg, J. G.

1979-01-01

Proposed monitor that detects back-reflected infrared radiation makes in situ turbidity measurements of lakes, streams, and other bodies of water. Monitor is compact, works well in daylight as at night, and is easily operated in rough seas.

Wireless structural monitoring for homeland security applications

NASA Astrophysics Data System (ADS)

Kiremidjian, Garo K.; Kiremidjian, Anne S.; Lynch, Jerome P.

2004-07-01

This paper addresses the development of a robust, low-cost, low power, and high performance autonomous wireless monitoring system for civil assets such as large facilities, new construction, bridges, dams, commercial buildings, etc. The role of the system is to identify the onset, development, location and severity of structural vulnerability and damage. The proposed system represents an enabling infrastructure for addressing structural vulnerabilities specifically associated with homeland security. The system concept is based on dense networks of "intelligent" wireless sensing units. The fundamental properties of a wireless sensing unit include: (a) interfaces to multiple sensors for measuring structural and environmental data (such as acceleration, displacements, pressure, strain, material degradation, temperature, gas agents, biological agents, humidity, corrosion, etc.); (b) processing of sensor data with embedded algorithms for assessing damage and environmental conditions; (c) peer-to-peer wireless communications for information exchange among units(thus enabling joint "intelligent" processing coordination) and storage of data and processed information in servers for information fusion; (d) ultra low power operation; (e) cost-effectiveness and compact size through the use of low-cost small-size off-the-shelf components. An integral component of the overall system concept is a decision support environment for interpretation and dissemination of information to various decision makers.

Hand-held medical robots.

PubMed

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

Medical robots have evolved from autonomous systems to tele-operated platforms and mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have seen both commercial and clinical success, uptake of these robots remains moderate because of their high cost, large physical footprint and long setup times. More recently, researchers have moved toward developing hand-held robots that are completely ungrounded and manipulated by surgeons in free space, in a similar manner to how conventional instruments are handled. These devices provide specific functions that assist the surgeon in accomplishing tasks that are otherwise challenging with manual manipulation. Hand-held robots have the advantages of being compact and easily integrated into the normal surgical workflow since there is typically little or no setup time. Hand-held devices can also have a significantly reduced cost to healthcare providers as they do not necessitate the complex, multi degree-of-freedom linkages that grounded robots require. However, the development of such devices is faced with many technical challenges, including miniaturization, cost and sterility, control stability, inertial and gravity compensation and robust instrument tracking. This review presents the emerging technical trends in hand-held medical robots and future development opportunities for promoting their wider clinical uptake.

Compacted graphite iron: Cast iron makes a comeback

NASA Astrophysics Data System (ADS)

Dawson, S.

1994-08-01

Although compacted graphite iron has been known for more than four decades, the absence of a reliable mass-production technique has resulted in relatively little effort to exploit its operational benefits. However, a proven on-line process control technology developed by SinterCast allows for series production of complex components in high-quality CGI. The improved mechanical properties of compacted graphite iron relative to conventional gray iron allow for substantial weight reduction in gasoline and diesel engines or substantial increases in horsepower, or an optimal combination of both. Concurrent with these primary benefits, CGI also provides significant emissions and fuel efficiency benefits allowing automakers to meet legislated performance standards. The operational and environmental benefits of compacted graphite iron together with its low cost and recyclability reinforce cast iron as a prime engineering material for the future.

Implementation and Simulation Results using Autonomous Aerobraking Development Software

NASA Technical Reports Server (NTRS)

Maddock, Robert W.; DwyerCianciolo, Alicia M.; Bowes, Angela; Prince, Jill L. H.; Powell, Richard W.

2011-01-01

An Autonomous Aerobraking software system is currently under development with support from the NASA Engineering and Safety Center (NESC) that would move typically ground-based operations functions to onboard an aerobraking spacecraft, reducing mission risk and mission cost. The suite of software that will enable autonomous aerobraking is the Autonomous Aerobraking Development Software (AADS) and consists of an ephemeris model, onboard atmosphere estimator, temperature and loads prediction, and a maneuver calculation. The software calculates the maneuver time, magnitude and direction commands to maintain the spacecraft periapsis parameters within design structural load and/or thermal constraints. The AADS is currently tested in simulations at Mars, with plans to also evaluate feasibility and performance at Venus and Titan.

Pointing system for the balloon-borne astronomical payloads

NASA Astrophysics Data System (ADS)

Nirmal, Kaipacheri; Sreejith, Aickara Gopinathan; Mathew, Joice; Sarpotdar, Mayuresh; Ambily, Suresh; Prakash, Ajin; Safonova, Margarita; Murthy, Jayant

2016-10-01

We describe the development and implementation of a light-weight, fully autonomous 2-axis pointing and stabilization system designed for balloon-borne astronomical payloads. The system is developed using off-the-shelf components such as Arduino Uno controller, HMC 5883L magnetometer, MPU-9150 inertial measurement unit, and iWave GPS receiver unit. It is a compact and rugged system which can also be used to take images/video in a moving vehicle or in real photography. The system performance is evaluated from the ground, as well as in conditions simulated to imitate the actual flight by using a tethered launch.

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.

English Medium Instruction: A Way towards Linguistically Better Prepared Professionals in the Basque Autonomous Community?

ERIC Educational Resources Information Center

van der Worp, Karin

2017-01-01

In the Basque Autonomous Community, besides the official languages Spanish and Basque, English is considered an important third language for internationally operating companies. However, employees are not believed to be linguistically well enough prepared, due to shortcomings in English language learning in the Basque educational system. The…

Concept synthesis of an equipment manipulation and transportation system EMATS

NASA Technical Reports Server (NTRS)

Depeuter, W.; Waffenschmidt, E.

1989-01-01

The European Columbus Scenario is established. One of the Columbus Elements, the Man Tended Free Flyer will be designed for fully autonomous operation in order to provide the environment for micro gravity facilities. The Concept of an autonomous automation system which perform servicing of facilities and deals with related logistic tasks is discussed.

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

Automation and robotics

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin

1988-01-01

The Autonomous Systems focus on the automation of control systems for the Space Station and mission operations. Telerobotics focuses on automation for in-space servicing, assembly, and repair. The Autonomous Systems and Telerobotics each have a planned sequence of integrated demonstrations showing the evolutionary advance of the state-of-the-art. Progress is briefly described for each area of concern.

Investigation into legislative action needed to accommodate the future safe operation of autonomous vehicles in the state of Louisiana [tech summary].

DOT National Transportation Integrated Search

2016-10-01

The objective of this study is to review the status quo in the development of autonomous vehicles and determine : what regulatory action needs to be taken that will permit their safe introduction in : Louisiana while not stifling innovation and devel...

AGATE: Adversarial Game Analysis for Tactical Evaluation

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2013-01-01

AGATE generates a set of ranked strategies that enables an autonomous vehicle to track/trail another vehicle that is trying to break the contact using evasive tactics. The software is efficient (can be run on a laptop), scales well with environmental complexity, and is suitable for use onboard an autonomous vehicle. The software will run in near-real-time (2 Hz) on most commercial laptops. Existing software is usually run offline in a planning mode, and is not used to control an unmanned vehicle actively. JPL has developed a system for AGATE that uses adversarial game theory (AGT) methods (in particular, leader-follower and pursuit-evasion) to enable an autonomous vehicle (AV) to maintain tracking/ trailing operations on a target that is employing evasive tactics. The AV trailing, tracking, and reacquisition operations are characterized by imperfect information, and are an example of a non-zero sum game (a positive payoff for the AV is not necessarily an equal loss for the target being tracked and, potentially, additional adversarial boats). Previously, JPL successfully applied the Nash equilibrium method for onboard control of an autonomous ground vehicle (AGV) travelling over hazardous terrain.

Cross-cultural comparison of political leaders' operational codes.

PubMed

Dirilen-Gumus, Ozlem

2017-12-01

This study aims at comparing operational codes (namely, philosophical and instrumental beliefs about the political universe) of political leaders from different cultures. According to Schwartz (2004), cultures can be categorised into 3 dimensions: autonomy-embeddedness, egalitarianism-hierarchy and mastery-harmony. This study draws upon the 1st dimension (akin to the most popular cultural dimension of Hofstede: individualism-collectivism) and focuses on comparing the leaders of autonomous and embedded cultures based on how cooperative/conflictual they are. The main research hypothesis is as follows: the leaders of embedded cultures would be more cooperative than the leaders of autonomous cultures. For this purpose, 3 autonomous cultures (the UK, Canada and Australia) and embedded cultures (Singapore, South Africa and Malaysia) cultures were chosen randomly and the cooperativeness of the correspondent countries' leaders were compared after being profiled by Profiler Plus. The results indicated that the leaders of embedded cultures were significantly more cooperative than autonomous cultures after holding the control variables constant. The findings were discussed in the light of relevant literature. © 2016 International Union of Psychological Science.

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.

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).

Development of a UAV-based Global Ozone Lidar Demonstrator (GOLD)

NASA Astrophysics Data System (ADS)

Browell, E. V.; Deyoung, R. J.; Hair, J. W.; Ismail, S.; McGee, T.; Hardesty, R. M.; Brewer, W. A.; McDermid, I. S.

2006-12-01

Global ozone measurements are needed across the troposphere with high vertical resolution to enable comprehensive studies of continental and intercontinental atmospheric chemistry and dynamics, which are affected by diverse natural and human-induced processes. The development of a unattended aerial vehicle (UAV) based Global Ozone Lidar Demonstrator (GOLD) is an important step in enabling a space-based ozone and aerosol lidar and for conducting unique UAV-based large-scale atmospheric investigations. The GOLD system will incorporate the most advanced technology developed under the NASA Laser Risk Reduction Program (LRRP) and the Small Business Innovative Research (SBIR) program to produce a compact, autonomously operating ozone and aerosol Differential Absorption Lidar (DIAL) system for a UAV platform. This system will leverage advanced Nd:YAG and optical parametric oscillator (OPO) laser technologies being developed by ITT Industries under the LRRP and the autonomously operating ozone DIAL system being developed by Science and Engineering Services Inc. (SESI) under an SBIR Phase-3 contract. Laser components from ITT will be integrated into the SESI DIAL system, and the resulting GOLD system will be flight tested on a NASA UAV. The development of the GOLD system was initiated as part of the NASA Instrument Incubator Program in December 2005, and great progress has been made towards completing major GOLD subsystems. ITT has begun construction of the high-power Nd:YAG pump laser and the ultraviolet OPO for generating the ozone DIAL wavelengths of 290 and 300 nm and the aerosol visible wavelength at 532 nm. SESI is completing the Phase-3 SBIR contract for the delivery and demonstration of the ozone DIAL receiver and data system, and NOAA is completing detector evaluations for use in the GOLD system. Welch Mechanical is examining system designs for integrating GOLD into the external pod that will be hung under the new IKANA (Predator-B) UAV that NASA Dryden is acquiring. Details of the GOLD system design and development will be presented in this paper, and science applications for a UAV-based and space-based ozone lidar will be discussed.

Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles

NASA Technical Reports Server (NTRS)

Kuwata, Yoshiaki (Inventor); Aghazarian, Hrand (Inventor); Huntsberger, Terrance L. (Inventor); Howard, Andrew B. (Inventor); Wolf, Michael T. (Inventor); Zarzhitsky, Dimitri V. (Inventor)

2014-01-01

Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

Secure Autonomous Automated Scheduling (SAAS). Rev. 1.1

NASA Technical Reports Server (NTRS)

Walke, Jon G.; Dikeman, Larry; Sage, Stephen P.; Miller, Eric M.

2010-01-01

This report describes network-centric operations, where a virtual mission operations center autonomously receives sensor triggers, and schedules space and ground assets using Internet-based technologies and service-oriented architectures. For proof-of-concept purposes, sensor triggers are received from the United States Geological Survey (USGS) to determine targets for space-based sensors. The Surrey Satellite Technology Limited (SSTL) Disaster Monitoring Constellation satellite, the UK-DMC, is used as the space-based sensor. The UK-DMC's availability is determined via machine-to-machine communications using SSTL's mission planning system. Access to/from the UK-DMC for tasking and sensor data is via SSTL's and Universal Space Network's (USN) ground assets. The availability and scheduling of USN's assets can also be performed autonomously via machine-to-machine communications. All communication, both on the ground and between ground and space, uses open Internet standards

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.

Space Technology - Game Changing Development NASA Facts: Autonomous Medical Operations

NASA Technical Reports Server (NTRS)

Thompson, David E.

2018-01-01

The AMO (Autonomous Medical Operations) Project is working extensively to train medical models on the reliability and confidence of computer-aided interpretation of ultrasound images in various clinical settings, and of various anatomical structures. AI (Artificial Intelligence) algorithms recognize and classify features in the ultrasound images, and these are compared to those features that clinicians use to diagnose diseases. The acquisition of clinically validated image assessment and the use of the AI algorithms constitutes fundamental baseline for a Medical Decision Support System that will advise crew on long-duration, remote missions.

Intelligent mobility research for robotic locomotion in complex terrain

NASA Astrophysics Data System (ADS)

Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

2006-05-01

The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

Lessons learned from the introduction of autonomous monitoring to the EUVE science operations center

NASA Technical Reports Server (NTRS)

Lewis, M.; Girouard, F.; Kronberg, F.; Ringrose, P.; Abedini, A.; Biroscak, D.; Morgan, T.; Malina, R. F.

1995-01-01

The University of California at Berkeley's (UCB) Center for Extreme Ultraviolet Astrophysics (CEA), in conjunction with NASA's Ames Research Center (ARC), has implemented an autonomous monitoring system in the Extreme Ultraviolet Explorer (EUVE) science operations center (ESOC). The implementation was driven by a need to reduce operations costs and has allowed the ESOC to move from continuous, three-shift, human-tended monitoring of the science payload to a one-shift operation in which the off shifts are monitored by an autonomous anomaly detection system. This system includes Eworks, an artificial intelligence (AI) payload telemetry monitoring package based on RTworks, and Epage, an automatic paging system to notify ESOC personnel of detected anomalies. In this age of shrinking NASA budgets, the lessons learned on the EUVE project are useful to other NASA missions looking for ways to reduce their operations budgets. The process of knowledge capture, from the payload controllers for implementation in an expert system, is directly applicable to any mission considering a transition to autonomous monitoring in their control center. The collaboration with ARC demonstrates how a project with limited programming resources can expand the breadth of its goals without incurring the high cost of hiring additional, dedicated programmers. This dispersal of expertise across NASA centers allows future missions to easily access experts for collaborative efforts of their own. Even the criterion used to choose an expert system has widespread impacts on the implementation, including the completion time and the final cost. In this paper we discuss, from inception to completion, the areas where our experiences in moving from three shifts to one shift may offer insights for other NASA missions.

Load and inflation pressure effects on soil compaction of forwarder tires

Treesearch

Tim McDonald; Tom Way; Bjorn Lofgren; Fernando Seixas; Mats Landstrom

1996-01-01

A standard forwarder tire (600/55-26.5) was tested to determine its range of soil compaction with various inflation pressures and dynamic loads. Past research has shown that compaction of heavier equipment can be somewhat mitigated by operating with lower inflation pressures. Results indicated a significant effect of both load and inflation pressure on bulk density,...

Full-scale flight tests of aircraft morphing structures using SMA actuators

NASA Astrophysics Data System (ADS)

Mabe, James H.; Calkins, Frederick T.; Ruggeri, Robert T.

2007-04-01

In August of 2005 The Boeing Company conducted a full-scale flight test utilizing Shape Memory Alloy (SMA) actuators to morph an engine's fan exhaust to correlate exhaust geometry with jet noise reduction. The test was conducted on a 777-300ER with GE-115B engines. The presence of chevrons, serrated aerodynamic surfaces mounted at the trailing edge of the thrust reverser, have been shown to greatly reduce jet noise by encouraging advantageous mixing of the free, and fan streams. The morphing, or Variable Geometry Chevrons (VGC), utilized compact, light weight, and robust SMA actuators to morph the chevron shape to optimize the noise reduction or meet acoustic test objectives. The VGC system was designed for two modes of operation. The entirely autonomous operation utilized changes in the ambient temperature from take-off to cruise to activate the chevron shape change. It required no internal heaters, wiring, control system, or sensing. By design this provided one tip immersion at the warmer take-off temperatures to reduce community noise and another during the cooler cruise state for more efficient engine operation, i.e. reduced specific fuel consumption. For the flight tests a powered mode was added where internal heaters were used to individually control the VGC temperatures. This enabled us to vary the immersions and test a variety of chevron configurations. The flight test demonstrated the value of SMA actuators to solve a real world aerospace problem, validated that the technology could be safely integrated into the airplane's structure and flight system, and represented a large step forward in the realization of SMA actuators for production applications. In this paper the authors describe the development of the actuator system, the steps required to integrate the morphing structure into the thrust reverser, and the analysis and testing that was required to gain approval for flight. Issues related to material strength, thermal environment, vibration, electrical power, controls, data acquisition, and engine operability are discussed. Furthermore the authors layout a road map for the next stage of development of SMA aerospace actuators. A detailed look at the requirements and specifications that may define a production SMA actuator and the technology development required to meet them are presented. A path for meeting production requirements and achieving the next level of technology readiness for both autonomous and controlled SMA actuators is proposed. This path relies strongly on cross functional and organizational teaming including industry, academia, and government.

Advances in Autonomous Systems for Missions of Space Exploration

NASA Astrophysics Data System (ADS)

Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of meeting the greatly increased space exploration requirements, along with dramatically reduced design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health monitoring and maintenance capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these missions by a standing army of ground- based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communications distance as are not otherwise possible, as well as many more efficient and low cost applications. One notable example of such missions are those to explore for the existence of water on planets such as Mars and the moons of Jupiter. It is clear that water does not exist on the surfaces of such bodies, but may well be located at some considerable depth below the surface, thus requiring a subsurface drilling capability. Subsurface drilling on planetary surfaces will require a robust autonomous control and analysis system, currently a major challenge, but within conceivable reach of planned technology developments. This paper will focus on new and innovative software for remote, autonomous, space systems flight operations, including flight test results, lessons learned, and implications for the future. An additional focus will be on technologies for planetary exploration using autonomous systems and astronaut-assistance systems that employ new spoken language technology. Topics to be presented will include a description of key autonomous control concepts, illustrated by the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New software for autonomous science data acquisition for planetary exploration will also be described, as well as advanced systems for safe planetary landings. Current results of autonomous planetary drilling system research will be presented. A key thrust within NASA is to develop technologies that will leverage the capabilities of human astronauts during planetary surface explorations. One such technology is spoken dialogue interfaces, which would allow collaboration with semi-autonomous agents that are engaged in activities that are normally accomplished using language, e.g., astronauts in space suits interacting with groups of semi-autonomous rovers and other astronauts. This technology will be described and discussed in the context of future exploration missions and the major new capabilities enabled by such systems. Finally, plans and directions for the future of autonomous systems will be presented.

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

Experimental Demonstration and Circuitry for a Very Compact Coil-Only Pulse Echo EMAT

PubMed Central

Rueter, Dirk

2017-01-01

This experimental study demonstrates for the first time a solid-state circuitry and design for a simple compact copper coil (without an additional bulky permanent magnet or bulky electromagnet) as a contactless electromagnetic acoustic transducer (EMAT) for pulse echo operation at MHz frequencies. A pulsed ultrasound emission into a metallic test object is electromagnetically excited by an intense MHz burst at up to 500 A through the 0.15 mm filaments of the transducer. Immediately thereafter, a smoother and quasi “DC-like” current of 100 A is applied for about 1 ms and allows an echo detection. The ultrasonic pulse echo operation for a simple, compact, non-contacting copper coil is new. Application scenarios for compact transducer techniques include very narrow and hostile environments, in which, e.g., quickly moving metal parts must be tested with only one, non-contacting ultrasound shot. The small transducer coil can be operated remotely with a cable connection, separate from the much bulkier supply circuitry. Several options for more technical and fundamental progress are discussed. PMID:28441722

Evaluation of the operatorial Q-system for non-compact super spin chains

NASA Astrophysics Data System (ADS)

Frassek, Rouven; Marboe, Christian; Meidinger, David

2017-09-01

We present an approach to evaluate the full operatorial Q-system of all u(p,q\\Big|r+s) -invariant spin chains with representations of Jordan-Schwinger type. In particular, this includes the super spin chain of planar N=4 super Yang-Mills theory at one loop in the presence of a diagonal twist. Our method is based on the oscillator construction of Q-operators. The Q-operators are built as traces over Lax operators which are degenerate solutions of the Yang-Baxter equation. For non-compact representations these Lax operators may contain multiple infinite sums that conceal the form of the resulting functions. We determine these infinite sums and calculate the matrix elements of the lowest level Q-operators. Transforming the Lax operators corresponding to the Q-operators into a representation involving only finite sums allows us to take the supertrace and to obtain the explicit form of the Q-operators in terms of finite matrices for a given magnon sector. Imposing the functional relations, we then bootstrap the other Q-operators from those of the lowest level. We exemplify this approach for non-compact spin - s spin chains and apply it to N=4 at the one-loop level using the BMN vacuum as an example.

