Applications of Payload Directed Flight

NASA Technical Reports Server (NTRS)

Ippolito, Corey; Fladeland, Matthew M.; Yeh, Yoo Hsiu

2009-01-01

Next generation aviation flight control concepts require autonomous and intelligent control system architectures that close control loops directly around payload sensors in manner more integrated and cohesive that in traditional autopilot designs. Research into payload directed flight control at NASA Ames Research Center is investigating new and novel architectures that can satisfy the requirements for next generation control and automation concepts for aviation. Tighter integration between sensor and machine requires definition of specific sensor-directed control modes to tie the sensor data directly into a vehicle control structures throughout the entire control architecture, from low-level stability- and control loops, to higher level mission planning and scheduling reasoning systems. Payload directed flight systems can thus provide guidance, navigation, and control for vehicle platforms hosting a suite of onboard payload sensors. This paper outlines related research into the field of payload directed flight; and outlines requirements and operating concepts for payload directed flight systems based on identified needs from the scientific literature.'

Planning and Scheduling of Payloads of AstroSat During Initial and Normal Phase Observations

NASA Astrophysics Data System (ADS)

Pandiyan, R.; Subbarao, S. V.; Nagamani, T.; Rao, Chaitra; Rao, N. Hari Prasad; Joglekar, Harish; Kumar, Naresh; Dumpa, Surya Ratna Prakash; Chauhan, Anshu; Dakshayani, B. P.

2017-06-01

On 28th September 2015, India launched its first astronomical space observatory AstroSat, successfully. AstroSat carried five astronomy payloads, namely, (i) Cadmium Zinc Telluride Imager (CZTI), (ii) Large Area X-ray Proportional Counter (LAXPC), (iii) Soft X-ray Telescope (SXT), (iv) Ultra Violet Imaging Telescope (UVIT) and (v) Scanning Sky Monitor (SSM) and therefore, has the capability to observe celestial objects in multi-wavelength. Four of the payloads are co-aligned along the positive roll axis of the spacecraft and the remaining one is placed along the positive yaw axis direction. All the payloads are sensitive to bright objects and specifically, require avoiding bright Sun within a safe zone of their bore axes in orbit. Further, there are other operational constraints both from spacecraft side and payloads side which are to be strictly enforced during operations. Even on-orbit spacecraft manoeuvres are constrained to about two of the axes in order to avoid bright Sun within this safe zone and a special constrained manoeuvre is exercised during manoeuvres. The planning and scheduling of the payloads during the Performance Verification (PV) phase was carried out in semi-autonomous/manual mode and a complete automation is exercised for normal phase/Guaranteed Time Observation (GuTO) operations. The process is found to be labour intensive and several operational software tools, encompassing spacecraft sub-systems, on-orbit, domain and environmental constraints, were built-in and interacted with the scheduling tool for appropriate decision-making and science scheduling. The procedural details of the complex scheduling of a multi-wavelength astronomy space observatory and their working in PV phase and in normal/GuTO phases are presented in this paper.

Open-Loop Performance of COBALT Precision Landing Payload on a Commercial Sub-Orbital Rocket

NASA Technical Reports Server (NTRS)

Restrepo, Carolina I.; Carson, John M., III; Amzajerdian, Farzin; Seubert, Carl R.; Lovelace, Ronney S.; McCarthy, Megan M.; Tse, Teming; Stelling, Richard; Collins, Steven M.

2018-01-01

An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a navigation solution that is independent of GPS and suitable for future, autonomous, planetary, landing systems. COBALT was a passive payload during the open loop tests. COBALT's sensors were actively taking data and processing it in real time, but the Xodiac rocket flew with its own GPS-navigation system as a risk reduction activity in the maturation of the technologies towards space flight. A future closed-loop test campaign is planned where the COBALT navigation solution will be used to fly its host vehicle.

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

Autonomous Realtime Threat-Hunting Robot (ARTHR

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

INL

2008-05-29

Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

Autonomous Realtime Threat-Hunting Robot (ARTHR

ScienceCinema

INL

2017-12-09

Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

STS-59 Space Shuttle mission report

NASA Technical Reports Server (NTRS)

Fricke, Robert W., Jr.