I-AUV Docking and Panel Intervention at Sea

PubMed Central

Palomeras, Narcís; Peñalver, Antonio; Massot-Campos, Miquel; Negre, Pep Lluís; Fernández, José Javier; Ridao, Pere; Sanz, Pedro J.; Oliver-Codina, Gabriel

2016-01-01

The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea. PMID:27754348

I-AUV Docking and Panel Intervention at Sea.

PubMed

Palomeras, Narcís; Peñalver, Antonio; Massot-Campos, Miquel; Negre, Pep Lluís; Fernández, José Javier; Ridao, Pere; Sanz, Pedro J; Oliver-Codina, Gabriel

2016-10-12

The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.

Autonomous star sensor ASTRO APS: flight experience on Alphasat

NASA Astrophysics Data System (ADS)

Schmidt, U.; Fiksel, T.; Kwiatkowski, A.; Steinbach, I.; Pradarutti, B.; Michel, K.; Benzi, E.

2015-06-01

Jena-Optronik GmbH, located in Jena/Germany, has profound experience in designing and manufacturing star trackers since the early 80s. Today the company has a worldwide leading position in supplying geo-stationary and Earth observation satellites with robust and reliable star tracker systems. In the first decade of the new century Jena-Optronik received a development contract (17317/2003/F/WE) from the European Space Agency to establish the technologically challenging elements for which advanced star tracker technologies as CMOS Active Pixel Sensors were being introduced or were considered strategic. This activity was performed in the frame of the Alphabus large platform pre-development lead by ESA and the industrial Joint Project Team consisting of Astrium (now Airbus Defence and Space), Thales Alenia Space and CNES (Centre national d'études spatiales). The new autonomous star tracker, ASTRO APS (Active Pixel Sensor), extends the Jena-Optronik A stro-series CCD-based star tracker products taken the full benefit of the CMOS APS technology. ASTRO APS is a fully autonomous compact star tracker carrying either the space-qualified radiation hard STAR1000 or the HAS2 APS detectors. The star tracker is one of four Technology Demonstration Payloads (TDP6) carried by Alphasat as hosted payload in the frame of a successful Private Public Partnership between ESA and Inmarsat who owns and operates the satellite as part of its geo-stationary communication satellites fleet. TDP6 supports also directly TDP1, a Laser Communication Terminal, for fine pointing tasks. Alphasat was flawlessly brought in orbit at the end of July 2013 by a European Ariane 5 launcher. Only a few hours after launch the star tracker received its switch ON command and acquired nominally within 6 s the inertial 3-axes attitude. In the following days of the early in-orbit operations of Alphasat the TDP6 unit tracked reliably all the spacecraft maneuvers including the 0.1 and 0.2°/s spin stabilization for Sun pointing, all of the apogee engine thrusts, Moon field of view transits and recovered to stable tracking after several Earth and Sun blindings before the spacecraft entered a preliminary Earth pointing in a nominal geo-stationary attitude. The Jena-Optronik TDP6 operation center received daily the star tracker status and attitude data. The huge amount of acquired raw data has been evaluated to characterize the ASTRO APS (STAR1000) star tracker in-orbit performance. The paper will present in detail these data processing activities and will show the extraordinary good results. Due to the diverse transfer orbit satellite operations the key performance star tracker data like attitude random noise, single star noise, star brightness measurement, baffle Sun exclusion angle, temperature control, etc., could be derived and have been compared to the ground based laboratory and field measurements. The ultimate performance parameters achieved and verified as well as the lessons learned from the comparison to the ground test data are summarized in the conclusion of the paper.

Getting it right the first time: predicted performance guarantees from the analysis of emergent behavior in autonomous and semi-autonomous systems

NASA Astrophysics Data System (ADS)

Arkin, Ronald C.; Lyons, Damian; Shu, Jiang; Nirmal, Prem; Zafar, Munzir

2012-06-01

A crucially important aspect for mission-critical robotic operations is ensuring as best as possible that an autonomous system be able to complete its task. In a project for the Defense Threat Reduction Agency (DTRA) we are developing methods to provide such guidance, specifically for counter-Weapons of Mass Destruction (C-WMD) missions. In this paper, we describe the scenarios under consideration, the performance measures and metrics being developed, and an outline of the mechanisms for providing performance guarantees.

Progress towards autonomous, intelligent systems

NASA Technical Reports Server (NTRS)

Lum, Henry; Heer, Ewald

1987-01-01

An aggressive program has been initiated to develop, integrate, and implement autonomous systems technologies starting with today's expert systems and evolving to autonomous, intelligent systems by the end of the 1990s. This program includes core technology developments and demonstration projects for technology evaluation and validation. This paper discusses key operational frameworks in the content of systems autonomy applications and then identifies major technological challenges, primarily in artificial intelligence areas. Program content and progress made towards critical technologies and demonstrations that have been initiated to achieve the required future capabilities in the year 2000 era are discussed.

Autonomous intelligent cars: proof that the EPSRC Principles are future-proof

NASA Astrophysics Data System (ADS)

de Cock Buning, Madeleine; de Bruin, Roeland

2017-07-01

Principle 2 of the EPSRC's principles of robotics (AISB workshop on Principles of Robotics, 2016) proves to be future proof when applied to the current state of the art of law and technology surrounding autonomous intelligent cars (AICs). Humans, not AICS, are responsible agents. AICs should be designed; operated as far as is practicable to comply with existing laws and fundamental rights and freedoms, including privacy by design. It will show that some legal questions arising from autonomous intelligent driving technology can be answered by the technology itself.

Toward autonomous driving: The CMU Navlab. I - Perception

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

The Navlab project, which seeks to build an autonomous robot that can operate in a realistic environment with bad weather, bad lighting, and bad or changing roads, is discussed. The perception techniques developed for the Navlab include road-following techniques using color classification and neural nets. These are discussed with reference to three road-following systems, SCARF, YARF, and ALVINN. Three-dimensional perception using three types of terrain representation (obstacle maps, terrain feature maps, and high-resolution maps) is examined. It is noted that perception continues to be an obstacle in developing autonomous vehicles.

Autonomous navigation and obstacle avoidance for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Larson, Jacoby; Bruch, Michael; Ebken, John

2006-05-01

The US Navy and other Department of Defense (DoD) and Department of Homeland Security (DHS) organizations are increasingly interested in the use of unmanned surface vehicles (USVs) for a variety of missions and applications. In order for USVs to fill these roles, they must be capable of a relatively high degree of autonomous navigation. Space and Naval Warfare Systems Center, San Diego is developing core technologies required for robust USV operation in a real-world environment, primarily focusing on autonomous navigation, obstacle avoidance, and path planning.

A compact nanopower low output impedance CMOS operational amplifier for wireless intraocular pressure recordings.

PubMed

Dresher, Russell P; Irazoqui, Pedro P

2007-01-01

Wireless sensing has shown potential benefits for the continuous-time measurement of physiological data. One such application is the recording of intraocular pressure (IOP) for patients with glaucoma. Ultra-low-power circuits facilitate the use of inductively-coupled power for implantable wireless systems. Compact circuit size is also desirable for implantable systems. As a first step towards the realization of such circuits, we have designed a compact, ultra-low-power operational amplifier which can be used to record IOP. This paper presents the measured results of a CMOS operational amplifier that can be incorporated with a wireless IOP monitoring system or other low-power application. It has a power consumption of 736 nW, chip area of 0.023 mm2, and output impedance of 69 Omega to drive low-impedance loads.

An Intelligent Propulsion Control Architecture to Enable More Autonomous Vehicle Operation

NASA Technical Reports Server (NTRS)

Litt, Jonathan S.; Sowers, T. Shane; Simon, Donald L.; Owen, A. Karl; Rinehart, Aidan W.; Chicatelli, Amy K.; Acheson, Michael J.; Hueschen, Richard M.; Spiers, Christopher W.

2018-01-01

This paper describes an intelligent propulsion control architecture that coordinates with the flight control to reduce the amount of pilot intervention required to operate the vehicle. Objectives of the architecture include the ability to: automatically recognize the aircraft operating state and flight phase; configure engine control to optimize performance with knowledge of engine condition and capability; enhance aircraft performance by coordinating propulsion control with flight control; and recognize off-nominal propulsion situations and to respond to them autonomously. The hierarchical intelligent propulsion system control can be decomposed into a propulsion system level and an individual engine level. The architecture is designed to be flexible to accommodate evolving requirements, adapt to technology improvements, and maintain safety.

A scheduling and diagnostic system for scientific satellite GEOTAIL using expert system

NASA Technical Reports Server (NTRS)

Nakatani, I; Hashimoto, M.; Mukai, T.; Obara, T.; Nishigori, N.

1994-01-01

The Intelligent Satellite Control Software (ISACS) for the geoMagnetic tail observation satellite named GEOTAIL (launched in July 1992) has been successfully developed. ISACS has made it possible by applying Artificial Intelligence (AI) technology including an expert system to autonomously generate a tracking schedule, which originally used to be conducted manually. Using ISACS, a satellite operator can generate a maximum four day period of stored command stream autonomously and can easily confirm its safety. The ISACS system has another function -- to diagnose satellite troubles and to suggest necessary remedies. The workload of satellite operators has drastically been reduced since ISACS has been introduced into the operations of GEOTAIL.

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.

Diverse Formation Mechanisms for Compact Galaxies

NASA Astrophysics Data System (ADS)

Kim, Jin-Ah; Paudel, Sanjaya; Yoon, Suk-Jin

2018-01-01

Compact, quenched galaxies such as M32 are unusual ones located off the mass - size scaling relation defined by normal galaxies. Still, their formation mechanisms remain unsolved. Here we investigate the evolution of ~100 compact, quenched galaxies at z = 0 identified in the Illustris cosmological simulation. We identify three ways for a galaxy to become a compact one and, often, multiple mechanisms operate in a combined manner. First, stripping is responsible for making about a third of compact galaxies. Stripping removes stars from galaxies, usually while keeping their sizes intact. About one third are galaxies that cease their growth early on after entering into more massive, gigantic halos. Finally, about half of compact galaxies, ~ 35 % of which turn out to undergo stripping, experience the compaction due to the highly centrally concentrated star formation. We discuss the evolutionary path of compact galaxies on the mass – size plane for each mechanism in a broader context of dwarf galaxy formation and evolution.

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.

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot.

PubMed

Bengochea-Guevara, José M; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

2016-02-24

The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

PubMed Central

Bengochea-Guevara, José M.; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

2016-01-01

The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them. PMID:26927102

Data analysis-based autonomic bandwidth adjustment in software defined multi-vendor optical transport networks.

PubMed

Li, Yajie; Zhao, Yongli; Zhang, Jie; Yu, Xiaosong; Jing, Ruiquan

2017-11-27

Network operators generally provide dedicated lightpaths for customers to meet the demand for high-quality transmission. Considering the variation of traffic load, customers usually rent peak bandwidth that exceeds the practical average traffic requirement. In this case, bandwidth provisioning is unmetered and customers have to pay according to peak bandwidth. Supposing that network operators could keep track of traffic load and allocate bandwidth dynamically, bandwidth can be provided as a metered service and customers would pay for the bandwidth that they actually use. To achieve cost-effective bandwidth provisioning, this paper proposes an autonomic bandwidth adjustment scheme based on data analysis of traffic load. The scheme is implemented in a software defined networking (SDN) controller and is demonstrated in the field trial of multi-vendor optical transport networks. The field trial shows that the proposed scheme can track traffic load and realize autonomic bandwidth adjustment. In addition, a simulation experiment is conducted to evaluate the performance of the proposed scheme. We also investigate the impact of different parameters on autonomic bandwidth adjustment. Simulation results show that the step size and adjustment period have significant influences on bandwidth savings and packet loss. A small value of step size and adjustment period can bring more benefits by tracking traffic variation with high accuracy. For network operators, the scheme can serve as technical support of realizing bandwidth as metered service in the future.

Compact exponential product formulas and operator functional derivative

NASA Astrophysics Data System (ADS)

Suzuki, Masuo

1997-02-01

A new scheme for deriving compact expressions of the logarithm of the exponential product is proposed and it is applied to several exponential product formulas. A generalization of the Dynkin-Specht-Wever (DSW) theorem on free Lie elements is given, and it is used to study the relation between the traditional method (based on the DSW theorem) and the present new scheme. The concept of the operator functional derivative is also proposed, and it is applied to ordered exponentials, such as time-evolution operators for time-dependent Hamiltonians.

250 kV 6 mA compact Cockcroft-Walton high-voltage power supply.

PubMed

Ma, Zhan-Wen; Su, Xiao-Dong; Lu, Xiao-Long; Wei, Zhen; Wang, Jun-Run; Huang, Zhi-Wu; Miao, Tian-You; Su, Tong-Ling; Yao, Ze-En

2016-08-01

A compact power supply system for a compact neutron generator has been developed. A 4-stage symmetrical Cockcroft-Walton circuit is adopted to produce 250 kV direct current high-voltage. A 2-stage 280 kV isolation transformer system is used to drive the ion source power supply. For a compact structure, safety, and reliability during the operation, the Cockcroft-Walton circuit and the isolation transformer system are enclosed in an epoxy vessel containing the transformer oil whose size is about ∅350 mm × 766 mm. Test results indicate that the maximum output voltage of the power supply is 282 kV, and the stability of the output voltage is better than 0.63% when the high voltage power supply is operated at 250 kV, 6.9 mA with the input voltage varying ±10%.

250 kV 6 mA compact Cockcroft-Walton high-voltage power supply

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

Ma, Zhan-Wen; Su, Xiao-Dong; Wei, Zhen

A compact power supply system for a compact neutron generator has been developed. A 4-stage symmetrical Cockcroft-Walton circuit is adopted to produce 250 kV direct current high-voltage. A 2-stage 280 kV isolation transformer system is used to drive the ion source power supply. For a compact structure, safety, and reliability during the operation, the Cockcroft-Walton circuit and the isolation transformer system are enclosed in an epoxy vessel containing the transformer oil whose size is about ∅350 mm × 766 mm. Test results indicate that the maximum output voltage of the power supply is 282 kV, and the stability of themore » output voltage is better than 0.63% when the high voltage power supply is operated at 250 kV, 6.9 mA with the input voltage varying ±10%.« less

High Speed Lunar Navigation for Crewed and Remotely Piloted Vehicles

NASA Technical Reports Server (NTRS)

Pedersen, L.; Allan, M.; To, V.; Utz, H.; Wojcikiewicz, W.; Chautems, C.

2010-01-01

Increased navigation speed is desirable for lunar rovers, whether autonomous, crewed or remotely operated, but is hampered by the low gravity, high contrast lighting and rough terrain. We describe lidar based navigation system deployed on NASA's K10 autonomous rover and to increase the terrain hazard situational awareness of the Lunar Electric Rover crew.

Developing operation algorithms for vision subsystems in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Shikhman, M. V.; Shidlovskiy, S. V.

2018-05-01

The paper analyzes algorithms for selecting keypoints on the image for the subsequent automatic detection of people and obstacles. The algorithm is based on the histogram of oriented gradients and the support vector method. The combination of these methods allows successful selection of dynamic and static objects. The algorithm can be applied in various autonomous mobile robots.

Assessment of soil strength variability in a havested loblolly pine plantation in the Piedmont region of Alabama, United States

Treesearch

Emily Carter; Tim McDonald; John Torbert

2000-01-01

Mechanised forest harvest operations are a significant source of soil compaction for which intensive tillage is prescribed to alleviate soil compaction and ensure successful regeneration of planted pine trees. Soil strength is a poiential indicator of compaction status of a harvest tract due to its sensitivity and the ease of data collection with a cone penetrometer,...

Formal Methods for Autonomic and Swarm-based Systems

NASA Technical Reports Server (NTRS)

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

2004-01-01

Swarms of intelligent rovers and spacecraft are being considered for a number of future NASA missions. These missions will provide MSA scientist and explorers greater flexibility and the chance to gather more science than traditional single spacecraft missions. These swarms of spacecraft are intended to operate for large periods of time without contact with the Earth. To do this, they must be highly autonomous, have autonomic properties and utilize sophisticated artificial intelligence. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm type of missions NASA is considering. This mission will explore the asteroid belt using an insect colony analogy cataloging the mass, density, morphology, and chemical composition of the asteroids, including any anomalous concentrations of specific minerals. Verifying such a system would be a huge task. This paper discusses ongoing work to develop a formal method for verifying swarm and autonomic systems.

An Autonomous Control System for an Intra-Vehicular Spacecraft Mobile Monitor Prototype

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Desiano, Salvatore D.; Gawdiak, Yuri; Nicewarner, Keith

2003-01-01

This paper presents an overview of an ongoing research and development effort at the NASA Ames Research Center to create an autonomous control system for an internal spacecraft autonomous mobile monitor. It primary functions are to provide crew support and perform intra- vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the mission roles and high-level functional requirements for an autonomous mobile monitor. The mobile monitor prototypes, of which two are operational and one is actively being designed, physical test facilities used to perform ground testing, including a 3D micro-gravity test facility, and simulators are briefly described. We provide an overview of the autonomy framework and describe each of its components, including those used for automated planning, goal-oriented task execution, diagnosis, and fault recovery. A sample mission test scenario is also described.

Autonomous driving in urban environments: approaches, lessons and challenges.

PubMed

Campbell, Mark; Egerstedt, Magnus; How, Jonathan P; Murray, Richard M

2010-10-13

The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long-term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.

Advanced instrumentation for acousto-ultrasonic based structural health monitoring

NASA Astrophysics Data System (ADS)

Smithard, Joel; Galea, Steve; van der Velden, Stephen; Powlesland, Ian; Jung, George; Rajic, Nik

2016-04-01

Structural health monitoring (SHM) systems using structurally-integrated sensors potentially allow the ability to inspect for damage in aircraft structures on-demand and could provide a basis for the development of condition-based maintenance approaches for airframes. These systems potentially offer both substantial cost savings and performance improvements over conventional nondestructive inspection (NDI). Acousto-ultrasonics (AU), using structurallyintegrated piezoelectric transducers, offers a promising basis for broad-field damage detection in aircraft structures. For these systems to be successfully applied in the field the hardware for AU excitation and interrogation needs to be easy to use, compact, portable, light and, electrically and mechanically robust. Highly flexible and inexpensive instrumentation for basic background laboratory investigations is also required to allow researchers to tackle the numerous scientific and engineering issues associated with AU based SHM. The Australian Defence Science and Technology Group (DST Group) has developed the Acousto Ultrasonic Structural health monitoring Array Module (AUSAM+), a compact device for AU excitation and interrogation. The module, which has the footprint of a typical current generation smart phone, provides autonomous control of four send and receive piezoelectric elements, which can operate in pitch-catch or pulse-echo modes and can undertake electro-mechanical impedance measurements for transducer and structural diagnostics. Modules are designed to operate synchronously with other units, via an optical link, to accommodate larger transducer arrays. The module also caters for fibre optic sensing of acoustic waves with four intensity-based optical inputs. Temperature and electrical resistance strain gauge inputs as well as external triggering functionality are also provided. The development of a Matlab hardware object allows users to easily access the full hardware functionality of the device and provides enormous flexibility for the creation of custom interfaces. This paper discusses the impetus for the concept, and outlines key aspects of the hardware design and the module capabilities. The efficacy of the system is demonstrated through the results of first-of-class testing, as well as laboratory AU studies on a flat plate using an array of piezoelectric elements.

Robust and Opportunistic Autonomous Science for a Potential Titan Aerobot

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara; Schaffer, Steve; Castano, Rebecca; Elfes, Alberto

2010-01-01

We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a potential Titan aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncertain and changing environmental conditions, maneuverability constraints and potentially short-lived science opportunities. We are developing the AerOASIS system to develop and test technology to support autonomous science operations for a potential Titan Aerobot. The planning and execution component of AerOASIS is able to generate mission operations plans that achieve science and engineering objectives while respecting mission and resource constraints as well as adapting the plan to respond to new science opportunities. Our technology leverages prior work on the OASIS system for autonomous rover exploration. In this paper we describe how the OASIS planning component was adapted to address the unique challenges of a Titan Aerobot and we describe a field demonstration of the system with the JPL prototype aerobot.

ICAROUS: Integrated Configurable Architecture for Unmanned Systems

NASA Technical Reports Server (NTRS)

Consiglio, Maria C.

2016-01-01

NASA's Unmanned Aerial System (UAS) Traffic Management (UTM) project aims at enabling near-term, safe operations of small UAS vehicles in uncontrolled airspace, i.e., Class G airspace. A far-term goal of UTM research and development is to accommodate the expected rise in small UAS traffic density throughout the National Airspace System (NAS) at low altitudes for beyond visual line-of-sight operations. This video describes a new capability referred to as ICAROUS (Integrated Configurable Algorithms for Reliable Operations of Unmanned Systems), which is being developed under the auspices of the UTM project. ICAROUS is a software architecture comprised of highly assured algorithms for building safety-centric, autonomous, unmanned aircraft applications. Central to the development of the ICAROUS algorithms is the use of well-established formal methods to guarantee higher levels of safety assurance by monitoring and bounding the behavior of autonomous systems. The core autonomy-enabling capabilities in ICAROUS include constraint conformance monitoring and autonomous detect and avoid functions. ICAROUS also provides a highly configurable user interface that enables the modular integration of mission-specific software components.

Autonomous power expert system

NASA Technical Reports Server (NTRS)

Walters, Jerry L.; Petrik, Edward J.; Roth, Mary Ellen; Truong, Long Van; Quinn, Todd; Krawczonek, Walter M.

1990-01-01

The Autonomous Power Expert (APEX) system was designed to monitor and diagnose fault conditions that occur within the Space Station Freedom Electrical Power System (SSF/EPS) Testbed. APEX is designed to interface with SSF/EPS testbed power management controllers to provide enhanced autonomous operation and control capability. The APEX architecture consists of three components: (1) a rule-based expert system, (2) a testbed data acquisition interface, and (3) a power scheduler interface. Fault detection, fault isolation, justification of probable causes, recommended actions, and incipient fault analysis are the main functions of the expert system component. The data acquisition component requests and receives pertinent parametric values from the EPS testbed and asserts the values into a knowledge base. Power load profile information is obtained from a remote scheduler through the power scheduler interface component. The current APEX design and development work is discussed. Operation and use of APEX by way of the user interface screens is also covered.

Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

2012-06-01

The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

IDEA: Planning at the Core of Autonomous Reactive Agents

NASA Technical Reports Server (NTRS)

Muscettola, Nicola; Dorais, Gregory A.; Fry, Chuck; Levinson, Richard; Plaunt, Christian; Clancy, Daniel (Technical Monitor)

2002-01-01

Several successful autonomous systems are separated into technologically diverse functional layers operating at different levels of abstraction. This diversity makes them difficult to implement and validate. In this paper, we present IDEA (Intelligent Distributed Execution Architecture), a unified planning and execution framework. In IDEA a layered system can be implemented as separate agents, one per layer, each representing its interactions with the world in a model. At all levels, the model representation primitives and their semantics is the same. Moreover, each agent relies on a single model, plan database, plan runner and on a variety of planners, both reactive and deliberative. The framework allows the specification of agents that operate, within a guaranteed reaction time and supports flexible specification of reactive vs. deliberative agent behavior. Within the IDEA framework we are working to fully duplicate the functionalities of the DS1 Remote Agent and extend it to domains of higher complexity than autonomous spacecraft control.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

The Design of an Autonomous Underwater Vehicle for Water Quality Monitoring

NASA Astrophysics Data System (ADS)

Li, Yulong; Liu, Rong; Liu, Shujin

2018-01-01

This paper describes the development of a civilian-used autonomous underwater vehicle (AUV) for water quality monitoring at reservoirs and watercourses that can obtain realtime visual and locational information. The mechanical design was completed with CAD software Solidworks. Four thrusters—two horizontal and two vertical—on board enable the vehicle to surge, heave, yaw, and pitch. A specialized water sample collection compartment is designed to perform water collection at target locations. The vehicle has a central controller—STM32—and a sub-coordinate controller—Arduino MEGA 2560—that coordinates multiple sensors including an inertial sensor, ultrasonic sensors, etc. Global Navigation Satellite System (GNSS) and the inertial sensor enable the vehicle’s localization. Remote operators monitor and control the vehicle via a host computer system. Operators choose either semi-autonomous mode in which they set target locations or manual mode. The experimental results show that the vehicle is able to perform well in either mode.

Safely Enabling Low-Altitude Airspace Operations

NASA Technical Reports Server (NTRS)

Kopardekar, Parimal

2015-01-01

Near-term Goal: Enable initial low-altitude airspace and UAS operations with demonstrated safety as early as possible, within 5 years. Long-term Goal: Accommodate increased UAS operations with highest safety, efficiency, and capacity as much autonomously as possible (10-15 years).

METHOD AND APPARATUS FOR MAKING URANIUM-HYDRIDE COMPACTS

DOEpatents

Wellborn, W.; Armstrong, J.R.

1959-03-10

A method and apparatus are presented for making compacts of pyrophoric hydrides in a continuous operation out of contact with air. It is particularly useful for the preparation of a canned compact of uranium hydride possessing high density and purity. The metallic uranium is enclosed in a container, positioned in a die body evacuated and nvert the uranium to the hydride is admitted and the container sealed. Heat is applied to bring about the formation of the hydride, following which compression is used to form the compact sealed in a container ready for use.

Verilog-A Device Models for Cryogenic Temperature Operation of Bulk Silicon CMOS Devices

NASA Technical Reports Server (NTRS)

Akturk, Akin; Potbhare, Siddharth; Goldsman, Neil; Holloway, Michael

2012-01-01

Verilog-A based cryogenic bulk CMOS (complementary metal oxide semiconductor) compact models are built for state-of-the-art silicon CMOS processes. These models accurately predict device operation at cryogenic temperatures down to 4 K. The models are compatible with commercial circuit simulators. The models extend the standard BSIM4 [Berkeley Short-channel IGFET (insulated-gate field-effect transistor ) Model] type compact models by re-parameterizing existing equations, as well as adding new equations that capture the physics of device operation at cryogenic temperatures. These models will allow circuit designers to create optimized, reliable, and robust circuits operating at cryogenic temperatures.

Customized overhead cranes for installation of India's largest 3.6m optical telescope at Devasthal, Nainital, India

NASA Astrophysics Data System (ADS)

Bangia, Tarun; Yadava, Shobhit; Kumar, Brijesh; Ghanti, A. S.; Hardikar, P. M.

2016-07-01

India's largest 3.6 m aperture optical telescope facility has been recently established at Devasthal site by Aryabhatta Research Institute of Observation Sciences (ARIES), an autonomous Institute under Department of Science and Technology, Government of India. The telescope is equipped with active optics and it is designed to be used for seeinglimited observations at visible and near-infrared wavelengths. A steel building with rotating cylindrical steel Dome was erected to house 3.6m telescope and its accessories at hilltop of Devasthal site. Customized cranes were essentially required inside the building as there were space constraints around the telescope building for operating big external heavy duty cranes from outside, transportation constraints in route for bringing heavy weight cranes, altitude of observatory, and sharp bends etc. to site. To meet the challenge of telescope installation from inside the telescope building by lifting components through its hatch, two Single Girder cranes and two Under Slung cranes of 10 MT capacity each were specifically designed and developed. All the four overhead cranes were custom built to achieve the goal of handling telescope mirror and its various components during installation and assembly. Overhead cranes were installed in limited available space inside the building and tested as per IS 3177. Cranes were equipped with many features like VVVFD compatibility, provision for tandem operation, digital load display, anti-collision mechanism, electrical interlocks, radio remote, low hook height and compact carriage etc. for telescope integration at site.

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.

Inferential Framework for Autonomous Cryogenic Loading Operations

NASA Technical Reports Server (NTRS)

Luchinsky, Dmitry G.; Khasin, Michael; Timucin, Dogan; Sass, Jared; Perotti, Jose; Brown, Barbara

2017-01-01

We address problem of autonomous cryogenic management of loading operations on the ground and in space. As a step towards solution of this problem we develop a probabilistic framework for inferring correlations parameters of two-fluid cryogenic flow. The simulation of two-phase cryogenic flow is performed using nearly-implicit scheme. A concise set of cryogenic correlations is introduced. The proposed approach is applied to an analysis of the cryogenic flow in experimental Propellant Loading System built at NASA KSC. An efficient simultaneous optimization of a large number of model parameters is demonstrated and a good agreement with the experimental data is obtained.

A design strategy for autonomous systems

NASA Technical Reports Server (NTRS)

Forster, Pete

1989-01-01

Some solutions to crucial issues regarding the competent performance of an autonomously operating robot are identified; namely, that of handling multiple and variable data sources containing overlapping information and maintaining coherent operation while responding adequately to changes in the environment. Support for the ideas developed for the construction of such behavior are extracted from speculations in the study of cognitive psychology, an understanding of the behavior of controlled mechanisms, and the development of behavior-based robots in a few robot research laboratories. The validity of these ideas is supported by some simple simulation experiments in the field of mobile robot navigation and guidance.

Autonomous Sample Acquisition for Planetary and Small Body Explorations

NASA Technical Reports Server (NTRS)

Ghavimi, Ali R.; Serricchio, Frederick; Dolgin, Ben; Hadaegh, Fred Y.

2000-01-01

Robotic drilling and autonomous sample acquisition are considered as the key technology requirements in future planetary or small body exploration missions. Core sampling or subsurface drilling operation is envisioned to be off rovers or landers. These supporting platforms are inherently flexible, light, and can withstand only limited amount of reaction forces and torques. This, together with unknown properties of sampled materials, makes the sampling operation a tedious task and quite challenging. This paper highlights the recent advancements in the sample acquisition control system design and development for the in situ scientific exploration of planetary and small interplanetary missions.

Demonstration of Autonomous Rendezvous Technology (DART) Project Summary

NASA Technical Reports Server (NTRS)

Rumford, TImothy E.

2003-01-01

Since the 1960's, NASA has performed numerous rendezvous and docking missions. The common element of all US rendezvous and docking is that the spacecraft has always been piloted by astronauts. Only the Russian Space Program has developed and demonstrated an autonomous capability. The Demonstration of Autonomous Rendezvous Technology (DART) project currently funded under NASA's Space Launch Initiative (SLI) Cycle I, provides a key step in establishing an autonomous rendezvous capability for the United States. DART's objective is to demonstrate, in space, the hardware and software necessary for autonomous rendezvous. Orbital Sciences Corporation intends to integrate an Advanced Video Guidance Sensor and Autonomous Rendezvous and Proximity Operations algorithms into a Pegasus upper stage in order to demonstrate the capability to autonomously rendezvous with a target currently in orbit. The DART mission will occur in April 2004. The launch site will be Vandenburg AFB and the launch vehicle will be a Pegasus XL equipped with a Hydrazine Auxiliary Propulsion System 4th stage. All mission objectives will be completed within a 24 hour period. The paper provides a summary of mission objectives, mission overview and a discussion on the design features of the chase and target vehicles.

Shear Strength of Remoulding Clay Samples Using Different Methods of Moulding

NASA Astrophysics Data System (ADS)

Norhaliza, W.; Ismail, B.; Azhar, A. T. S.; Nurul, N. J.

2016-07-01

Shear strength for clay soil was required to determine the soil stability. Clay was known as a soil with complex natural formations and very difficult to obtain undisturbed samples at the site. The aim of this paper was to determine the unconfined shear strength of remoulded clay on different methods in moulding samples which were proctor compaction, hand operated soil compacter and miniature mould methods. All the samples were remoulded with the same optimum moisture content (OMC) and density that were 18% and 1880 kg/m3 respectively. The unconfined shear strength results of remoulding clay soils for proctor compaction method was 289.56kPa with the strain 4.8%, hand operated method was 261.66kPa with the strain 4.4% and miniature mould method was 247.52kPa with the strain 3.9%. Based on the proctor compaction method, the reduction percentage of unconfined shear strength of remoulded clay soil of hand operated method was 9.66%, and for miniature mould method was 14.52%. Thus, because there was no significant difference of reduction percentage of unconfined shear strength between three different methods, so it can be concluded that remoulding clay by hand operated method and miniature mould method were accepted and suggested to perform remoulding clay samples by other future researcher. However for comparison, the hand operated method was more suitable to form remoulded clay sample in term of easiness, saving time and less energy for unconfined shear strength determination purposes.

Soil compaction associated with cut-to-length and whole-tree harvesting of a coniferous forest

Treesearch

Sang-Kyun Han; Han Han-Sup; Deborah Page-Dumroese; Leonard R. Johnson

2009-01-01

The degree and extent of soil compaction, which may reduce productivity of forest soils, is believed to vary by the type of harvesting system, and a field-based study was conducted to compare soil compaction from cut-to-length (CTL) and whole-tree (WT) harvesting operations. The CTL harvesting system used less area to transport logs to the landings than did the WT...

Radioactive Waste Streams: Waste Classification for Disposal

DTIC Science & Technology

2006-12-13

INL; and Fort St. Vrain, Colorado .10 In contrast to commercial reactors, naval reactors can operate without refueling for up to 20 years. 11 As of 2003...originally of the states of Arizona, Colorado , Nevada, New Mexico, Utah, and Wyoming.61 Arizona, Utah, and Wyoming later withdrew from the Compact, leaving... Colorado , Nevada, and New Mexico as remaining Compact members.62 The Rocky Mountain Compact defines low-level waste as specifically excluding

Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots.

PubMed

Li, Yunquan; Chen, Yonghua; Ren, Tao; Li, Yingtian; Choi, Shiu Hong

2018-06-20

The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots.

Advanced Video Guidance Sensor and next-generation autonomous docking sensors

NASA Astrophysics Data System (ADS)

Granade, Stephen R.

2004-09-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

Advanced Video Guidance Sensor and Next Generation Autonomous Docking Sensors

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

2015 Assessment of the Ballistic Missile Defense System (BMDS)

DTIC Science & Technology

2016-04-01

performance and test adequacy of the BMDS, its four autonomous BMDS systems, and its sensor/command and control architecture. The four autonomous BMDS...Patriot. The Command and Control , Battle Management, and Communications (C2BMC) element anchors the sensor/command and control architecture. This...Warfare operations against a cruise missile surrogate. Ground-based Midcourse Defense (GMD). GMD has demonstrated capability against small

Computing architecture for autonomous microgrids

DOEpatents

Goldsmith, Steven Y.

2015-09-29

A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the .

Autonomous Legged Hill and Stairwell Ascent

DTIC Science & Technology

2011-11-01

environments with little burden to a human operator. Keywords: autonomous robot , hill climbing , stair climbing , sequential composition, hexapod, self...X-RHex robot on a set of stairs with laser scanner, IMU, wireless repeater, and handle payloads. making them useful for both climbing hills and...reconciliation into that more powerful (but restrictive) framework. 1) The Stair Climbing Behavior: RHex robots have been climbing single-flight stairs

Imitative Robotic Control: The Puppet Master

DTIC Science & Technology

2014-07-09

puppet style control device and the lessons learned while implementing such a device. 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17...mission to be completed in a quick, accurate and efficient manner. This paper outlines the potential features of a puppet style control device and the...lessons learned while implementing such a device. INTRODUCTION As ground robotics moves towards autonomous and semi- autonomous operations, the

Development of autonomous vehicles’ testing system

NASA Astrophysics Data System (ADS)

Ivanov, A. M.; Shadrin, S. S.

2018-02-01

This article describes overview of automated and, in perspective, autonomous vehicles’ (AV) implementation risks. Set of activities, actual before the use of AVs on public roads, minimizing negative technical and social problems of AVs’ implementation is presented. Classification of vehicle’s automated control systems operating conditions is formulated. Groups of tests for AVs are developed and justified, sequence of AVs’ testing system formation is proposed.

Leader-follower function for autonomous military convoys

NASA Astrophysics Data System (ADS)

Vasseur, Laurent; Lecointe, Olivier; Dento, Jerome; Cherfaoui, Nourrdine; Marion, Vincent; Morillon, Joel G.

2004-09-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales Airborne Systems as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational added value." The paper details the "robotic convoy" theme (named TEL1), which main purpose is to develop a robotic leader-follower function so that several unmanned vehicles can autonomously follow teleoperated, autonomous or on-board driven leader. Two modes have been implemented: Perceptive follower: each autonomous follower anticipates the trajectory of the vehicle in front of it, thanks to a dedicated perception equipment. This mode is mainly based on the use of perceptive data, without any communication link between leader and follower (to lower the cost of future mass development and extend the operational capabilities). Delayed follower: the leader records its path and transmits it to the follower; the follower is able to follow the recorded trajectory again at any delayed time. This mode uses localization data got from inertial measurements. The paper presents both modes with detailed algorithms and the results got from the military acceptance tests performed on wheeled 4x4 vehicles (DARDS French ATD).

The Use of Software Agents for Autonomous Control of a DC Space Power System

NASA Technical Reports Server (NTRS)

May, Ryan D.; Loparo, Kenneth A.

2014-01-01

In order to enable manned deep-space missions, the spacecraft must be controlled autonomously using on-board algorithms. A control architecture is proposed to enable this autonomous operation for an spacecraft electric power system and then implemented using a highly distributed network of software agents. These agents collaborate and compete with each other in order to implement each of the control functions. A subset of this control architecture is tested against a steadystate power system simulation and found to be able to solve a constrained optimization problem with competing objectives using only local information.

Gas House Autonomous System Monitoring

NASA Technical Reports Server (NTRS)

Miller, Luke; Edsall, Ashley

2015-01-01

Gas House Autonomous System Monitoring (GHASM) will employ Integrated System Health Monitoring (ISHM) of cryogenic fluids in the High Pressure Gas Facility at Stennis Space Center. The preliminary focus of development incorporates the passive monitoring and eventual commanding of the Nitrogen System. ISHM offers generic system awareness, adept at using concepts rather than specific error cases. As an enabler for autonomy, ISHM provides capabilities inclusive of anomaly detection, diagnosis, and abnormality prediction. Advancing ISHM and Autonomous Operation functional capabilities enhances quality of data, optimizes safety, improves cost effectiveness, and has direct benefits to a wide spectrum of aerospace applications.

Planning and Execution for an Autonomous Aerobot

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara A.; Schaffer, Steven R.; Chouinard, Caroline M.

2010-01-01

The Aerial Onboard Autonomous Science Investigation System (AerOASIS) system provides autonomous planning and execution capabilities for aerial vehicles (see figure). The system is capable of generating high-quality operations plans that integrate observation requests from ground planning teams, as well as opportunistic science events detected onboard the vehicle while respecting mission and resource constraints. AerOASIS allows an airborne planetary exploration vehicle to summarize and prioritize the most scientifically relevant data; identify and select high-value science sites for additional investigation; and dynamically plan, schedule, and monitor the various science activities being performed, even during extended communications blackout periods with Earth.

Autonomous Satellite Operations Via Secure Virtual Mission Operations Center

NASA Technical Reports Server (NTRS)

Miller, Eric; Paulsen, Phillip E.; Pasciuto, Michael

2011-01-01

The science community is interested in improving their ability to respond to rapidly evolving, transient phenomena via autonomous rapid reconfiguration, which derives from the ability to assemble separate but collaborating sensors and data forecasting systems to meet a broad range of research and application needs. Current satellite systems typically require human intervention to respond to triggers from dissimilar sensor systems. Additionally, satellite ground services often need to be coordinated days or weeks in advance. Finally, the boundaries between the various sensor systems that make up such a Sensor Web are defined by such things as link delay and connectivity, data and error rate asymmetry, data reliability, quality of service provisions, and trust, complicating autonomous operations. Over the past ten years, researchers from the NASA Glenn Research Center (GRC), General Dynamics, Surrey Satellite Technology Limited (SSTL), Cisco, Universal Space Networks (USN), the U.S. Geological Survey (USGS), the Naval Research Laboratory, the DoD Operationally Responsive Space (ORS) Office, and others have worked collaboratively to develop a virtual mission operations capability. Called VMOC (Virtual Mission Operations Center), this new capability allows cross-system queuing of dissimilar mission unique systems through the use of a common security scheme and published application programming interfaces (APIs). Collaborative VMOC demonstrations over the last several years have supported the standardization of spacecraft to ground interfaces needed to reduce costs, maximize space effects to the user, and allow the generation of new tactics, techniques and procedures that lead to responsive space employment.

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.

Agent-based human-robot interaction of a combat bulldozer

NASA Astrophysics Data System (ADS)

Granot, Reuven; Feldman, Maxim

2004-09-01

A small-scale supervised autonomous bulldozer in a remote site was developed to experience agent based human intervention. The model is based on Lego Mindstorms kit and represents combat equipment, whose job performance does not require high accuracy. The model enables evaluation of system response for different operator interventions, as well as for a small colony of semiautonomous dozers. The supervising human may better react than a fully autonomous system to unexpected contingent events, which are a major barrier to implement full autonomy. The automation is introduced as improved Man Machine Interface (MMI) by developing control agents as intelligent tools to negotiate between human requests and task level controllers as well as negotiate with other elements of the software environment. Current UGVs demand significant communication resources and constant human operation. Therefore they will be replaced by semi-autonomous human supervisory controlled systems (telerobotic). For human intervention at the low layers of the control hierarchy we suggest a task oriented control agent to take care of the fluent transition between the state in which the robot operates and the one imposed by the human. This transition should take care about the imperfections, which are responsible for the improper operation of the robot, by disconnecting or adapting them to the new situation. Preliminary conclusions from the small-scale experiments are presented.