1994-01-01

The STS-59 Space Shuttle Program Mission Report summarizes the Payload activities as well as the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Redesigned Solid Rocket Motor (RSRM), and the Space Shuttle main engine (SSME) systems performance during the sixty-second flight of the Space Shuttle Program and sixth flight of the Orbiter vehicle Endeavor (OV-105). In addition to the Orbiter, the flight vehicle consisted of an ET designated as ET-63; three SSME's which were designated as serial numbers 2028, 2033, and 2018 in positions 1, 2, and 3, respectively; and two SRB's which were designated BI-065. The RSRM's that were installed in each SRB were designated as 360W037A (welterweight) for the left SRB, and 360H037B (heavyweight) for the right SRB. This STS-59 Space Shuttle Program Mission Report fulfills the Space Shuttle Program requirement as documented in NSTS 07700, Volume 8, Appendix E. That document requires that each major organizational element supporting the Program report the results of its hardware evaluation and mission performance plus identify all related in-flight anomalies. The primary objective of the STS-59 mission was to successfully perform the operations of the Space Radar Laboratory-1 (SRL-1). The secondary objectives of this flight were to perform the operations of the Space Tissue Loss-A (STL-A) and STL-B payloads, the Visual Function Tester-4 (VFT-4) payload, the Shuttle Amateur Radio Experiment-2 (SAREX-2) experiment, the Consortium for Materials Development in Space Complex Autonomous Payload-4 (CONCAP-4), and the three Get-Away Special (GAS) payloads.

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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Health monitoring of Japanese payload specialist: Autonomic nervous and cardiovascular responses under reduced gravity condition (L-0)

NASA Technical Reports Server (NTRS)

Sekiguchi, Chiharu

1993-01-01

In addition to health monitoring of the Japanese Payload Specialists (PS) during the flight, this investigation also focuses on the changes of cardiovascular hemodynamics during flight which will be conducted under the science collaboration with the Lower Body Negative Pressure (LBNP) Experiment of NASA. For the Japanese, this is an opportunity to examine firsthand the effects of microgravity of human physiology. We are particularly interested in the adaption process and how it relates to space motion sickness and cardiovascular deconditioning. By comparing data from our own experiment to data collected by others, we hope to understand the processes involved and find ways to avoid these problems for future Japanese astronauts onboard Space Station Freedom and other Japanese space ventures. The primary objective of this experiment is to monitor the health condition of Japanese Payload Specialists to maintain a good health status during and after space flight. The second purpose is to investigate the autonomic nervous system's response to space motion sickness. To achieve this, the function of the autonomic nervous system will be monitored using non-invasive techniques. Data obtained will be employed to evaluate the role of autonomic nervous system in space motion sickness and to predict susceptibility to space motion sickness. The third objective is evaluation of the adaption process of the cardiovascular system to microgravity. By observation of the hemodynamics using an echocardiogram we will gain insight on cardiovascular deconditioning. The last objective is to create a data base for use in the health care of Japanese astronauts by obtaining control data in experiment L-O in the SL-J mission.

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.

Onboard Autonomy and Ground Operations Automation for the Intelligent Payload Experiment (IPEX) CubeSat Mission

NASA Technical Reports Server (NTRS)

Chien, Steve; Doubleday, Joshua; Ortega, Kevin; Tran, Daniel; Bellardo, John; Williams, Austin; Piug-Suari, Jordi; Crum, Gary; Flatley, Thomas

2012-01-01

The Intelligent Payload Experiment (IPEX) is a cubesat manifested for launch in October 2013 that will flight validate autonomous operations for onboard instrument processing and product generation for the Intelligent Payload Module (IPM) of the Hyperspectral Infra-red Imager (HyspIRI) mission concept. We first describe the ground and flight operations concept for HyspIRI IPM operations. We then describe the ground and flight operations concept for the IPEX mission and how that will validate HyspIRI IPM operations. We then detail the current status of the mission and outline the schedule for future development.

Autonomous Realtime Threat-Hunting Robot (ARTHR)

ScienceCinema

Idaho National Laboratory - David Bruemmer, Curtis Nielsen

2017-12-09

Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats. To learn more, visit

Autonomous Acqisition of Science Grade Spectra From UAS's

NASA Astrophysics Data System (ADS)

Mandl, D.; Campbell, P. K. E.; Sohlberg, R. A.; Ong, L.; Cappelaere, P. G.