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA Technical Reports Server (NTRS)

Allen, B. Danette; Cross, Charles D.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc; Trujillo, Anna C.; Crisp, Vicki K.

2015-01-01

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

Guidance and control for unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Bateman, Peter J.

1994-06-01

Techniques for the guidance, control, and navigation of unmanned ground vehicles are described in terms of the communication bandwidth requirements for driving and control of a vehicle remote from the human operator. Modes of operation are conveniently classified as conventional teleoperation, supervisory control, and fully autonomous control. The fundamental problem of maintaining a robust non-line-of-sight communications link between the human controller and the remote vehicle is discussed, as this provides the impetus for greater autonomy in the control system and the greatest scope for innovation. While supervisory control still requires the man to be providing the primary navigational intelligence, fully autonomous operation requires that mission navigation is provided solely by on-board machine intelligence. Methods directed at achieving this performance are described using various active and passive sensing of the terrain for route navigation and obstacle detection. Emphasis is given to TV imagery and signal processing techniques for image understanding. Reference is made to the limitations of current microprocessor technology and suitable computer architectures. Some of the more recent control techniques involve the use of neural networks, fuzzy logic, and data fusion and these are discussed in the context of road following and cross country navigation. Examples of autonomous vehicle testbeds operated at various laboratories around the world are given.

Monitoring and Correcting Autonomic Function Aboard Mir: NASA Technology Used in Space and on Earth to Facilitate Adaptation

NASA Technical Reports Server (NTRS)

Cowings, P.; Toscano, W.; Taylor, B.; DeRoshia, C.; Kornilova, L.; Koslovskaya, I.; Miller, N.

1999-01-01

The broad objective of the research was to study individual characteristics of human adaptation to long duration spaceflight and possibilities of their correction using autonomic conditioning. The changes in autonomic state during adaptation to microgravity can have profound effects on the operational efficiency of crewmembers and may result in debilitating biomedical symptoms. Ground-based and inflight experiment results showed that certain responses of autonomic nervous system were correlated with, or consistently preceded, reports of performance decrements or the symptoms. Autogenic-Feedback-Training Exercise (AFTE) is a physiological conditioning method that has been used to train people to voluntary control several of their own physiological responses. The specific objectives were: 1) To study human autonomic nervous system (ANS) responses to sustained exposure to microgravity; 2) To study human behavior/performance changes related to physiology; 3) To evaluate the effectiveness of preflight autonomic conditioning (AFTE) for facilitating adaptation to space and readaptation to Earth; and 4) To archive these data for the NASA Life Sciences Data Archive and thereby make this information available to the international scientific community.

Core plasma design of the compact helical reactor with a consideration of the equipartition effect

NASA Astrophysics Data System (ADS)

Goto, T.; Miyazawa, J.; Yanagi, N.; Tamura, H.; Tanaka, T.; Sakamoto, R.; Suzuki, C.; Seki, R.; Satake, S.; Nunami, M.; Yokoyama, M.; Sagara, A.; the FFHR Design Group

2018-07-01

Integrated physics analysis of plasma operation scenario of the compact helical reactor FFHR-c1 has been conducted. The DPE method, which predicts radial profiles in a reactor by direct extrapolation from the reference experimental data, has been extended to implement the equipartition effect. Close investigation of the plasma operation regime has been conducted and a candidate plasma operation point of FFHR-c1 has been identified within the parameter regime that has already been confirmed in LHD experiment in view of MHD equilibrium, MHD stability and neoclassical transport.

Compact exponential product formulas and operator functional derivative

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

Suzuki, M.

1997-02-01

A new scheme for deriving compact expressions of the logarithm of the exponential product is proposed and it is applied to several exponential product formulas. A generalization of the Dynkin{endash}Specht{endash}Wever (DSW) theorem on free Lie elements is given, and it is used to study the relation between the traditional method (based on the DSW theorem) and the present new scheme. The concept of the operator functional derivative is also proposed, and it is applied to ordered exponentials, such as time-evolution operators for time-dependent Hamiltonians. {copyright} {ital 1997 American Institute of Physics.}

Software for autonomous astronomical observatories: challenges and opportunities in the age of big data

NASA Astrophysics Data System (ADS)

Sybilski, Piotr W.; Pawłaszek, Rafał; Kozłowski, Stanisław K.; Konacki, Maciej; Ratajczak, Milena; Hełminiak, Krzysztof G.

2014-07-01

We present the software solution developed for a network of autonomous telescopes, deployed and tested in Solaris Project. The software aims to fulfil the contemporary needs of distributed autonomous observatories housing medium sized telescopes: ergonomics, availability, security and reusability. The datafication of such facilities seems inevitable and we give a preliminary study of the challenges and opportunities waiting for software developers. Project Solaris is a global network of four 0.5 m autonomous telescopes conducting a survey of eclipsing binaries in the Southern Hemisphere. The Project's goal is to detect and characterise circumbinary planets using the eclipse timing method. The observatories are located on three continents, and the headquarters coordinating and monitoring the network is in Poland. All four are operational as of December 2013.

A compact electron cyclotron resonance proton source for the Paul Scherrer Institute's proton accelerator facility

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

Baumgarten, C.; Barchetti, A.; Einenkel, H.

2011-05-15

A compact electron cyclotron resonance proton source has been developed and installed recently at thePaul Scherrer Institute's high intensity proton accelerator. Operation at the ion source test stand and the accelerator demonstrates a high reliability and stability of the new source. When operated at a 10 - 12 mA net proton current the lifetime of the source exceeds 2000 h. The essential development steps towards the observed performance are described.

From Present Surveying to Future Prospecting of the Asteroid Belt

NASA Technical Reports Server (NTRS)

Clark, P. E.; Curtis, S. A.; Rilee, M.; Cheung, C.

2004-01-01

We have applied a future mission architecture, the Autonomous Nano-Technology Swarm (ANTS), to a proposed mission for in situ survey, or prospecting, of the asteroid belt, the Prospecting Asteroid Mission (PAM) as part of a NASA 2003 Revolutionary Aerospace Concept (RASC) study. ANTS architecture builds on and advances recent trends in robotics, artificial intelligence, and materials processing to minimize costs and maximize effectiveness of space operations. PAM and other applications have been proposed for the survey of inaccessible, high surface area populations of great interest from the standpoint of resources and/or solar system origin. The ANTS architecture is inspired by the success of social insect colonies, a success based on the division of labor within the colonies in two key ways: 1) within their specialties, individual specialists generally outperform generalists, and 2) with sufficiently efficient social interaction and coordination, the group of specialists generally outperforms the group of generalists. Thus systems designed as ANTS are built from potentially very large numbers of highly autonomous, yet socially interactive, elements. The architecture is self-similar in that elements and sub-elements of the system may also be recursively structured as ANTS on scales ranging from microscopic to interplanetary distances. Here, we analyze requirements for the mission application at the low gravity target end of the spectrum, the Prospecting Asteroid Mission (PAM), and for specialized autonomous operations which would support this mission. ANTS as applied to PAM involves the activities of hundreds of individual specialist 'sciencecraft'. Most of them, called Workers, carry and operate eight to nine different scientific instruments, as listed in the table, including spectrometers, ranging and radio science devices, and imagers. The remaining specialists, Messenger/Rulers, provide communication and coordination functions among specialists operating autonomously as individuals, team members, and subswarms.

Development of Increasingly Autonomous Traffic Data Manager Using Pilot Relevancy and Ranking Data

NASA Technical Reports Server (NTRS)

Le Vie, Lisa R.; Houston, Vincent E.

2017-01-01

NASA's Safe Autonomous Systems Operations (SASO) project goal is to define and safely enable all future airspace operations by justifiable and optimal autonomy for advanced air, ground, and connected capabilities. This work showcases how Increasingly Autonomous Systems (IAS) could create operational transformations beneficial to the enhancement of civil aviation safety and efficiency. One such IAS under development is the Traffic Data Manager (TDM). This concept is a prototype 'intelligent party-line' system that would declutter and parse out non-relevant air traffic, displaying only relevant air traffic to the aircrew in a digital data communications (Data Comm) environment. As an initial step, over 22,000 data points were gathered from 31 Airline Transport Pilots to train the machine learning algorithms designed to mimic human experts and expertise. The test collection used an analog of the Navigation Display. Pilots were asked to rate the relevancy of the displayed traffic using an interactive tablet application. Pilots were also asked to rank the order of importance of the information given, to better weight the variables within the algorithm. They were also asked if the information given was enough data, and more importantly the "right" data to best inform the algorithm. The paper will describe the findings and their impact to the further development of the algorithm for TDM and, in general, address the issue of how can we train supervised machine learning algorithms, critical to increasingly autonomous systems, with the knowledge and expertise of expert human pilots.

AMO EXPRESS: A Command and Control Experiment for Crew Autonomy

NASA Technical Reports Server (NTRS)

Stetson, Howard K.; Frank, Jeremy; Cornelius, Randy; Haddock, Angie; Wang, Lui; Garner, Larry

2015-01-01

NASA is investigating a range of future human spaceflight missions, including both Mars-distance and Near Earth Object (NEO) targets. Of significant importance for these missions is the balance between crew autonomy and vehicle automation. As distance from Earth results in increasing communication delays, future crews need both the capability and authority to independently make decisions. However, small crews cannot take on all functions performed by ground today, and so vehicles must be more automated to reduce the crew workload for such missions. NASA's Advanced Exploration Systems Program funded Autonomous Mission Operations (AMO) project conducted an autonomous command and control demonstration of intelligent procedures to automatically initialize a rack onboard the International Space Station (ISS) with power and thermal interfaces, and involving core and payload command and telemetry processing, without support from ground controllers. This autonomous operations capability is enabling in scenarios such as a crew medical emergency, and representative of other spacecraft autonomy challenges. The experiment was conducted using the Expedite the Processing of Experiments for Space Station (EXPRESS) rack 7, which was located in the Port 2 location within the U.S Laboratory onboard the International Space Station (ISS). Activation and deactivation of this facility is time consuming and operationally intensive, requiring coordination of three flight control positions, 47 nominal steps, 57 commands, 276 telemetry checks, and coordination of multiple ISS systems (both core and payload). The autonomous operations concept includes a reduction of the amount of data a crew operator is required to verify during activation or de-activation, as well as integration of procedure execution status and relevant data in a single integrated display. During execution, the auto-procedures provide a step-by-step messaging paradigm and a high level status upon termination. This messaging and high level status is the only data generated for operator display. To enhance situational awareness of the operator, the Web-based Procedure Display (WebPD) provides a novel approach to the issues of procedure display and execution tracking. For this demonstration, the procedure was initiated and monitored from the ground. As the Timeliner sequences executed, their high level execution status was transmitted to ground, for WebPD consumption.

Laser driving and data processing concept for mobile trace gas sensing: Design and implementation

NASA Astrophysics Data System (ADS)

Liu, Chang; Tuzson, Béla; Scheidegger, Philipp; Looser, Herbert; Bereiter, Bernhard; Graf, Manuel; Hundt, Morten; Aseev, Oleg; Maas, Deran; Emmenegger, Lukas

2018-06-01

High precision mobile sensing of multi-species gases is greatly demanded in a wide range of applications. Although quantum cascade laser absorption spectroscopy demonstrates excellent field-deployment capabilities for gas sensing, the implementation of this measurement technique into sensor-like portable instrumentation still remains challenging. In this paper, two crucial elements, the laser driving and data acquisition electronics, are addressed. Therefore, we exploit the benefits of the time-division multiplexed intermittent continuous wave driving concept and the real-time signal pre-processing capabilities of a commercial System-on-Chip (SoC, Red Pitaya). We describe a re-designed current driver that offers a universal solution for operating a wide range of multi-wavelength quantum cascade laser device types and allows stacking for the purpose of multiple laser configurations. Its adaptation to the various driving situations is enabled by numerous field programmable gate array (FPGA) functionalities that were developed on the SoC, such as flexible generation of a large variety of synchronized trigger signals and digital inputs/outputs (DIOs). The same SoC is used to sample the spectroscopic signal at rates up to 125 MS/s with 14-bit resolution. Additional FPGA functionalities were implemented to enable on-board averaging of consecutive spectral scans in real-time, resulting in optimized memory bandwidth and hardware resource utilisation and autonomous system operation. Thus, we demonstrate how a cost-effective, compact, and commercial SoC can successfully be adapted to obtain a fully operational research-grade laser spectrometer. The overall system performance was examined in a spectroscopic setup by analyzing low pressure absorption features of CO2 at 4.3 μm.

Intelligent vision system for autonomous vehicle operations

NASA Technical Reports Server (NTRS)

Scholl, Marija S.

1991-01-01

A complex optical system consisting of a 4f optical correlator with programmatic filters under the control of a digital on-board computer that operates at video rates for filter generation, storage, and management is described.

Readiness Review of BWXT for Fabrication of AGR 5/6/7 Compacts

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

Marshall, Douglas William; Sharp, Michelle Tracy

In support of preparations for fabricating compacts for the Advanced Gas Reactor (AGR) fuel qualification irradiation experiments (AGR-5/6/7), Idaho National Laboratory (INL) conducted a readiness review of the BWX Technology (BWXT) procedures, processes, and equipment associated with compact fabrication activities at the BWXT Nuclear Operations Group (BWXT-NOG) facility outside Lynchburg, VirginiaVA. The readiness review used quality assurance requirements taken from the American Society of Mechanical Engineers (ASME) Nuclear Quality Assurance Standard (NQA-1-2008/1a-2009) as a basis to assess readiness to start compact fabrication.

Investigation Into Radiation-Induced Compaction of Zerodur (trademark)

NASA Technical Reports Server (NTRS)

Edwards, D. L.; Herren, K.; Hayden, M.; McDonald, K.; Sims, J. A.; Semmel, C. L.

1996-01-01

Zerodur is a low coefficient of thermal expansion glass-ceramic material. This property makes Zerodur an excellent material for high precision optical substrates. Functioning as a high precision optical substrate, a material must be dimensionally stable in the system operating environment. Published data indicate that Zerodur is dimensionally unstable when exposed to large doses of ionizing radiation. The dimensional instability is discussed as an increase in Zerodur density. This increase in density is described as a compaction. Experimental data showing proton-induced compaction of Zerodur is presented. The dependence of compaction on proton dose was determined to be a power law relationship.

Investigation Into Radiation-Induced Compaction of Zerodur (trademark)

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

Edwards, D.L.; Herren, K.; Hayden, M.

1996-03-01

Zerodur is a low coefficient of thermal expansion glass-ceramic material. This property makes Zerodur an excellent material for high precision optical substrates. Functioning as a high precision optical substrate, a material must be dimensionally stable in the system operating environment. Published data indicate that Zerodur is dimensionally unstable when exposed to large doses of ionizing radiation. The dimensional instability is discussed as an increase in Zerodur density. This increase in density is described as a compaction. Experimental data showing proton-induced compaction of Zerodur is presented. The dependence of compaction on proton dose was determined to be a power law relationship.

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.

Simplification rules for birdtrack operators

NASA Astrophysics Data System (ADS)

Alcock-Zeilinger, J.; Weigert, H.

2017-05-01

This paper derives a set of easy-to-use tools designed to simplify calculations with birdtrack operators comprised of symmetrizers and antisymmetrizers. In particular, we present cancellation rules allowing one to shorten the birdtrack expressions of operators and propagation rules identifying the circumstances under which it is possible to propagate symmetrizers past antisymmetrizers and vice versa. We exhibit the power of these simplification rules by means of a short example in which we apply the tools derived in this paper on a typical operator that can be encountered in the representation theory of 𝖲𝖴 (N ) over the product space V⊗m. These rules form the basis for the construction of compact Hermitian Young projection operators and their transition operators addressed in companion papers [J. Alcock-Zeilinger and H. Weigert, "Compact Hermitian Young projection operators," e-print arXiv:1610.10088 [math-ph] and J. Alcock-Zeilinger and H. Weigert, "Transition operators," e-print arXiv:1610.08802 [math-ph

Criticality assessment of LLRWDF closure

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

Sarrack, A.G.; Weber, J.H.; Woody, N.D.

1992-10-06

During the operation of the Low Level Radioactive Waste Disposal Facility (LLRWDF), large amounts (greater than 100 kg) of enriched uranium (EU) were buried. This EU came primarily from the closing and decontamination of the Naval Fuels Facility in the time period from 1987--1989. Waste Management Operations (WMO) procedures were used to keep the EU boxes separated to prevent possible criticality during normal operation. Closure of the LLRWDF is currently being planned, and waste stabilization by Dynamic Compaction (DC) is proposed. Dynamic compaction will crush the containers in the LLRWDF and result in changes in their geometry. Research of themore » LLRWDF operations and record keeping practices have shown that the EU contents of trenches are known, but details of the arrangement of the contents cannot be proven. Reviews of the trench contents, combined with analysis of potential critical configurations, revealed that some portions of the LLRWDF can be expected to be free of criticality concerns while other sections have credible probabilities for the assembly of a critical mass, even in the uncompacted configuration. This will have an impact on the closure options and which trenches can be compacted.« less

Safely Enabling Low-Altitude Airspace Operations: Unmanned Aerial System Traffic Management (UTM)

NASA Technical Reports Server (NTRS)

Kopardekar, Parimal

2015-01-01

Near-term Goal Enable initial low-altitude airspace and UAS operations with demonstrated safety as early as possible, within 5 years Long-term Goal Accommodate increased UAS operations with highest safety, efficiency, and capacity as much autonomously as possible (10-15 years).

Crew Autonomous Scheduling Test (CAST)

NASA Image and Video Library

2017-07-18

iss052e016190 (July 18, 2017) --- Astronaut Peggy Whitson is photographed sitting in front of the Cupola windows during the final Crew Autonomous Scheduling Test (CAST) session. The CAST investigation analyzes whether crews can develop plans in a reasonable period of time with appropriate input, whether proximity of planners to the planned operations increases efficiency, and if crew members are more satisfied when given a role in plan development.

Autonomous Underwater Vehicle Architecture Synthesis for Shipwreck Interior Exploration

DTIC Science & Technology

2015-12-01

silt-out, strong and unpredictable currents, abrasion puncture and shock damage, temperature and pressure variations, toxic substances, corrosion...smooth to resist snagging on debris, and sufficiently lightweight to be portable by two men. 2. The vehicle shall be capable of autonomous...1989, the Komsomolets (K-278), a Russian nuclear attack submarine operating in the Norwegian Sea, went down after unsuccessfully fighting a fire in

Consortium for Robotics & Unmanned Systems Education & Research (CRUSER)

DTIC Science & Technology

2012-09-30

as facilities at Camp Roberts, Calif. and frequent experimentation events, the Many vs. Many ( MvM ) Autonomous Systems Testbed provides the...and expediently translate theory to practice. The MvM Testbed is designed to integrate technological advances in hardware (inexpensive, expendable...designed to leverage the MvM Autonomous Systems Testbed to explore practical and operationally relevant avenues to counter these “swarm” opponents, and

Increasing Mission Science Return Through Use of Spacecraft Autonomy and Sensor Webs: A Volcanology Example

NASA Astrophysics Data System (ADS)

Davies, A. G.; Chien, S. A.; Castano, R.; Tran, D. Q.; Scharenbroich, L. J.

2006-12-01

Mission science return is increased through use of onboard autonomy, and using disparate assets integrated into an autonomously-operating sensor web that can re-task these assets to rapidly obtain additional data. Software on spacecraft has been used to analyse data to detect dynamic events of high interest, such as on- going volcanic activity. This capability has been successfully demonstrated by the NASA New Millennium Program Autonomous Sciencecraft Experiment (ASE), on the Earth Observing 1 spacecraft in Earth-orbit [1-2]. The potential now exists for eruption parameters to be quantified onboard a spacecraft, using models that relate thermal emission to volumetric eruption rate. This promises a notification not only of on-going activity, but also the magnitude of the event, within a few hours of the original observation, a process that normally takes weeks. ASE/EO-1 is part of the JPL Volcano Sensor Web [3]. This autonomous system collates information of volcanic activity from numerous assets and retasks EO-1 to obtain observations as soon as practicable. The use of a ground-based planner allows rapid insertion or replacement of new observations, with no human intervention. Endusers are notified automatically by email. Spacecraft autonomy, involving automatic fault detection and mitigation, onboard processing of data, and replanning of observations, allows mission operations to break free from pre-ordained operations sequencing, necessary for studying dynamic volcanic processes on other bodies in the Solar System (e.g., Io and Enceladus). Onboard processing allows quantification of dynamic processes, improving both science content per returned byte and optimization of subsequent resource use. This work was carried out at the Jet Propulsion Laboratory-California Institute of Technology, under contract to NASA. [1] Chien, S. et al. (2004) The EO-1 Autonomous Science Agent, Proceedings of the 2004 Conferences on Autonomous Agents and Multi-agent Systems (AAMAS), New York City, USA, July 2004. [2] Davies, A. G. et al. (2006) Monitoring active volcanism with the Autonomous Sciencecraft Experiment (ASE) on EO-1, RSE, 101, 427-446. [3] Davies, A. G. et al., (2006) Sensor Web enables rapid response to volcanic activity, Eos, 87, 1, 1&5.

Compact normalisations in the elliptic restricted three body problem

NASA Astrophysics Data System (ADS)

Palacián, Jesús F.; Vanegas, Jasson; Yanguas, Patricia

2017-11-01

This paper considers the spatial elliptic restricted three body problem in the case that the particle with negligible mass is revolving around one of the primaries. The system is modelled in an inertial frame through a Hamiltonian function representing a non-autonomous dynamical system with three degrees of freedom that depends periodically on time. Three Lie transformations are applied at first order to eliminate successively the mean anomaly of the infinitesimal particle's motion, the time dependence of the system and the argument of the node of the particle with negligible mass. All the transformations are implemented in a compact way, that is, carrying out the computations by means of infinite series. This approach can be very useful to deal with certain artificial satellite problems or, in general, with systems such that the ratio between the distance of the infinitesimal particle to the body around it orbits and the distance between the two primaries is smaller than one but close to it. In this case the Legendre expansion of the potential converges slowly and many terms of the series must be taken into consideration.

SeaRover: An Emerging Technology for Sea Surface Sensor Networks

NASA Astrophysics Data System (ADS)

Fong, T.; Kudela, R.; Curcio, J.; Davidson, K.; Darling, D.; Kirkwood, B.

2005-12-01

Introduction - SeaRover is envisioned as an autonomous surface vehicle (ASV) for coastal operations. It is intended to lower the cost of existing marine survey applications while enabling new science missions. The current conceptual design is a small vehicle with hull and propulsion system optimized to eliminate cavitation and EM noise. SeaRover will make significant advances over existing platforms by providing longer duration science missions, better positioning and mission control, larger power budgets for instrumentation and significantly lower operational costs than existing vehicles. Science Enabled by SeaRover - SeaRover's unique design and autonomous capability provides several advantages compared to traditional autonomous underwater vehicles (AUV's) and crewed surface vessels: (1) Near surface sampling: SeaRover can sample within the top 1-2 meters. This is difficult to do with crewed vessels because of draft and perturbations from the hull. (2) Adaptive monitoring of dynamic events: SeaRover will be capable of intelligent decision making, as well as real-time remote control. This will enable highly-responsive autonomous tracking of moving phenomena (e.g., algal bloom). (3) Long term monitoring: SeaRover can be deployed for extended periods of time, allowing it to be used for longitudinal baseline studies. SeaRover will represent an advance over existing platforms in terms of: (1) Mobility: operational range from 10-1000 km, GPS accuracy, trajectory control with meter precision, and launch in hours. (2) Duration: from days up to months. (3) Payload and Power: accommodate approximately 100 kg for a 6m hull. Its surface design will allow access to wind and sun energy. (4) Communication: radio, wireless, satellite, direct data return. (5) Operational Cost: target costs are $2K/day (24 hour operation), with no onboard operator. (6) Recovery/Reusability: autonomous return to safe harbor provides sample return and on-base maintenance. Large science and power payload simplifies instrument design and integration. Enabling Technology for SeaRover - SeaRover's capabilities are made possible by advances in technologies developed during NASA planetary exploration missions: (1) Adaptive control (2) Automated data analysis (3) Communications management (4) Computer vision (5) Interactive 3D User Interfaces (6) Intelligent energy management (7) Long-duration operations planning (8) Multi-vehicle coordinated action As an example of what SeaRover could be used for, we envision augmenting existing monthly monitoring cruises in Monterey Bay with a SeaRover. Each month, the Center for Integrated Marine Technology (UC-Santa Cruz) conducts shipboard surveys of Monterey Bay. This requires 2-3 full days of ship time (weather dependent), 14 scientists, and 2 crew members. Operations are currently limited by sea-state, transit speed, and cost. SeaRover could provide all of the underway measurements and some of the hydrographic station measurements faster, more frequently, and for a fraction of the cost.

Bulk Superconductors in Mobile Application

NASA Astrophysics Data System (ADS)

Werfel, F. N.; Delor, U. Floegel-; Rothfeld, R.; Riedel, T.; Wippich, D.; Goebel, B.; Schirrmeister, P.

We investigate and review concepts of multi - seeded REBCO bulk superconductors in mobile application. ATZ's compact HTS bulk magnets can trap routinely 1 T@77 K. Except of magnetization, flux creep and hysteresis, industrial - like properties as compactness, power density, and robustness are of major device interest if mobility and light-weight construction is in focus. For mobile application in levitated trains or demonstrator magnets we examine the performance of on-board cryogenics either by LN2 or cryo-cooler application. The mechanical, electric and thermodynamical requirements of compact vacuum cryostats for Maglev train operation were studied systematically. More than 30 units are manufactured and tested. The attractive load to weight ratio is more than 10 and favours group module device constructions up to 5 t load on permanent magnet (PM) track. A transportable and compact YBCO bulk magnet cooled with in-situ 4 Watt Stirling cryo-cooler for 50 - 80 K operation is investigated. Low cooling power and effective HTS cold mass drives the system construction to a minimum - thermal loss and light-weight design.

Simultaneous Deep-Ocean Operations With Autonomous and Remotely Operated Vehicles

NASA Astrophysics Data System (ADS)

Yoerger, D. R.; Bowen, A. D.; Bradley, A. M.

2005-12-01

The complimentary capabilities of autonomous and remotely vehicles can be obtained more efficiently if two or more vehicles can be deployed simultaneously from a single vessel. Simultaneous operations make better use of ship time and personnel. However, such operations require specific technical capabilities and careful scheduling. We recently demonstrated several key capabilities on the VISIONS05 cruise to the Juan de Fuca Ridge, where the Autonomous Benthic Explorer (ABE) and the ROV Jason 2 were operated simultaneously. The cruise featured complex ROV operations ranging from servicing seismic instruments, water sampling, drilling, and installation of in-situ experiments. The AUV provided detailed near-bottom bathymetry of the Endeavour segment while concurrently providing a cable route survey for a primary Canadian Neptune node. To meet these goals, we had to operate both vehicles at the same time. In previous efforts, we have operated ABE in a coordinated fashion with either the submersible Alvin or Jason 2. But the vehicles were either deployed sequentially or they were operated in separate acoustic transponder nets with the restriction that the vessel recover the AUV within a reasonable period after it reached the surface to avoid loss of the AUV. During the VISIONS05 cruise, we operated both vehicles at the same time and demonstrated several key capabilities to make simultaneous operations more efficient. These include the ability of the AUV to anchor to the seafloor after its batteries were expended or if a fault occurred, allowing complex ROV operations to run to completion without the constraint of retrieving the AUV at a specific time. The anchoring system allowed the vehicle to rest near the seafloor on a short mooring in a low power state. The AUV returned to the surface either through an acoustic command from the vessel or when a preassigned time was reached. We also tested an experimental acoustic beacon system that can allow multiple vehicles to determine their position without interfering with each other.

Effects of Escitalopram on Autonomic Function in Posttraumatic Stress Disorder Among Veterans of Operations Enduring Freedom and Iraqi Freedom (OEF/OIF).

PubMed

Ramaswamy, Sriram; Selvaraj, Vithyalakshmi; Driscoll, David; Madabushi, Jayakrishna S; Bhatia, Subhash C; Yeragani, Vikram

2015-01-01

Posttraumatic stress disorder is a chronic, debilitating condition that has become a growing concern among combat veterans. Previous research suggests that posttraumatic stress disorder disrupts normal autonomic responding and may increase the risk of cardiovascular disease and mortality. Measures of heart rate variability and QT interval variability have been used extensively to characterize sympathetic and parasympathetic influences on heart rate in a variety of psychiatric populations. The objective of this study was to better understand the effects of pharmacological treatment on autonomic reactivity in posttraumatic stress disorder. A 12-week, Phase IV, prospective, open-label trial of escitalopram in veterans with combat-related posttraumatic stress disorder and comorbid depression. An outpatient mental health clinic at a Veterans Affairs Medical Center. Eleven male veterans of Operations Enduring Freedom and Iraqi Freedom diagnosed with posttraumatic stress disorder and comorbid depression. Autonomic reactivity was measured by examining heart rate variability and QT interval variability. Treatment safety and efficacy were also evaluated pre- and post-treatment. We observed a reduction in posttraumatic stress disorder and depression symptoms from pre- to post-treatment, and escitalopram was generally well tolerated in our sample. In addition, we observed a decrease in high frequency heart rate variability and an increase in QT variability, indicating a reduction in cardiac vagal function and heightened sympathetic activation. These findings suggest that escitalopram treatment in patients with posttraumatic stress disorder and depression can trigger changes in autonomic reactivity that may adversely impact cardiovascular health.

ANTS: Applying A New Paradigm for Lunar and Planetary Exploration

NASA Technical Reports Server (NTRS)

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

2002-01-01

ANTS (Autonomous Nano- Technology Swarm), a mission architecture consisting of a large (1000 member) swarm of picoclass (1 kg) totally autonomous spacecraft with both adaptable and evolvable heuristic systems, is being developed as a NASA advanced mission concept, and is here examined as a paradigm for lunar surface exploration. As the capacity and complexity of hardware and software, demands for bandwidth, and the sophistication of goals for lunar and planetary exploration have increased, greater cost constraints have led to fewer resources and thus, the need to operate spacecraft with less frequent human contact. At present, autonomous operation of spacecraft systems allows great capability of spacecraft to 'safe' themselves and survive when conditions threaten spacecraft safety. To further develop spacecraft capability, NASA is at the forefront of development of new mission architectures which involve the use of Intelligent Software Agents (ISAs), performing experiments in space and on the ground to advance deliberative and collaborative autonomous control techniques. Selected missions in current planning stages require small groups of spacecraft weighing tens, instead of hundreds, of kilograms to cooperate at a tactical level to select and schedule measurements to be made by appropriate instruments onboard. Such missions will be characterizing rapidly unfolding real-time events on a routine basis. The next level of development, which we are considering here, is in the use of autonomous systems at the strategic level, to explore the remote terranes, potentially involving large surveys or detailed reconnaissance.

Autonomous celestial navigation based on Earth ultraviolet radiance and fast gradient statistic feature extraction

NASA Astrophysics Data System (ADS)

Lu, Shan; Zhang, Hanmo

2016-01-01

To meet the requirement of autonomous orbit determination, this paper proposes a fast curve fitting method based on earth ultraviolet features to obtain accurate earth vector direction, in order to achieve the high precision autonomous navigation. Firstly, combining the stable characters of earth ultraviolet radiance and the use of transmission model software of atmospheric radiation, the paper simulates earth ultraviolet radiation model on different time and chooses the proper observation band. Then the fast improved edge extracting method combined Sobel operator and local binary pattern (LBP) is utilized, which can both eliminate noises efficiently and extract earth ultraviolet limb features accurately. And earth's centroid locations on simulated images are estimated via the least square fitting method using part of the limb edges. Taken advantage of the estimated earth vector direction and earth distance, Extended Kalman Filter (EKF) is applied to realize the autonomous navigation finally. Experiment results indicate the proposed method can achieve a sub-pixel earth centroid location estimation and extremely enhance autonomous celestial navigation precision.

A Feasible Approach for Implementing Greater Levels of Satellite Autonomy

NASA Astrophysics Data System (ADS)

Lindsay, Steve; Zetocha, Paul

2002-01-01

In this paper, we propose a means for achieving increasingly autonomous satellite operations. We begin with a brief discussion of the current state-of-the-art in satellite ground operations and flight software, as well as the real and perceived technical and political obstacles to increasing the levels of autonomy on today's satellites. We then present a list of system requirements that address these hindrances and include the artificial intelligence (AI) technologies with the potential to satisfy these requirements. We conclude with a discussion of how the space industry can use this information to incorporate increased autonomy. From past experience we know that autonomy will not just "happen," and we know that the expensive course of manually intensive operations simply cannot continue. Our goal is to present the aerospace industry with an analysis that will begin moving us in the direction of autonomous operations.

A CDMA synchronisation scheme

NASA Technical Reports Server (NTRS)

Soprano, C.

1993-01-01

CDMA (Code Division Multiple Access) is known to decrease inter-service interference in Satellite Communication Systems. Its performance is increased by chip quasi-synchronous operation which virtually eliminates the self-noise; however, the theory shows that the time error on the synchronization has to be kept at less than one tenth of a chip which, for 1 Mchip/sec. spreading rate, corresponds to 10(exp -7) sec. This, on the return-link, may only be achieved by means of a closed loop control system which, for mobile communication systems, has to be capable of autonomous operation. Until now some results have been reported on the feasibility of chip quasi-synchronous operation for mobile communication systems only including satellites on GEO (Geostationary Earth Orbit). In what follows, the basic principles are exposed, and results are presented showing how low chip synchronism error may be achieved by means of an autonomous control loop operating through satellites on any Earth orbit.

Autonomous berthing/unberthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF)

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

Discussed here is the autonomous berthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF) developed by NASA for berthing and docking applications in space. The WAM/WAF system enables fast and reliable berthing (unberthing) of space hardware. A successful operation of the WAM/WAF requires that the WAM motor velocity be precisely controlled. The operating principle and the design of the WAM/WAF is described as well as the development of a control system used to regulate the WAM motor velocity. The results of an experiment in which the WAM/WAF is used to handle an orbital replacement unit are given.

Manifold traversing as a model for learning control of autonomous robots

NASA Technical Reports Server (NTRS)

Szakaly, Zoltan F.; Schenker, Paul S.

1992-01-01

This paper describes a recipe for the construction of control systems that support complex machines such as multi-limbed/multi-fingered robots. The robot has to execute a task under varying environmental conditions and it has to react reasonably when previously unknown conditions are encountered. Its behavior should be learned and/or trained as opposed to being programmed. The paper describes one possible method for organizing the data that the robot has learned by various means. This framework can accept useful operator input even if it does not fully specify what to do, and can combine knowledge from autonomous, operator assisted and programmed experiences.

PointCom: semi-autonomous UGV control with intuitive interface

NASA Astrophysics Data System (ADS)

Rohde, Mitchell M.; Perlin, Victor E.; Iagnemma, Karl D.; Lupa, Robert M.; Rohde, Steven M.; Overholt, James; Fiorani, Graham

2008-04-01

Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).

The Carl Sagan solar and stellar observatories as remote observatories

NASA Astrophysics Data System (ADS)

Saucedo-Morales, J.; Loera-Gonzalez, P.

In this work we summarize recent efforts made by the University of Sonora, with the goal of expanding the capability for remote operation of the Carl Sagan Solar and Stellar Observatories, as well as the first steps that have been taken in order to achieve autonomous robotic operation in the near future. The solar observatory was established in 2007 on the university campus by our late colleague A. Sánchez-Ibarra. It consists of four solar telescopes mounted on a single equatorial mount. On the other hand, the stellar observatory, which saw the first light on 16 February 2010, is located 21 km away from Hermosillo, Sonora at the site of the School of Agriculture of the University of Sonora. Both observatories can now be remotely controlled, and to some extent are able to operate autonomously. In this paper we discuss how this has been accomplished in terms of the use of software as well as the instruments under control. We also briefly discuss the main scientific and educational objectives, the future plans to improve the control software and to construct an autonomous observatory on a mountain site, as well as the opportunities for collaborations.

Ground vehicle control at NIST: From teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Murphy, Karl N.; Juberts, Maris; Legowik, Steven A.; Nashman, Marilyn; Schneiderman, Henry; Scott, Harry A.; Szabo, Sandor

1994-01-01

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

New vision system and navigation algorithm for an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

2013-12-01

Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers

NASA Technical Reports Server (NTRS)

Tunstel, Edward

1999-01-01

Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described.

Autonomous system for launch vehicle range safety

NASA Astrophysics Data System (ADS)

Ferrell, Bob; Haley, Sam

2001-02-01

The Autonomous Flight Safety System (AFSS) is a launch vehicle subsystem whose ultimate goal is an autonomous capability to assure range safety (people and valuable resources), flight personnel safety, flight assets safety (recovery of valuable vehicles and cargo), and global coverage with a dramatic simplification of range infrastructure. The AFSS is capable of determining current vehicle position and predicting the impact point with respect to flight restriction zones. Additionally, it is able to discern whether or not the launch vehicle is an immediate threat to public safety, and initiate the appropriate range safety response. These features provide for a dramatic cost reduction in range operations and improved reliability of mission success. .

Self-adjoint elliptic operators with boundary conditions on not closed hypersurfaces

NASA Astrophysics Data System (ADS)

Mantile, Andrea; Posilicano, Andrea; Sini, Mourad

2016-07-01

The theory of self-adjoint extensions of symmetric operators is used to construct self-adjoint realizations of a second-order elliptic differential operator on Rn with linear boundary conditions on (a relatively open part of) a compact hypersurface. Our approach allows to obtain Kreĭn-like resolvent formulae where the reference operator coincides with the ;free; operator with domain H2 (Rn); this provides an useful tool for the scattering problem from a hypersurface. Concrete examples of this construction are developed in connection with the standard boundary conditions, Dirichlet, Neumann, Robin, δ and δ‧-type, assigned either on a (n - 1) dimensional compact boundary Γ = ∂ Ω or on a relatively open part Σ ⊂ Γ. Schatten-von Neumann estimates for the difference of the powers of resolvents of the free and the perturbed operators are also proven; these give existence and completeness of the wave operators of the associated scattering systems.

10 CFR 62.11 - Filing and distribution of a determination request.

Code of Federal Regulations, 2010 CFR

2010-01-01

... radioactive waste disposal facilities, to the Compact Commissions with operating regional low-level radioactive waste disposal facilities, and to the Governors of the States in the Compact Commissions with... ACCESS TO NON-FEDERAL AND REGIONAL LOW-LEVEL WASTE DISPOSAL FACILITIES Request for a Commission...

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

NASA Technical Reports Server (NTRS)

Wehner, Walter S.

2014-01-01

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

Autonomous Aerobraking: Thermal Analysis and Response Surface Development

NASA Technical Reports Server (NTRS)

Dec, John A.; Thornblom, Mark N.

2011-01-01

A high-fidelity thermal model of the Mars Reconnaissance Orbiter was developed for use in an autonomous aerobraking simulation study. Response surface equations were derived from the high-fidelity thermal model and integrated into the autonomous aerobraking simulation software. The high-fidelity thermal model was developed using the Thermal Desktop software and used in all phases of the analysis. The use of Thermal Desktop exclusively, represented a change from previously developed aerobraking thermal analysis methodologies. Comparisons were made between the Thermal Desktop solutions and those developed for the previous aerobraking thermal analyses performed on the Mars Reconnaissance Orbiter during aerobraking operations. A variable sensitivity screening study was performed to reduce the number of variables carried in the response surface equations. Thermal analysis and response surface equation development were performed for autonomous aerobraking missions at Mars and Venus.

Automatically calibrating admittances in KATE's autonomous launch operations model

NASA Technical Reports Server (NTRS)

Morgan, Steve

1992-01-01

This report documents a 1000-line Symbolics LISP program that automatically calibrates all 15 fluid admittances in KATE's Autonomous Launch Operations (ALO) model. (KATE is Kennedy Space Center's Knowledge-based Autonomous Test Engineer, a diagnosis and repair expert system created for use on the Space Shuttle's various fluid flow systems.) As a new KATE application, the calibrator described here breaks new ground for KSC's Artificial Intelligence Lab by allowing KATE to both control and measure the hardware she supervises. By automating a formerly manual process, the calibrator: (1) saves the ALO model builder untold amounts of labor; (2) enables quick repairs after workmen accidently adjust ALO's hand valves; and (3) frees the modeler to pursue new KATE applications that previously were too complicated. Also reported are suggestions for enhancing the program: (1) to calibrate ALO's TV cameras, pumps, and sensor tolerances; and (2) to calibrate devices in other KATE models, such as the shuttle's LOX and Environment Control System (ECS).

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.

Applications of graphics to support a testbed for autonomous space vehicle operations

NASA Technical Reports Server (NTRS)

Schmeckpeper, K. R.; Aldridge, J. P.; Benson, S.; Horner, S.; Kullman, A.; Mulder, T.; Parrott, W.; Roman, D.; Watts, G.; Bochsler, Daniel C.