2017-12-01

We assembled a payload box which contains a QE Pro and a Flame hyperspectral instruments. The payload was mounted on a DJI Matrice 600 drone. The total weight of the drone and the payload was 38 lbs. It was flown over a United States Department of Agricultural (USDA) research field where corn and soybeans were grown. The fields were subdivided into areas that had a variety of treatments such as low nitrogen and high nitrogen. The research is centered on correlating the treatments with the year-end crop yields. Our effort was to monitor spectral data to recognize photosynthetic activity via proxies such as solar induced fluorescence (SIF). To detect SIF requires optimized spectra which is normalized into reflectance. We perform the optimization routine onboard. The intent is to demonstrate a viable measurement campaign that would enable a researcher to measure the fields diurnally over a growing season. What we found out is that there was more complexity to trying to make this happen then we originally thought. For one thing, we had limited battery life, limited payload capacity and sometimes the cloud cover did not cooperate. So the question was how to intelligently apply the resources using some onboard processing and software. Our long term vision is to have multiple drones act as an intelligent cluster and self-manage their own deployment at multiple locations and multiple altitudes, auto-adjustments and intelligent management of errors. This presentation will go over lessons learned, achievements and future directions.

Autonomous support for microorganism research in space

NASA Astrophysics Data System (ADS)

Fleet, M. L.; Smith, J. D.; Klaus, D. M.; Luttges, M. W.

1993-02-01

A preliminary design for performing on orbit, autonomous research on microorganisms and cultured cells/tissues is presented. The payload is designed to be compatible with the COMercial Experiment Transporter (COMET), an orbiter middeck locker interface and with Space Station Freedom. Uplink/downlink capabilities and sample return through controlled reentry are available for all carriers. Autonomous testing activities are preprogrammed with in-flight reprogrammability. Sensors for monitoring temperature, pH, light, gravity levels, vibrations, and radiation are provided for environmental regulation and experimental data collection. Additional data acquisition includes optical density measurement, microscopy, video, and film photography. On-board data storage capabilities are provided. A fluid transfer mechanism is utilized for inoculation, sampling, and nutrient replenishment of experiment cultures. In addition to payload design, research opportunities are explored to illustrate hardware versatility and function. The project is defined to provide biological data pertinent to extended duration crewed space flight including crew health issues and development of a Controlled Ecological Life Support System (CELSS). In addition, opportunities are opened for investigations leading to commercial applications of space, such as pharmaceutical development, modeling of terrestrial diseases, and material processing.

A general architecture for intelligent training systems

NASA Technical Reports Server (NTRS)

Loftin, R. Bowen

1987-01-01

A preliminary design of a general architecture for autonomous intelligent training systems was developed. The architecture integrates expert system technology with teaching/training methodologies to permit the production of systems suitable for use by NASA, other government agencies, industry, and academia in the training of personnel for the performance of complex, mission-critical tasks. The proposed architecture consists of five elements: a user interface, a domain expert, a training session manager, a trainee model, and a training scenario generator. The design of this architecture was guided and its efficacy tested through the development of a system for use by Mission Control Center Flight Dynamics Officers in training to perform Payload-Assist Module Deploys from the orbiter.

Flight Analysis of an Autonomously Navigated Experimental Lander for High Altitude Recovery

NASA Technical Reports Server (NTRS)

Chin, Jeffrey; Niehaus, Justin; Goodenow, Debra; Dunker, Storm; Montague, David

2016-01-01

First steps have been taken to qualify a family of parafoil systems capable of increasing the survivability and reusability of high-altitude balloon payloads. The research is motivated by the common risk facing balloon payloads where expensive flight hardware can often land in inaccessible areas that make them difficult or impossible to recover. The Autonomously Navigated Experimental Lander (ANGEL) flight test introduced a commercial Guided Parachute Aerial Delivery System (GPADS) to a previously untested environment at 108,000ft MSL to determine its high-altitude survivability and capabilities. Following release, ANGEL descended under a drogue until approximately 25,000ft, at which point the drogue was jettisoned and the main parachute was deployed, commencing navigation. Multiple data acquisition platforms were used to characterize the return-to-point technology performance and help determine its suitability for returning future scientific payloads ranging from 180 to 10,000lbs to safer and more convenient landing locations. This report describes the test vehicle design, and summarizes the captured sensor data. Various post-flight analyses are used to quantify the system's performance, gondola load data, and serve as a reference point for subsequent missions.