1989-01-01

Researchers describe their experience using graphics tools and utilities while building an application, AUTOPS, that uses a graphical Machintosh (TM)-like interface for the input and display of data, and animation graphics to enhance the presentation of results of autonomous space vehicle operations simulations. AUTOPS is a test bed for evaluating decisions for intelligent control systems for autonomous vehicles. Decisions made by an intelligent control system, e.g., a revised mission plan, might be displayed to the user in textual format or he can witness the effects of those decisions via out of window graphics animations. Although a textual description conveys essentials, a graphics animation conveys the replanning results in a more convincing way. Similarily, iconic and menu-driven screen interfaces provide the user with more meaningful options and displays. Presented here are experiences with the SunView and TAE Plus graphics tools used for interface design, and the Johnson Space Center Interactive Graphics Laboratory animation graphics tools used for generating out out of the window graphics.

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.

Achieving integrated convoys: cargo unmanned ground vehicle development and experimentation

NASA Astrophysics Data System (ADS)

Zych, Noah; Silver, David; Stager, David; Green, Colin; Pilarski, Thomas; Fischer, Jacob

2013-05-01

The Cargo UGV project was initiated in 2010 with the aim of developing and experimenting with advanced autonomous vehicles capable of being integrated unobtrusively into manned logistics convoys. The intent was to validate two hypotheses in complex, operationally representative environments: first, that unmanned tactical wheeled vehicles provide a force protection advantage by creating standoff distance to warfighters during ambushes or improvised explosive device attacks; and second, that these UGVs serve as force multipliers by enabling a single operator to control multiple unmanned assets. To assess whether current state-of-the-art autonomous vehicle technology was sufficiently capable to permit resupply missions to be executed with decreased risk and reduced manpower, and to assess the effect of UGVs on customary convoy tactics, the Marine Corps Warfighting Laboratory and the Joint Ground Robotics Enterprise sponsored Oshkosh Defense and the National Robotics Engineering Center to equip two standard Marine Corps cargo trucks for autonomous operation. This paper details the system architecture, hardware implementation, and software modules developed to meet the vehicle control, perception, and planner requirements compelled by this application. Additionally, the design of a custom human machine interface and an accompanying training program are described, as is the creation of a realistic convoy simulation environment for rapid system development. Finally, results are conveyed from a warfighter experiment in which the effectiveness of the training program for novice operators was assessed, and the impact of the UGVs on convoy operations was observed in a variety of scenarios via direct comparison to a fully manned convoy.

Seeing Which Way the Wind Blows: New Doppler Radar Takes Flight on This Summer's HS3 Mission

NASA Image and Video Library

2017-12-08

Most aircraft carrying Doppler radar look like they’ve grown a tail, developed a dorsal fin, or sprouted a giant pancake on their backs. But when the unmanned Global Hawk carries a radar system this summer, its cargo will be hard to see. The autonomous and compact High-altitude Imaging Wind and Rain Profiler, or HIWRAP, a dual-frequency conical-scanning Doppler radar, will hang under the aircraft’s belly as it flies above hurricanes to measure wind and rain and to test a new method for retrieving wind data. HIWRAP is one of the instruments that will fly in this summer's mission to explore Atlantic Ocean hurricanes. NASA's Hurricane and Severe Storm Sentinel, or HS3, airborne mission will investigate tropical cyclones using a number of instruments and two Global Hawks. The HS3 mission will operate between Aug. 20 and Sept. 23. Read more: 1.usa.gov/18TYPt7 NASA image use policy. NASA Goddard Space Flight Center enables NASA’s mission through four scientific endeavors: Earth Science, Heliophysics, Solar System Exploration, and Astrophysics. Goddard plays a leading role in NASA’s accomplishments by contributing compelling scientific knowledge to advance the Agency’s mission. Follow us on Twitter Like us on Facebook Find us on Instagram

ELIPS: Toward a Sensor Fusion Processor on a Chip

NASA Technical Reports Server (NTRS)

Daud, Taher; Stoica, Adrian; Tyson, Thomas; Li, Wei-te; Fabunmi, James

1998-01-01

The paper presents the concept and initial tests from the hardware implementation of a low-power, high-speed reconfigurable sensor fusion processor. The Extended Logic Intelligent Processing System (ELIPS) processor is developed to seamlessly combine rule-based systems, fuzzy logic, and neural networks to achieve parallel fusion of sensor in compact low power VLSI. The first demonstration of the ELIPS concept targets interceptor functionality; other applications, mainly in robotics and autonomous systems are considered for the future. The main assumption behind ELIPS is that fuzzy, rule-based and neural forms of computation can serve as the main primitives of an "intelligent" processor. Thus, in the same way classic processors are designed to optimize the hardware implementation of a set of fundamental operations, ELIPS is developed as an efficient implementation of computational intelligence primitives, and relies on a set of fuzzy set, fuzzy inference and neural modules, built in programmable analog hardware. The hardware programmability allows the processor to reconfigure into different machines, taking the most efficient hardware implementation during each phase of information processing. Following software demonstrations on several interceptor data, three important ELIPS building blocks (a fuzzy set preprocessor, a rule-based fuzzy system and a neural network) have been fabricated in analog VLSI hardware and demonstrated microsecond-processing times.

NASA Tech Briefs, February 2009

NASA Technical Reports Server (NTRS)

2009-01-01

Tech Briefs are short announcements of innovations originating from research and development activities of the National Aeronautics and Space Administration. They emphasize information considered likely to be transferable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. Topics covered include: Measuring Low Concentrations of Liquid Water in Soil; The Mars Science Laboratory Touchdown Test Facility; Non-Contact Measurement of Density and Thickness Variation in Dielectric Materials; Compact Microwave Fourier Spectrum Analyzer; InP Heterojunction Bipolar Transistor Amplifiers to 255 GHz; Combinatorial Generation of Test Suites; In-Phase Power-Combined Frequency Tripler at 300 GHz; Electronic System for Preventing Airport Runway Incursions; Smaller but Fully Functional Backshell for Cable Connector; Glove-Box or Desktop Virtual-Reality System; Composite Layer Manufacturing with Fewer Interruptions; Improved Photoresist Coating for Making CNT Field Emitters; A Simplified Diagnostic Method for Elastomer Bond Durability; Complex Multifunctional Polymer/Carbon-Nanotube Composites; Very High Output Thermoelectric Devices Based on ITO Nanocomposites; Reducing Unsteady Loads on a Piggyback Miniature Submarine; Ultrasonic/Sonic Anchor; Grooved Fuel Rings for Nuclear Thermal Rocket Engines; Pulsed Operation of an Ion Accelerator; Autonomous Instrument Placement for Mars Exploration Rovers; Mission and Assets Database; TCP/IP Interface for the Satellite Orbit Analysis Program (SOAP); Trajectory Calculator for Finite-Radius Cutter on a Lathe; Integrated System Health Management Development Toolkit.

Photonic Low Cost Micro-Sensor for in-Line Wear Particle Detection in Flowing Lube Oils.

PubMed

Mabe, Jon; Zubia, Joseba; Gorritxategi, Eneko

2017-03-14

The presence of microscopic particles in suspension in industrial fluids is often an early warning of latent or imminent failures in the equipment or processes where they are being used. This manuscript describes work undertaken to integrate different photonic principles with a micro- mechanical fluidic structure and an embedded processor to develop a fully autonomous wear debris sensor for in-line monitoring of industrial fluids. Lens-less microscopy, stroboscopic illumination, a CMOS imager and embedded machine vision technologies have been merged to develop a sensor solution that is able to detect and quantify the number and size of micrometric particles suspended in a continuous flow of a fluid. A laboratory test-bench has been arranged for setting up the configuration of the optical components targeting a static oil sample and then a sensor prototype has been developed for migrating the measurement principles to real conditions in terms of operating pressure and flow rate of the oil. Imaging performance is quantified using micro calibrated samples, as well as by measuring real used lubricated oils. Sampling a large fluid volume with a decent 2D spatial resolution, this photonic micro sensor offers a powerful tool at very low cost and compacted size for in-line wear debris monitoring.

Photonic Low Cost Micro-Sensor for in-Line Wear Particle Detection in Flowing Lube Oils

PubMed Central

Mabe, Jon; Zubia, Joseba; Gorritxategi, Eneko

2017-01-01

The presence of microscopic particles in suspension in industrial fluids is often an early warning of latent or imminent failures in the equipment or processes where they are being used. This manuscript describes work undertaken to integrate different photonic principles with a micro- mechanical fluidic structure and an embedded processor to develop a fully autonomous wear debris sensor for in-line monitoring of industrial fluids. Lens-less microscopy, stroboscopic illumination, a CMOS imager and embedded machine vision technologies have been merged to develop a sensor solution that is able to detect and quantify the number and size of micrometric particles suspended in a continuous flow of a fluid. A laboratory test-bench has been arranged for setting up the configuration of the optical components targeting a static oil sample and then a sensor prototype has been developed for migrating the measurement principles to real conditions in terms of operating pressure and flow rate of the oil. Imaging performance is quantified using micro calibrated samples, as well as by measuring real used lubricated oils. Sampling a large fluid volume with a decent 2D spatial resolution, this photonic micro sensor offers a powerful tool at very low cost and compacted size for in-line wear debris monitoring. PMID:28335436

Holographic Adaptive Laser Optics System

NASA Astrophysics Data System (ADS)

Andersen, G.; Ghebremichael, F.

2011-09-01

We have created a new adaptive optics system using a holographic modal wavefront sensing method with the autonomous (computer-free) closed-loop control of a MEMS deformable mirror (DM). A multiplexed hologram is recorded using the maximum and minimum actuator positions on the deformable mirror as the “modes”. On reconstruction, an input beam is diffracted into pairs of focal spots and the ratio of the intensities of certain pairs determines the absolute wavefront phase at a particular actuator location. The wavefront measurement is made using fast, sensitive silicon photomultiplier arrays with the parallel outputs directly controlling individual actuators in the MEMS DM. In this talk, we will present the results from an all-optical, ultra-compact system that runs in closed-loop without the need for a computer. The speed is limited only by the response time of any given DM actuator and not the number of actuators. In our case, our 32-actuator prototype device already operates at 10 kHz and our next generation system is being designed for > 100 kHz. As a modal system, it is largely insensitive to scintillation and obscuration and is thus ideal for extreme adaptive optics applications. We will present information on how HALOS can be used for image correction and beam propagation as well as several other novel applications.

HYDRAULIC SERVO CONTROL MECHANISM

DOEpatents

Hussey, R.B.; Gottsche, M.J. Jr.

1963-09-17

A hydraulic servo control mechanism of compact construction and low fluid requirements is described. The mechanism consists of a main hydraulic piston, comprising the drive output, which is connected mechanically for feedback purposes to a servo control piston. A control sleeve having control slots for the system encloses the servo piston, which acts to cover or uncover the slots as a means of controlling the operation of the system. This operation permits only a small amount of fluid to regulate the operation of the mechanism, which, as a result, is compact and relatively light. This mechanism is particuiarly adaptable to the drive and control of control rods in nuclear reactors. (auth)

Millimeter wave coherent synchrotron radiation in a compact electron storage ring

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

Murphy, J.B.; Blum, E.; Heese, R.

1998-01-01

Installation of a 2,856 MHz RF system into the XLS compact electron storage ring would allow the generation of millimeter wave coherent synchrotron radiation. Operating at 150 MeV, one could produce bunches containing on the order of 2 {times} 10{sup 7} electrons with a bunch length {sigma}{sub L0} = 0.3 mm, resulting in coherent emission at wavelengths above 0.8 mm. The characteristics of the source and the emitted radiation are discussed. In the case of 100 mrad horizontal collection angle, the average power radiated in the wavelength band 1 mm {le} {lambda} {le} 2 mm is 0.3 mW for singlemore » bunch operation and 24 mW for 80 bunch operation. The peak power in a single pulse of a few picosecond duration is on the order of one watt. By reducing the momentum compaction, the bunch length could be reduced to {sigma}{sub L0} = 0.15 mm, resulting in coherent synchrotron radiation down to 500 {micro}m.« less

A Compact, Broadband Antenna for Planetary Surface-to-Surface Wireless Communications

NASA Technical Reports Server (NTRS)

Barr, Philip; Zaman, Afroz; Miranda, Felix

2006-01-01

The Compact Microstrip Monopole Antenna (CMMA) is a novel antenna design that combines a microstrip patch antenna with a three-dimensional structure to attain a highly directive, broadband, compact antenna. A Tri-Lobed Patch (TLP) was designed to minimize the patch's area while reducing the antenna's operating frequency. A Grounding Wall (GW) connects the patch to the ground plane and a Vertical Enclosure Wall (VEW) extends up away from portions of the patch's perimeter. This VEW supplies the antenna with a higher directivity in the radial direction as well as reduces the operating frequency. The CMMA was designed to operate at 2.23 GHz, but experimental results have shown this antenna resonates at 2.05 GHz which is on the order of approximately Lambda(sub o)/11.6 with respect to the antenna's largest dimension, with a directivity and bandwidth of 6.0 dBi, and 130 MHz (6.3 percent), respectively. This miniature, radially emitting antenna makes the CMMA attractive for planetary-based surface-to-surface communications.

Integrating Multiple Autonomous Underwater Vessels, Surface Vessels and Aircraft into Oceanographic Research Vessel Operations

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Martins, R.; Rajan, K.

2012-12-01

Autonomous platforms are increasingly used as components of Integrated Ocean Observing Systems and oceanographic research cruises. Systems deployed can include gliders or propeller-driven autonomous underwater vessels (AUVs), autonomous surface vessels (ASVs), and unmanned aircraft systems (UAS). Prior field campaigns have demonstrated successful communication, sensor data fusion and visualization for studies using gliders and AUVs. However, additional requirements exist for incorporating ASVs and UASs into ship operations. For these systems to be optimally integrated into research vessel data management and operational planning systems involves addressing three key issues: real-time field data availability, platform coordination, and data archiving for later analysis. A fleet of AUVs, ASVs and UAS deployed from a research vessel is best operated as a system integrated with the ship, provided communications among them can be sustained. For this purpose, Disruptive Tolerant Networking (DTN) software protocols for operation in communication-challenged environments help ensure reliable high-bandwidth communications. Additionally, system components need to have considerable onboard autonomy, namely adaptive sampling capabilities using their own onboard sensor data stream analysis. We discuss Oceanographic Decision Support System (ODSS) software currently used for situational awareness and planning onshore, and in the near future event detection and response will be coordinated among multiple vehicles. Results from recent field studies from oceanographic research vessels using AUVs, ASVs and UAS, including the Rapid Environmental Picture (REP-12) cruise, are presented describing methods and results for use of multi-vehicle communication and deliberative control networks, adaptive sampling with single and multiple platforms, issues relating to data management and archiving, and finally challenges that remain in addressing these technological issues. Significantly, the use of UAS on oceanographic research vessels is just beginning. We report on several initial field efforts which demonstrated that UAS improve spatial and temporal mapping of ocean features, as well as monitoring marine mammal populations, ocean color, sea ice and wave fields and air-sea gas exchange. These studies however also confirm the challenges for shipboard computer systems ingesting and archiving UAS high resolution video, SAR and lidar data. We describe the successful inclusion of DTN communications for: 1) passing video data between two UAS or a UAS and ship; 2) for inclusion of ASVs as communication nodes for AUVs; as well as, 3) enabling extension of adaptive sampling software from AUVs and ASVs to include UAS. In conclusion, we describe how autonomous sampling systems may be best integrated into shipboard oceanographic vessel research to provide new and more comprehensive time-space ocean and atmospheric data collection that is important not only for scientific study, but also for sustainable ocean management, including emergency response capabilities. The recent examples of such integrated studies highlighted confirm ocean and atmospheric studies can more cost-effectively pursued, and in some cases only accomplished, by combining underwater, surface and aircraft autonomous systems with research vessel operations.

Can high fields save the tokamak? The challenge of steady-state operation for low cost compact reactors

NASA Astrophysics Data System (ADS)

Freidberg, Jeffrey; Dogra, Akshunna; Redman, William; Cerfon, Antoine

2016-10-01

The development of high field, high temperature superconductors is thought to be a game changer for the development of fusion power based on the tokamak concept. We test the validity of this assertion for pilot plant scale reactors (Q 10) for two different but related missions: pulsed operation and steady-state operation. Specifically, we derive a set of analytic criteria that determines the basic design parameters of a given fusion reactor mission. As expected there are far more constraints than degrees of freedom in any given design application. However, by defining the mission of the reactor under consideration, we have been able to determine the subset of constraints that drive the design, and calculate the values for the key parameters characterizing the tokamak. Our conclusions are as follows: 1) for pulsed reactors, high field leads to more compact designs and thus cheaper reactors - high B is the way to go; 2) steady-state reactors with H-mode like transport are large, even with high fields. The steady-state constraint is hard to satisfy in compact designs - high B helps but is not enough; 3) I-mode like transport, when combined with high fields, yields relatively compact steady-state reactors - why is there not more research on this favorable transport regime?

High Temperature Heat Exchanger Design and Fabrication for Systems with Large Pressure Differentials

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

Chordia, Lalit; Portnoff, Marc A.; Green, Ed

The project’s main purpose was to design, build and test a compact heat exchanger for supercritical carbon dioxide (sCO 2) power cycle recuperators. The compact recuperator is required to operate at high temperature and high pressure differentials, 169 bar (~2,500 psi), between streams of sCO 2. Additional project tasks included building a hot air-to-sCO 2 Heater heat exchanger (HX) and design, build and operate a test loop to characterize the recuperator and heater heat exchangers. A novel counter-current microtube recuperator was built to meet the high temperature high differential pressure criteria and tested. The compact HX design also incorporated amore » number of features that optimize material use, improved reliability and reduced cost. The air-to-sCO 2 Heater HX utilized a cross flow, counter-current, micro-tubular design. This compact HX design was incorporated into the test loop and exceeded design expectations. The test loop design to characterize the prototype Brayton power cycle HXs was assembled, commissioned and operated during the program. Both the prototype recuperator and Heater HXs were characterized. Measured results for the recuperator confirmed the predictions of the heat transfer models developed during the project. Heater HX data analysis is ongoing.« less

Memory-Efficient Onboard Rock Segmentation

NASA Technical Reports Server (NTRS)

Burl, Michael C.; Thompson, David R.; Bornstein, Benjamin J.; deGranville, Charles K.

2013-01-01

Rockster-MER is an autonomous perception capability that was uploaded to the Mars Exploration Rover Opportunity in December 2009. This software provides the vision front end for a larger software system known as AEGIS (Autonomous Exploration for Gathering Increased Science), which was recently named 2011 NASA Software of the Year. As the first step in AEGIS, Rockster-MER analyzes an image captured by the rover, and detects and automatically identifies the boundary contours of rocks and regions of outcrop present in the scene. This initial segmentation step reduces the data volume from millions of pixels into hundreds (or fewer) of rock contours. Subsequent stages of AEGIS then prioritize the best rocks according to scientist- defined preferences and take high-resolution, follow-up observations. Rockster-MER has performed robustly from the outset on the Mars surface under challenging conditions. Rockster-MER is a specially adapted, embedded version of the original Rockster algorithm ("Rock Segmentation Through Edge Regrouping," (NPO- 44417) Software Tech Briefs, September 2008, p. 25). Although the new version performs the same basic task as the original code, the software has been (1) significantly upgraded to overcome the severe onboard re source limitations (CPU, memory, power, time) and (2) "bulletproofed" through code reviews and extensive testing and profiling to avoid the occurrence of faults. Because of the limited computational power of the RAD6000 flight processor on Opportunity (roughly two orders of magnitude slower than a modern workstation), the algorithm was heavily tuned to improve its speed. Several functional elements of the original algorithm were removed as a result of an extensive cost/benefit analysis conducted on a large set of archived rover images. The algorithm was also required to operate below a stringent 4MB high-water memory ceiling; hence, numerous tricks and strategies were introduced to reduce the memory footprint. Local filtering operations were re-coded to operate on horizontal data stripes across the image. Data types were reduced to smaller sizes where possible. Binary- valued intermediate results were squeezed into a more compact, one-bit-per-pixel representation through bit packing and bit manipulation macros. An estimated 16-fold reduction in memory footprint relative to the original Rockster algorithm was achieved. The resulting memory footprint is less than four times the base image size. Also, memory allocation calls were modified to draw from a static pool and consolidated to reduce memory management overhead and fragmentation. Rockster-MER has now been run onboard Opportunity numerous times as part of AEGIS with exceptional performance. Sample results are available on the AEGIS website at http://aegis.jpl.nasa.gov.

Software Architecture for Anti-Submarine Warfare Unmanned Surface Vehicles

DTIC Science & Technology

2016-09-01

discussion about software systems that could be used to control these systems to make the jobs of the human operators easier. B. RESEARCH QUESTIONS... research study. To better understand the role of artificial intelligence in designing autonomous systems, S. Russell and P. Norvig jointly authored a...artificial intelligence, and autonomous systems. This serves as the framework for the real design challenge. 1. Protecting the Battle Group The United

Towards a Warfighter’s Associate: Eliminating the Operator Control Unit

DTIC Science & Technology

2004-10-01

ABSTRACT This paper introduces the long-term concept of a supervised autonomous Warfighter’s Associate, which uses a natural-language interface for...paper introduces the long-term concept of a supervised autonomous Warfighter’s Associate, which employs a natural-language interface for communication...results to date. The primary application discussed is military, but the concept also applies to law enforcement, space exploration, and search-and

Autonomous Rendezvous and Docking Conference, volume 1

NASA Technical Reports Server (NTRS)

1990-01-01

This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. It contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of the ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of the programmatic management, technical, schedule, and cost risks.

Autonomous Rendezvous and Docking Conference, volume 3

NASA Technical Reports Server (NTRS)

1990-01-01

This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. The document contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

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.

The influence of API concentration on the roller compaction process: modeling and prediction of the post compacted ribbon, granule and tablet properties using multivariate data analysis.

PubMed

Boersen, Nathan; Carvajal, M Teresa; Morris, Kenneth R; Peck, Garnet E; Pinal, Rodolfo

2015-01-01

While previous research has demonstrated roller compaction operating parameters strongly influence the properties of the final product, a greater emphasis might be placed on the raw material attributes of the formulation. There were two main objectives to this study. First, to assess the effects of different process variables on the properties of the obtained ribbons and downstream granules produced from the rolled compacted ribbons. Second, was to establish if models obtained with formulations of one active pharmaceutical ingredient (API) could predict the properties of similar formulations in terms of the excipients used, but with a different API. Tolmetin and acetaminophen, chosen for their different compaction properties, were roller compacted on Fitzpatrick roller compactor using the same formulation. Models created using tolmetin and tested using acetaminophen. The physical properties of the blends, ribbon, granule and tablet were characterized. Multivariate analysis using partial least squares was used to analyze all data. Multivariate models showed that the operating parameters and raw material attributes were essential in the prediction of ribbon porosity and post-milled particle size. The post compacted ribbon and granule attributes also significantly contributed to the prediction of the tablet tensile strength. Models derived using tolmetin could reasonably predict the ribbon porosity of a second API. After further processing, the post-milled ribbon and granules properties, rather than the physical attributes of the formulation were needed to predict downstream tablet properties. An understanding of the percolation threshold of the formulation significantly improved the predictive ability of the models.

Single-Mode, High Repetition Rate, Compact Ho:YLF Laser for Space-Borne Lidar Applications

NASA Technical Reports Server (NTRS)

Bai, Yingxin; Yu, Jirong; Wong, Teh-Hwa; Chen, Songsheng; Petros, Mulugeta; Singh, Upendra N.

2014-01-01

A single transverse/longitudinal mode, compact Q-switched Ho:YLF laser has been designed and demonstrated for space-borne lidar applications. The pulse energy is between 34-40 mJ for 100-200 Hz operation. The corresponding peak power is >1 MW.

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.

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

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.

Unmanned Aerial Systems (UAS): Evolving Trends

NASA Technical Reports Server (NTRS)

Kopardekar, Parimal

2015-01-01

Near-term Goal: Enable initial low-altitude airspace and UAS operations with demonstrated safety as early as possible, within 5 years; Long-term Goal: Accommodate increased UAS operations with highest safety, efficiency, and capacity as much autonomously as possible (10-15 years).

Assessment of soil compaction properties based on surface wave techniques

NASA Astrophysics Data System (ADS)

Jihan Syamimi Jafri, Nur; Rahim, Mohd Asri Ab; Zahid, Mohd Zulham Affandi Mohd; Faizah Bawadi, Nor; Munsif Ahmad, Muhammad; Faizal Mansor, Ahmad; Omar, Wan Mohd Sabki Wan

2018-03-01

Soil compaction plays an important role in every construction activities to reduce risks of any damage. Traditionally, methods of assessing compaction include field tests and invasive penetration tests for compacted areas have great limitations, which caused time-consuming in evaluating large areas. Thus, this study proposed the possibility of using non-invasive surface wave method like Multi-channel Analysis of Surface Wave (MASW) as a useful tool for assessing soil compaction. The aim of this study was to determine the shear wave velocity profiles and field density of compacted soils under varying compaction efforts by using MASW method. Pre and post compaction of MASW survey were conducted at Pauh Campus, UniMAP after applying rolling compaction with variation of passes (2, 6 and 10). Each seismic data was recorded by GEODE seismograph. Sand replacement test was conducted for each survey line to obtain the field density data. All seismic data were processed using SeisImager/SW software. The results show the shear wave velocity profiles increase with the number of passes from 0 to 6 passes, but decrease after 10 passes. This method could attract the interest of geotechnical community, as it can be an alternative tool to the standard test for assessing of soil compaction in the field operation.

Space Telecommunications Radio System STRS Cognitive Radio

NASA Technical Reports Server (NTRS)

Briones, Janette C.; Handler, Louis M.

2013-01-01

Radios today are evolving from awareness toward cognition. A software defined radio (SDR) provides the most capability for integrating autonomic decision making ability and allows the incremental evolution toward a cognitive radio. This cognitive radio technology will impact NASA space communications in areas such as spectrum utilization, interoperability, network operations, and radio resource management over a wide range of operating conditions. NASAs cognitive radio will build upon the infrastructure being developed by Space Telecommunication Radio System (STRS) SDR technology. This paper explores the feasibility of inserting cognitive capabilities in the NASA STRS architecture and the interfaces between the cognitive engine and the STRS radio. The STRS architecture defines methods that can inform the cognitive engine about the radio environment so that the cognitive engine can learn autonomously from experience, and take appropriate actions to adapt the radio operating characteristics and optimize performance.

On-Orbit Measurements of the ISS Atmosphere by the Vehicle Cabin Atmosphere Monitor

NASA Technical Reports Server (NTRS)

Darrach, M. R.; Chutjian, A.; Bornstein, B. J.; Croonquist, A. P.; Garkanian, V.; Haemmerle, V. R.; Hofman, J.; Heinrichs, W. M.; Karmon, D.; Kenny, J.;

Mission Level Autonomy for USSV

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Stirb, Robert C.; Brizzolara, Robert

2011-01-01

On-water demonstration of a wide range of mission-proven, advanced technologies at TRL 5+ that provide a total integrated, modular approach to effectively address the majority of the key needs for full mission-level autonomous, cross-platform control of USV s. Wide baseline stereo system mounted on the ONR USSV was shown to be an effective sensing modality for tracking of dynamic contacts as a first step to automated retrieval operations. CASPER onboard planner/replanner successfully demonstrated realtime, on-water resource-based analysis for mission-level goal achievement and on-the-fly opportunistic replanning. Full mixed mode autonomy was demonstrated on-water with a seamless transition between operator over-ride and return to current mission plan. Autonomous cooperative operations for fixed asset protection and High Value Unit escort using 2 USVs (AMN1 & 14m RHIB) were demonstrated during Trident Warrior 2010 in JUN 2010

Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals

PubMed Central

Duecker, Daniel-André; Geist, A. René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen

2017-01-01

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (μAUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μAUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μAUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system. PMID:28445419

Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals.

PubMed

Duecker, Daniel-André; Geist, A René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen

2017-04-26

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ AUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μ AUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μ AUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system.

Development of RLV-TD Stage Separation System

NASA Astrophysics Data System (ADS)

Mohan, Ganesh; Rao, Y. Naga Sreenivasa; Prakash, P.; Subramanian, U. A.; Purushothaman, P.; Premdas, M.; Abraham, Baby; Kishorenath, V.; Jayachandran, T.

2017-12-01

Hyper Sonic Experiment (HEX-01), with main focus on the aero thermodynamic characterization and end to end autonomous mission management, is the first in a series of demonstrators planned by ISRO for the development of a Reusable Launch Vehicle (RLV). This paper gives the evolution of the split collet based separation system used in the separation of the spent booster stage from the RLV-Technology Demonstrator Vehicle (TDV). The separation mechanism is very compact, yet has a very high load bearing capacity. The design details and the challenges faced during flight qualification of the system are discussed in this paper. There are a lot of promising areas where this system can be used.

Towards autonomous environmental monitoring systems.

PubMed

Sequeira, Margaret; Bowden, Michaela; Minogue, Edel; Diamond, Dermot

2002-02-11

The concept of micro total analysis systems (muTAS) or Lab-on-a-chip is based on the twin strategies of integration and miniaturisation that have been so successful in the electronics industry. This paper will look at the materials issues, particularly with respect to the new polymeric materials that are becoming available, and strategies for integrating optical (colorimetric) detection. The influence of breakthroughs in apparently unrelated areas on the range of chemistries that can be applied will be illustrated. For environmental monitoring, the further integration of wireless communications with micro-dimensioned analytical instruments and sensors will become the ultimate driving force. The emergence of these compact, self-sustaining, networked instruments will have enormous impact on all field-based environmental measurements.

Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer

NASA Technical Reports Server (NTRS)

Schrading, J. Nicolas

2013-01-01

The Knowledge-Based Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20 years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in the system. As part of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display of the entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledge base, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

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

Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer

NASA Technical Reports Server (NTRS)

Shrading, Nicholas J.

2012-01-01

The KSC Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20+ years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in. the system, As part.of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display ofthe entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledgebase, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

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.

Localization system for use in GPS denied environments

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

Trueblood, J. J.

The military uses to autonomous platforms to complete missions to provide standoff for the warfighters. However autonomous platforms rely on GPS to provide their global position. In many missions spaces the autonomous platforms may encounter GPS denied environments which limits where the platform operates and requires the warfighters to takes its place. GPS denied environments can occur due to tall building, trees, canyon wall blocking the GPS satellite signals or a lack of coverage. An Inertial Navigation System (INS) uses sensors to detect the vehicle movement and direction its traveling to calculate the vehicle. One of biggest challenges with anmore » INS system is the accuracy and accumulation of errors over time of the sensors. If these challenges can be overcome the INS would provide accurate positioning information to the autonomous vehicle in GPS denied environments and allow them to provide the desired standoff for the warfighters.« less

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques.

PubMed

Bayat, Behzad; Crasta, Naveena; Crespi, Alessandro; Pascoal, António M; Ijspeert, Auke

2017-06-01

Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of operating in harsh environments without human supervision. The aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles. Copyright © 2017 Elsevier Ltd. All rights reserved.

Human-Vehicle Interface for Semi-Autonomous Operation of Uninhabited Aero Vehicles

NASA Technical Reports Server (NTRS)

Jones, Henry L.; Frew, Eric W.; Woodley, Bruce R.; Rock, Stephen M.

2001-01-01

The robustness of autonomous robotic systems to unanticipated circumstances is typically insufficient for use in the field. The many skills of human user often fill this gap in robotic capability. To incorporate the human into the system, a useful interaction between man and machine must exist. This interaction should enable useful communication to be exchanged in a natural way between human and robot on a variety of levels. This report describes the current human-robot interaction for the Stanford HUMMINGBIRD autonomous helicopter. In particular, the report discusses the elements of the system that enable multiple levels of communication. An intelligent system agent manages the different inputs given to the helicopter. An advanced user interface gives the user and helicopter a method for exchanging useful information. Using this human-robot interaction, the HUMMINGBIRD has carried out various autonomous search, tracking, and retrieval missions.

Autonomic Computing: Panacea or Poppycock?

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

Autonomic Computing arose out of a need for a means to cope with rapidly growing complexity of integrating, managing, and operating computer-based systems as well as a need to reduce the total cost of ownership of today's systems. Autonomic Computing (AC) as a discipline was proposed by IBM in 2001, with the vision to develop self-managing systems. As the name implies, the influence for the new paradigm is the human body's autonomic system, which regulates vital bodily functions such as the control of heart rate, the body's temperature and blood flow-all without conscious effort. The vision is to create selfivare through self-* properties. The initial set of properties, in terms of objectives, were self-configuring, self-healing, self-optimizing and self-protecting, along with attributes of self-awareness, self-monitoring and self-adjusting. This self-* list has grown: self-anticipating, self-critical, self-defining, self-destructing, self-diagnosis, self-governing, self-organized, self-reflecting, and self-simulation, for instance.

Exploring with PAM: Prospecting ANTS Missions for Solar System Surveys

NASA Technical Reports Server (NTRS)

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

2003-01-01

ANTS (Autonomous Nano-Technology Swarm), a large (1000 member) swarm of nano to picoclass (10 to 1 kg) totally autonomous spacecraft, are being developed as a NASA advanced mission concept. ANTS, based on a hierarchical insect social order, use an evolvable, self-similar, hierarchical neural system in which individual spacecraft represent the highest level nodes. ANTS uses swarm intelligence attained through collective, cooperative interactions of the nodes at all levels of the system. At the highest levels this can take the form of cooperative, collective behavior among the individual spacecraft in a very large constellation. The ANTS neural architecture is designed for totally autonomous operation of complex systems including spacecraft constellations. The ANTS (Autonomous Nano Technology Swarm) concept has a number of possible applications. A version of ANTS designed for surveying and determining the resource potential of the asteroid belt, called PAM (Prospecting ANTS Mission), is examined here.

Demonstration of coherent Doppler lidar for navigation in GPS-denied environments

NASA Astrophysics Data System (ADS)

Amzajerdian, Farzin; Hines, Glenn D.; Pierrottet, Diego F.; Barnes, Bruce W.; Petway, Larry B.; Carson, John M.

2017-05-01

A coherent Doppler lidar has been developed to address NASA's need for a high-performance, compact, and cost-effective velocity and altitude sensor onboard its landing vehicles. Future robotic and manned missions to solar system bodies require precise ground-relative velocity vector and altitude data to execute complex descent maneuvers and safe, soft landing at a pre-designated site. This lidar sensor, referred to as a Navigation Doppler Lidar (NDL), meets the required performance of the landing missions while complying with vehicle size, mass, and power constraints. Operating from up to four kilometers altitude, the NDL obtains velocity and range precision measurements reaching 2 cm/sec and 2 meters, respectively, dominated by the vehicle motion. Terrestrial aerial vehicles will also benefit from NDL data products as enhancement or replacement to GPS systems when GPS is unavailable or redundancy is needed. The NDL offers a viable option to aircraft navigation in areas where the GPS signal can be blocked or jammed by intentional or unintentional interference. The NDL transmits three laser beams at different pointing angles toward the ground to measure range and velocity along each beam using a frequency modulated continuous wave (FMCW) technique. The three line-of-sight measurements are then combined in order to determine the three components of the vehicle velocity vector and its altitude relative to the ground. This paper describes the performance and capabilities that the NDL demonstrated through extensive ground tests, helicopter flight tests, and onboard an autonomous rocket-powered test vehicle while operating in closedloop with a guidance, navigation, and control (GN and C) system.

A long-wave infrared hyperspectral sensor for Shadow class UAVs

NASA Astrophysics Data System (ADS)

Lucey, P. G.; Akagi, Jason T.; Hinrichs, John L.; Crites, S. T.; Wright, R.

2013-05-01

The University of Hawaii has developed a concept to ruggedize an existing thermal infrared hyperspectral system for use in the NASA SIERRA UAV. The Hawaii Institute of Geophysics and Planetology has developed a suite of instruments that acquire high spectral resolution thermal infrared image data with low mass and power consumption by combining microbolometers with stationary interferometers, allowing us to achieve hyperspectral resolution (20 wavenumbers between 8 and 14 micrometers), with signal to noise ratios as high as 1500:1. Several similar instruments have been developed and flown by our research group. One recent iteration, developed under NASA EPSCoR funding and designed for inclusion on a microsatellite (Thermal Hyperspectral Imager; THI), has a mass of 11 kg. Making THI ready for deployment on the SIERRA will involve incorporating improvements made in building nine thermal interferometric hyperspectral systems for commercial and government sponsors as part of HIGP's wider program. This includes: a) hardening the system for operation in the SIERRA environment, b) compact design for the calibration system, c) reconfiguring software for autonomous operation, d) incorporating HIGP-developed detectors with increased responsiveness at the 8 micron end of the TIR range, and e) an improved interferometer to increase SNR for imaging at the SIERRA's air speed. UAVs provide a unique platform for science investigations that the proposed instrument, UAVTHI, will be well placed to facilitate (e.g. very high temporal resolution measurements of temporally dynamic phenomena, such as wildfires and volcanic ash clouds). Its spectral range is suited to measuring gas plumes, including sulfur dioxide and carbon dioxide, which exhibit absorption features in the 8 to 14 micron range.

Pipeline inspection using an autonomous underwater vehicle

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

Egeskov, P.; Bech, M.; Bowley, R.

1995-12-31

Pipeline inspection can be carried out by means of small Autonomous Underwater Vehicles (AUVs), operating either with a control link to a surface vessel, or totally independently. The AUV offers an attractive alternative to conventional inspection methods where Remotely Operated Vehicles (ROVs) or paravanes are used. A flatfish type AUV ``MARTIN`` (Marine Tool for Inspection) has been developed for this purpose. The paper describes the proposed types of inspection jobs to be carried out by ``MARTIN``. The design and construction of the vessel, its hydrodynamic properties, its propulsion and control systems are discussed. The pipeline tracking and survey systems, asmore » well as the launch and recovery systems are described.« less

A Conceptual Study for the Autonomous Direct Forming of Lunar Regolith into Flexlock (Trademark) Geomats for Lunar Surface Operations

NASA Technical Reports Server (NTRS)

Robertson, Luke B.; Hintze, Paul; OConnor, Gregory W.

2009-01-01

We describe the conceptual method of an autonomously operable Direct Forming machine that would consume regolith or regolith slag to mold intimately, interlinked elements in a continuous process. The resulting product, one to three meter wide geomats, would be deployed over commonly traversed areas to isolate the astronauts and equipment from underlying dust. The porous geotextile would provide areas for dust settling, thereby mitigating dust impingement on astronaut suits or surface structures. Because of their self-supporting yet flexible structure, these geomats could be assembled into shields and buttresses to protect lunar habitants from radiation, forming a "flexoskeleton" from in situ materials.

Advanced Communication Architectures and Technologies for Missions to the Outer Planets

NASA Technical Reports Server (NTRS)

Bhasin, K.; Hayden, J. L.

2001-01-01

Missions to the outer planets would be considerably enhanced by the implementation of a future space communication infrastructure that utilizes relay stations placed at strategic locations in the solar system. These relay stations would operate autonomously and handle remote mission command and data traffic on a prioritized demand access basis. Such a system would enhance communications from that of the current direct communications between the planet and Earth. The system would also provide high rate data communications to outer planet missions, clear communications paths during times when the sun occults the mission spacecraft as viewed from Earth, and navigational "lighthouses" for missions utilizing onboard autonomous operations. Additional information is contained in the original extended abstract.

Robust control of multi-jointed arm with a decentralized autonomous control mechanism

NASA Technical Reports Server (NTRS)

Kimura, Shinichi; Miyazaki, Ken; Suzuki, Yoshiaki

1994-01-01

A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.

Verification and Validation of Autonomy Software at NASA

NASA Technical Reports Server (NTRS)

Pecheur, Charles

2000-01-01

Autonomous software holds the promise of new operation possibilities, easier design and development and lower operating costs. However, as those system close control loops and arbitrate resources on board with specialized reasoning, the range of possible situations becomes very large and uncontrollable from the outside, making conventional scenario-based testing very inefficient. Analytic verification and validation (V&V) techniques, and model checking in particular, can provide significant help for designing autonomous systems in a more efficient and reliable manner, by providing a better coverage and allowing early error detection. This article discusses the general issue of V&V of autonomy software, with an emphasis towards model-based autonomy, model-checking techniques and concrete experiments at NASA.

Verification and Validation of Autonomy Software at NASA

NASA Technical Reports Server (NTRS)

Pecheur, Charles

2000-01-01

Autonomous software holds the promise of new operation possibilities, easier design and development, and lower operating costs. However, as those system close control loops and arbitrate resources on-board with specialized reasoning, the range of possible situations becomes very large and uncontrollable from the outside, making conventional scenario-based testing very inefficient. Analytic verification and validation (V&V) techniques, and model checking in particular, can provide significant help for designing autonomous systems in a more efficient and reliable manner, by providing a better coverage and allowing early error detection. This article discusses the general issue of V&V of autonomy software, with an emphasis towards model-based autonomy, model-checking techniques, and concrete experiments at NASA.