Flight Analysis of an Autonomously Navigated Experimental Lander

NASA Technical Reports Server (NTRS)

Chin, Jeffrey; Niehaus, Justin; Goodenow, Debra; Dunker, Storm; Montague, David

2016-01-01

First steps have been taken to qualify a family of parafoil systems capable of increasing the survivability and reusability of high-altitude balloon payloads. The research is motivated by the common risk facing balloon payloads where expensive flight hardware can often land in inaccessible areas that make them difficult or impossible to recover. The Autonomously Navigated Experimental Lander (ANGEL) flight test introduced a commercial Guided Parachute Aerial Delivery System (GPADS) to a previously untested environment at 108,000 feet Mean Sea Level (MSL) to determine its high-altitude survivability and capabilities. Following release, ANGEL descended under a drogue until approximately 25,000 feet, at which point the drogue was jettisoned and the main parachute was deployed, commencing navigation. Multiple data acquisition platforms were used to characterize the return-to-point technology performance and help determine its suitability for returning future scientific payloads ranging from 180 to 10,000 pounds to safer and more convenient landing locations. This report describes the test vehicle design, and summarizes the captured sensor data. Various post-flight analyses are used to quantify the systems performance, gondola load data, and serve as a reference point for subsequent missions.

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.

AMO EXPRESS: A Command and Control Experiment for Crew Autonomy Onboard the International Space Station

NASA Technical Reports Server (NTRS)

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

2015-01-01

The Autonomous Mission Operations project is investigating crew autonomy capabilities and tools for deep space missions. Team members at Ames Research Center, Johnson Space Center and Marshall Space Flight Center are using their experience with ISS Payload operations and TIMELINER to: move earth based command and control assets to on-board for crew access; safely merge core and payload command procedures; give the crew single action intelligent operations; and investigate crew interface requirements.

Timeliner: Automating Procedures on the ISS

NASA Technical Reports Server (NTRS)

Brown, Robert; Braunstein, E.; Brunet, Rick; Grace, R.; Vu, T.; Zimpfer, Doug; Dwyer, William K.; Robinson, Emily

2002-01-01

Timeliner has been developed as a tool to automate procedural tasks. These tasks may be sequential tasks that would typically be performed by a human operator, or precisely ordered sequencing tasks that allow autonomous execution of a control process. The Timeliner system includes elements for compiling and executing sequences that are defined in the Timeliner language. The Timeliner language was specifically designed to allow easy definition of scripts that provide sequencing and control of complex systems. The execution environment provides real-time monitoring and control based on the commands and conditions defined in the Timeliner language. The Timeliner sequence control may be preprogrammed, compiled from Timeliner "scripts," or it may consist of real-time, interactive inputs from system operators. In general, the Timeliner system lowers the workload for mission or process control operations. In a mission environment, scripts can be used to automate spacecraft operations including autonomous or interactive vehicle control, performance of preflight and post-flight subsystem checkouts, or handling of failure detection and recovery. Timeliner may also be used for mission payload operations, such as stepping through pre-defined procedures of a scientific experiment.

Counter-balanced, multiple cable construction crane

NASA Astrophysics Data System (ADS)

Mikulas, Martin M., Jr.; Yang, Li-Farn

1991-11-01

The invention is a counter-balanced, multiple cable construction crane. The apparatus for hoisting payloads comprises a crane having a lifting means, the lifting means comprising an end effector means and three suspension means or cables. One end of each cable attaches to a different winding means located on the lifting means, and the other end of each cable attaches to a different point on the end effector, such that the three cables have a theoretical point of convergence with this point corresponding to the center of mass of the payload. Three controls command rotation of the winding means to a predetermined position. Accordingly, the crane provides precise and autonomous positioning of the payload without human guidance. The crane further comprises a counter-balancing means. Two controls position the counter-balancing means to offset the overturning moment which arises during the lifting of heavy payloads.

Counter-balanced, multiple cable construction crane

NASA Astrophysics Data System (ADS)

Mikulas, Martin M., Jr.; Yang, Li-Farn

1993-10-01

The invention is a counter-balanced, multiple cable construction crane. The apparatus for hoisting payloads comprises a crane having a lifting means, the lifting means comprising an end effector means and three suspension means or cables. One end of each cable attaches to a different winding means located on the lifting means, and the other end of each cable attaches to a different point on the end effector, such that the three cables have a theoretical point of convergence with this point corresponding to the center of mass of the payload. Three controls command rotation of the winding means to a predetermined position. Accordingly, the crane provides precise and autonomous positioning of the payload without human guidance. The crane further comprises a counter-balancing means. Two controls position the counter-balancing means to offset the overturning moment which arises during the lifting of heavy payloads.

Counter-balanced, multiple cable construction crane

NASA Technical Reports Server (NTRS)

Mikulas, Martin M., Jr. (Inventor); Yang, Li-Farn (Inventor)

1993-01-01

The invention is a counter-balanced, multiple cable construction crane. The apparatus for hoisting payloads comprises a crane having a lifting means, the lifting means comprising an end effector means and three suspension means or cables. One end of each cable attaches to a different winding means located on the lifting means, and the other end of each cable attaches to a different point on the end effector, such that the three cables have a theoretical point of convergence with this point corresponding to the center of mass of the payload. Three controls command rotation of the winding means to a predetermined position. Accordingly, the crane provides precise and autonomous positioning of the payload without human guidance. The crane further comprises a counter-balancing means. Two controls position the counter-balancing means to offset the overturning moment which arises during the lifting of heavy payloads.