Transition operators

NASA Astrophysics Data System (ADS)

Alcock-Zeilinger, J.; Weigert, H.

2017-05-01

In this paper, we give a generic algorithm of the transition operators between Hermitian Young projection operators corresponding to equivalent irreducible representations of 𝖲𝖴 (N ) , using the compact expressions of Hermitian Young projection operators derived in the work of Alcock-Zeilinger and Weigert [eprint arXiv:1610.10088 [math-ph

Compact magnetograph

NASA Technical Reports Server (NTRS)

Title, A. M.; Gillespie, B. A.; Mosher, J. W.

1982-01-01

A compact magnetograph system based on solid Fabry-Perot interferometers as the spectral isolation elements was studied. The theory of operation of several Fabry-Perot systems, the suitability of various magnetic lines, signal levels expected for different modes of operation, and the optimal detector systems were investigated. The requirements that the lack of a polarization modulator placed upon the electronic signal chain was emphasized. The PLZT modulator was chosen as a satisfactory component with both high reliability and elatively low voltage requirements. Thermal control, line centering and velocity offset problems were solved by a Fabry-Perot configuration.

Compact scanning tunneling microscope for spin polarization measurements.

PubMed

Kim, Seong Heon; de Lozanne, Alex

2012-10-01

We present a design for a scanning tunneling microscope that operates in ultrahigh vacuum down to liquid helium temperatures in magnetic fields up to 8 T. The main design philosophy is to keep everything compact in order to minimize the consumption of cryogens for initial cool-down and for extended operation. In order to achieve this, new ideas were implemented in the design of the microscope body, dewars, vacuum chamber, manipulators, support frame, and vibration isolation. After a brief description of these designs, the results of initial tests are presented.

The singular values of the imbedding operators of some classes of analytic functions of several variables

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

Parfenov, O.G.

1994-12-25

We discuss three results. The first exhibits the order of decrease of the s-values as a function of the CR-dimension of a compact set on which we approximate the class of analytic functions being studied. The second is an asymptotic formula for the case when the domain of analyticity and the compact set are Reinhart domains. The third is the computation of the s-values of a special operator that is of interest for approximation theory on one-dimensional manifolds.

Ultrascalable Techniques Applied to the Global Intelligence Community Information Awareness Common Operating Picture (IA COP)

DTIC Science & Technology

2005-11-01

more random. Autonomous systems can exchange entropy statistics for packet streams with no confidentiality concerns, potentially enabling timely and... analysis began with simulation results, which were validated by analysis of actual data from an Autonomous System (AS). A scale-free network is one...traffic—for example, time series of flux at given nodes and mean path length Outputs the time series from any node queried Calculates

Applying the System Component and Operationally Relevant Evaluation (SCORE) Framework to Evaluate Advanced Military Technologies

DTIC Science & Technology

2010-03-01

and charac- terize the actions taken by the soldier (e.g., running, walking, climbing stairs ). Real-time image capture and exchange N The ability of...multimedia information sharing among soldiers in the field, two-way speech translation systems, and autonomous robotic platforms. Key words: Emerging...soldiers in the field, two-way speech translation systems, and autonomous robotic platforms. It has been the foundation for 10 technology evaluations

Bolts from Orion: Destroying Mobile Surface-to-Air Missile Systems with Lethal Autonomous Aircraft

DTIC Science & Technology

2016-07-01

era SAMs that had been upgraded by Ukrainian contractors . During the operation, Russian aircraft’s 10 electronic countermeasures could not...main SEAD asset is the F-16 CJ equipped with the HARM targeting system ( HTS ). The HTS can autonomously locate and identify threat radars and pass...targeting information to the HARMs before launch. The HTS can also provide targeting 13 information to global positioning system (GPS) guided

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.

Workshop on Assurance for Autonomous Systems for Aviation

NASA Technical Reports Server (NTRS)

Brat, Guillaume; Davies, Misty; Giannakopoulou, Dimitra; Neogi, Natasha

2016-01-01

This report describes the workshop on Assurance for Autonomous Systems for Aviation that was held in January 2016 in conjunction with the SciTech 2016 conference held in San Diego, CA. The workshop explored issues related to assurance for autonomous systems and also the idea of trust in these systems. Specifically, we focused on discussing current practices for assurance of autonomy, identifying barriers specific to autonomy as related to assurance as well as operational scenarios demonstrating the need to address the barriers. Furthermore, attention was given to identifying verification techniques that may be applicable to autonomy, as well as discussing new research directions needed to address barriers, thereby involving potential shifts in current practices.

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

Realization of the FPGA-based reconfigurable computing environment by the example of morphological processing of a grayscale image

NASA Astrophysics Data System (ADS)

Shatravin, V.; Shashev, D. V.

2018-05-01

Currently, robots are increasingly being used in every industry. One of the most high-tech areas is creation of completely autonomous robotic devices including vehicles. The results of various global research prove the efficiency of vision systems in autonomous robotic devices. However, the use of these systems is limited because of the computational and energy resources available in the robot device. The paper describes the results of applying the original approach for image processing on reconfigurable computing environments by the example of morphological operations over grayscale images. This approach is prospective for realizing complex image processing algorithms and real-time image analysis in autonomous robotic devices.

Autonomous On-Board Calibration of Attitude Sensors and Gyros

NASA Technical Reports Server (NTRS)

Pittelkau, Mark E.

2007-01-01

This paper presents the state of the art and future prospects for autonomous real-time on-orbit calibration of gyros and attitude sensors. The current practice in ground-based calibration is presented briefly to contrast it with on-orbit calibration. The technical and economic benefits of on-orbit calibration are discussed. Various algorithms for on-orbit calibration are evaluated, including some that are already operating on board spacecraft. Because Redundant Inertial Measurement Units (RIMUs, which are IMUs that have more than three sense axes) are almost ubiquitous on spacecraft, special attention will be given to calibration of RIMUs. In addition, we discuss autonomous on board calibration and how it may be implemented.

Compact and low power operation optical switch using silicon-germanium/silicon hetero-structure waveguide.

PubMed

Sekiguchi, Shigeaki; Kurahashi, Teruo; Zhu, Lei; Kawaguchi, Kenichi; Morito, Ken

2012-04-09

We proposed a silicon-based optical switch with a carrier-plasma-induced phase shifter which employs a silicon-germanium (SiGe) / silicon (Si) hetero-structure in the waveguide core. A type-I hetero-interface formed by SiGe and Si is expected to confine carriers effectively in the SiGe waveguide core. The fabricated Mach-Zehnder optical switch shows a low switching power of only 1.53 mW with a compact phase shifter length of 250 μm. The switching time of the optical switch is less than 4.6 ns for the case of a square waveform driving condition, and 1 ns for the case of a pre-emphasis electric driving condition. These results show that our proposed SiGe/Si waveguide structure holds promise for active devices with compact size and low operation power.

Diagnostic accuracy of heart-rate recovery after exercise in the assessment of diabetic cardiac autonomic neuropathy.

PubMed

Sacre, J W; Jellis, C L; Coombes, J S; Marwick, T H

2012-09-01

Poor prognosis associated with blunted post-exercise heart-rate recovery may reflect autonomic dysfunction. This study sought the accuracy of post-exercise heart-rate recovery in the diagnosis of cardiac autonomic neuropathy, which represents a serious, but often unrecognized complication of Type 2 diabetes. Clinical assessment of cardiac autonomic neuropathy and maximal treadmill exercise testing for heart-rate recovery were performed in 135 patients with Type 2 diabetes and negative exercise echocardiograms. Cardiac autonomic neuropathy was defined by abnormalities in ≥ 2 of 7 autonomic function markers, including four cardiac reflex tests and three indices of short-term (5-min) heart-rate variability. Heart-rate recovery was defined at 1-, 2- and 3-min post-exercise. Patients with cardiac autonomic neuropathy (n = 27; 20%) had lower heart-rate recovery at 1-, 2- and 3-min post-exercise (P < 0.01). Heart-rate recovery demonstrated univariate associations with autonomic function markers (r-values 0.20-0.46, P < 0.05). Area under the receiver-operating characteristic curve revealed good diagnostic performance of all heart-rate recovery parameters (range 0.80-0.83, P < 0.001). Optimal cut-offs for heart-rate recovery at 1-, 2- and 3-min post-exercise were ≤ 28 beats/min (sensitivity 93%, specificity 69%), ≤ 50 beats/min (sensitivity 96%, specificity 63%) and ≤ 52 beats/min (sensitivity 70%, specificity 84%), respectively. These criteria predicted cardiac autonomic neuropathy independently of relevant clinical and exercise test information (adjusted odds ratios 7-28, P < 0.05). Post-exercise heart-rate recovery provides an accurate diagnostic test for cardiac autonomic neuropathy in Type 2 diabetes. The high sensitivity and modest specificity suggests heart-rate recovery may be useful to screen for patients requiring clinical autonomic evaluation. © 2012 The Authors. Diabetic Medicine © 2012 Diabetes UK.

77 FR 20051 - Meeting of the Compact Council for the National Crime Prevention and Privacy Compact

Federal Register 2010, 2011, 2012, 2013, 2014

2012-04-03

... provides a legal framework for the establishment of a cooperative federal-state system to exchange such... on the Council. The Council will prescribe system rules and procedures for the effective and proper operation of the Interstate Identification Index system for noncriminal justice purposes. Matters for...

76 FR 20044 - Meeting of the Compact Council for the National Crime Prevention and Privacy Compact

Federal Register 2010, 2011, 2012, 2013, 2014

2011-04-11

... provides a legal framework for the establishment of a cooperative Federal-State system to exchange such... on the Council. The Council will prescribe system rules and procedures for the effective and proper operation of the Interstate Identification Index system for noncriminal justice purposes. Matters for...

78 FR 61384 - Meeting of the Compact Council for the National Crime Prevention and Privacy Compact

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-03

... provides a legal framework for the establishment of a cooperative federal-state system to exchange such... on the Council. The Council will prescribe system rules and procedures for the effective and proper operation of the Interstate Identification Index system for noncriminal justice purposes. Matters for...

77 FR 60475 - Meeting of the Compact Council for the National Crime Prevention and Privacy Compact

Federal Register 2010, 2011, 2012, 2013, 2014

2012-10-03

... provides a legal framework for the establishment of a cooperative federal-state system to exchange such... on the Council. The Council will prescribe system rules and procedures for the effective and proper operation of the Interstate Identification Index system for noncriminal justice purposes. Matters for...

Pathway to a compact SASE FEL device

NASA Astrophysics Data System (ADS)

Dattoli, G.; Di Palma, E.; Petrillo, V.; Rau, Julietta V.; Sabia, E.; Spassovsky, I.; Biedron, S. G.; Einstein, J.; Milton, S. V.

2015-10-01

Newly developed high peak power lasers have opened the possibilities of driving coherent light sources operating with laser plasma accelerated beams and wave undulators. We speculate on the combination of these two concepts and show that the merging of the underlying technologies could lead to new and interesting possibilities to achieve truly compact, coherent radiator devices.

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy.

PubMed

Masmitja, Ivan; Gonzalez, Julian; Galarza, Cesar; Gomariz, Spartacus; Aguzzi, Jacopo; Del Rio, Joaquin

2018-04-17

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions.

Estimation and Control for Autonomous Coring from a Rover Manipulator

NASA Technical Reports Server (NTRS)

Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

2010-01-01

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

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.

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

Method for hot pressing irregularly shaped refractory articles

DOEpatents

Steinkamp, William E.; Ballard, Ambrose H.

1982-01-01

The present invention is directed to a method for hot pressing irregularly haped refractory articles with these articles of varying thickness being provided with high uniform density and dimensional accuracy. Two partially pressed compacts of the refractory material are placed in a die cavity between displaceable die punches having compact-contacting surfaces of the desired article configuration. A floating, rotatable block is disposed between the compacts. The displacement of the die punches towards one another causes the block to rotate about an axis normal to the direction of movement of the die punches to uniformly distribute the pressure loading upon the compacts for maintaining substantially equal volume displacement of the powder material during the hot pressing operation.

METHOD FOR SOLVENT-ISOSTATIC PRESSING

DOEpatents

Archibald, P.B.

1962-09-18

This invention provides a method for producing densely compacted bodies having relatively large dimensions. The method comprises the addition of a small quantity of a suitable solvent to a powder which is to be compacted. The solvent- moistened powder is placed inside a flexible bag, and the bag is suspended in an isostatic press. The solvent is squeezed out of the powder by the isostatic pressure, and the resulting compacted body is recovered. The presence of the solvent markedly decreases the proportion of void space in the powder, thereby resulting in a denser, more homogeneous compact. Another effect of the solvent is that it allows the isostatic pressing operation to be conducted at substantially lower pressures than are conventionally employed. (AEC)

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.

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.

Design and Fabrication of an MRI-Compatible, Autonomous Incubation System.

PubMed

Khalilzad-Sharghi, Vahid; Xu, Huihui

2015-10-01

Tissue engineers have long sought access to an autonomous, imaging-compatible tissue incubation system that, with minimum operator handling, can provide real-time visualization and quantification of cells, tissue constructs, and organs. This type of screening system, capable of operating noninvasively to validate tissue, can overcome current limitations like temperature shock, unsustainable cellular environments, sample contamination, and handling/stress. However, this type of system has been a major challenge, until now. Here, we describe the design, fabrication, and characterization of an innovative, autonomous incubation system that is compatible with a 9.4 T magnetic resonance imaging (MRI) scanner. Termed the e-incubator (patent pending; application number: 13/953,984), this microcontroller-based system is integrated into an MRI scanner and noninvasively screens cells and tissue cultures in an environment where temperature, pH, and media/gas handling are regulated. The 4-week study discussed herein details the continuous operation of the e-incubator for a tissue-engineered osteogenic construct, validated by LIVE/DEAD(®) cell assays and histology. The evolving MR quantitative parameters of the osteogenic construct were used as biomarkers for bone tissue engineering and to further validate the quality of the product noninvasively before harvesting. Importantly, the e-incubator reliably facilitates culturing cells and tissue constructs to create engineered tissues and/or investigate disease therapies.

Constrained navigation for unmanned systems

NASA Astrophysics Data System (ADS)

Vasseur, Laurent; Gosset, Philippe; Carpentier, Luc; Marion, Vincent; Morillon, Joel G.; Ropars, Patrice

2005-05-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "constrained navigation" study (named TEL2), which main goal is to identify and test a well-balanced task sharing between man and machine to accomplish a robotic task that cannot be performed autonomously at the moment because of technological limitations. The chosen function is "obstacle avoidance" on rough ground and quite high speed (40 km/h). State of the art algorithms have been implemented to perform autonomous obstacle avoidance and following of forest borders, using scanner laser sensor and standard localization functions. Such an "obstacle avoidance" function works well most of the time, BUT fails sometimes. The study analyzed how the remote operator can manage such failures so that the system remains fully operationally reliable; he can act according to two ways: a) finely adjust the vehicle current heading; b) take the control of the vehicle "on the fly" (without stopping) and bring it back to autonomous behavior when motion is secured again. The paper also presents the results got from the military acceptance tests performed on French 4x4 DARDS ATD.

Compactness and robustness: Applications in the solution of integral equations for chemical kinetics and electromagnetic scattering

NASA Astrophysics Data System (ADS)

Zhou, Yajun

This thesis employs the topological concept of compactness to deduce robust solutions to two integral equations arising from chemistry and physics: the inverse Laplace problem in chemical kinetics and the vector wave scattering problem in dielectric optics. The inverse Laplace problem occurs in the quantitative understanding of biological processes that exhibit complex kinetic behavior: different subpopulations of transition events from the "reactant" state to the "product" state follow distinct reaction rate constants, which results in a weighted superposition of exponential decay modes. Reconstruction of the rate constant distribution from kinetic data is often critical for mechanistic understandings of chemical reactions related to biological macromolecules. We devise a "phase function approach" to recover the probability distribution of rate constants from decay data in the time domain. The robustness (numerical stability) of this reconstruction algorithm builds upon the continuity of the transformations connecting the relevant function spaces that are compact metric spaces. The robust "phase function approach" not only is useful for the analysis of heterogeneous subpopulations of exponential decays within a single transition step, but also is generalizable to the kinetic analysis of complex chemical reactions that involve multiple intermediate steps. A quantitative characterization of the light scattering is central to many meteoro-logical, optical, and medical applications. We give a rigorous treatment to electromagnetic scattering on arbitrarily shaped dielectric media via the Born equation: an integral equation with a strongly singular convolution kernel that corresponds to a non-compact Green operator. By constructing a quadratic polynomial of the Green operator that cancels out the kernel singularity and satisfies the compactness criterion, we reveal the universality of a real resonance mode in dielectric optics. Meanwhile, exploiting the properties of compact operators, we outline the geometric and physical conditions that guarantee a robust solution to the light scattering problem, and devise an asymptotic solution to the Born equation of electromagnetic scattering for arbitrarily shaped dielectric in a non-perturbative manner.

Autonomous Science Analysis with the New Millennium Program-Autonomous Sciencecraft Experiment

NASA Astrophysics Data System (ADS)

Doggett, T.; Davies, A. G.; Castano, R. A.; Baker, V. R.; Dohm, J. M.; Greeley, R.; Williams, K. K.; Chien, S.; Sherwood, R.

2002-12-01

The NASA New Millennium Program (NMP) is a testbed for new, high-risk technologies, including new software and hardware. The Autonomous Sciencecraft Experiment (ASE) will fly on the Air Force Research Laboratory TechSat-21 mission in 2006 is such a NMP mission, and is managed by the Jet Propulsion Laboratory, California Institute of Technology. TechSat-21 consists of three satellites, each equipped with X-band Synthetic Aperture Radar (SAR) that will occupy a 13-day repeat track Earth orbit. The main science objectives of ASE are to demonstrate that process-related change detection and feature identification can be conducted autonomously during space flight, leading to autonomous onboard retargeting of the spacecraft. This mission will observe transient geological and environmental processes using SAR. Examples of geologic processes that may be observed and investigated include active volcanism, the movement of sand dunes and transient features in desert environments, water flooding, and the formation and break-up of lake ice. Science software onboard the spacecraft will allow autonomous processing and formation of SAR images and extraction of scientific information. The subsequent analyses, performed on images formed onboard from the SAR data, will include feature identification using scalable feature "templates" for each target, change detection through comparison of current and archived images, and science discovery, a search for other features of interest in each image. This approach results in obtaining the same science return for a reduced amount of resource use (such as downlink) when compared to that from a mission operating without ASE technology. Redundant data is discarded. The science-driven goals of ASE will evolve during the ASE mission through onboard replanning software that can re-task satellite operations. If necessary, as a result of a discovery made autonomously by onboard science processing, existing observation sequences will be pre-empted to obtain data of potential high scientific content. Flight validation of this software will enable radically different missions with significant onboard decision-making and novel science concepts (onboard decision making and selective data return). This work has been carried out at the Jet Propulsion Laboratory-California Institute of Technology, under contract to NASA.

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.

Oceanids command and control (C2) data system - Marine autonomous systems data for vehicle piloting, scientific data users, operational data assimilation, and big data

NASA Astrophysics Data System (ADS)

Buck, J. J. H.; Phillips, A.; Lorenzo, A.; Kokkinaki, A.; Hearn, M.; Gardner, T.; Thorne, K.

2017-12-01

The National Oceanography Centre (NOC) operate a fleet of approximately 36 autonomous marine platforms including submarine gliders, autonomous underwater vehicles, and autonomous surface vehicles. Each platform effectivity has the capability to observe the ocean and collect data akin to a small research vessel. This is creating a growth in data volumes and complexity while the amount of resource available to manage data remains static. The OceanIds Command and Control (C2) project aims to solve these issues by fully automating the data archival, processing and dissemination. The data architecture being implemented jointly by NOC and the Scottish Association for Marine Science (SAMS) includes a single Application Programming Interface (API) gateway to handle authentication, forwarding and delivery of both metadata and data. Technicians and principle investigators will enter expedition data prior to deployment of vehicles enabling automated data processing when vehicles are deployed. The system will support automated metadata acquisition from platforms as this technology moves towards operational implementation. The metadata exposure to the web builds on a prototype developed by the European Commission supported SenseOCEAN project and is via open standards including World Wide Web Consortium (W3C) RDF/XML and the use of the Semantic Sensor Network ontology and Open Geospatial Consortium (OGC) SensorML standard. Data will be delivered in the marine domain Everyone's Glider Observatory (EGO) format and OGC Observations and Measurements. Additional formats will be served by implementation of endpoints such as the NOAA ERDDAP tool. This standardised data delivery via the API gateway enables timely near-real-time data to be served to Oceanids users, BODC users, operational users and big data systems. The use of open standards will also enable web interfaces to be rapidly built on the API gateway and delivery to European research infrastructures that include aligned reference models for data infrastructure.