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.

Network Payload Integration for the Scan-Eagle UAV

DTIC Science & Technology

2007-12-01

With the increasing maturity of MESH network technology, it is inevitable that we exploit the synergistic capabilities in networking of autonomous ... vehicles . The interconnectivity enables the sharing or dissemination of information between various nodes and has the capability to enhance

Conceptual design of a multiple cable crane for planetary surface operations

NASA Technical Reports Server (NTRS)

Mikulas, Martin M., Jr.; Yang, Li-Farn

1991-01-01

A preliminary design study is presented of a mobile crane suitable for conducting remote, automated construction operations on planetary surfaces. A cursory study was made of earth based mobile cranes and the needs for major improvements were identified. Current earth based cranes have a single cable supporting the payload, and precision positioning is accomplished by the use of construction workers controlling the payload by the use of tethers. For remote, autonomous operations on planetary surfaces it will be necessary to perform the precision operations without the use of humans. To accomplish this the payload must be stabilized relative to the crane. One approach for accomplishing this is to suspend the payload on multiple cable. A 3-cable suspension system crane concept is discussed. An analysis of the natural frequency of the system is presented which verifies the legitimacy of the concept.

Searching for Lunar Water: The Lunar Volatile Resources Analysis Package

NASA Technical Reports Server (NTRS)

Morse, A. D.; Barber, S. J.; Dewar, K. R.; Pillinger, J. M.; Sheridan, S.; Wright, I, P.; Gibson, E. K.; Merrifield, J. A.; Howe, C. J.; Waugh, L. J.;

STS-56 view of freeflying SPARTAN-201 backdropped over the Mediterranean Sea

NASA Image and Video Library

1993-04-17

During STS-56, the Shuttle Pointed Autonomous Research Tool for Astronomy 201 (SPARTAN-201), a freeflying payload, was photographed by Discovery's, Orbiter Vehicle (OV) 103's, crewmembers as it drifted above the Mediterranean Sea near the island of Crete. On the mission's third day, the remote manipulator system (RMS) arm was used to lift SPARTAN-201 from its support structure in OV-103's payload bay and release it in space. SPARTAN-201 was later recaptured by OV-103's RMS and returned to Earth with the astronaut crew.

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;

Automated Derivation of Complex System Constraints from User Requirements

NASA Technical Reports Server (NTRS)

Muery, Kim; Foshee, Mark; Marsh, Angela

2006-01-01

International Space Station (ISS) payload developers submit their payload science requirements for the development of on-board execution timelines. The ISS systems required to execute the payload science operations must be represented as constraints for the execution timeline. Payload developers use a software application, User Requirements Collection (URC), to submit their requirements by selecting a simplified representation of ISS system constraints. To fully represent the complex ISS systems, the constraints require a level of detail that is beyond the insight of the payload developer. To provide the complex representation of the ISS system constraints, HOSC operations personnel, specifically the Payload Activity Requirements Coordinators (PARC), manually translate the payload developers simplified constraints into detailed ISS system constraints used for scheduling the payload activities in the Consolidated Planning System (CPS). This paper describes the implementation for a software application, User Requirements Integration (URI), developed to automate the manual ISS constraint translation process.

Autonomous support for microorganism research in space

NASA Technical Reports Server (NTRS)

Fleet, Mary L.; Miller, Mark S.; Shipley, Derek, E.; Smith, Jeff D.

1992-01-01

A preliminary design for performing on orbit, autonomous research on microorganisms and cultured cells/tissues is presented. An understanding of gravity and its effects on cells is crucial for space exploration as well as for terrestrial applications. The payload is designed to be compatible with the Commercial Experiment Transporter (COMET) launch vehicle, an orbiter middeck locker interface, and with Space Station Freedom. Uplink/downlink capabilities and sample return through controlled reentry are available for all carriers. Autonomous testing activities are preprogrammed with in-flight reprogrammability. Sensors for monitoring temperature, pH, light, gravity levels, vibrations, and radiation are provided for environmental regulation and experimental data collection. Additional experimental data acquisition includes optical density measurement, microscopy, video, and film photography. On-board full data storage capabilities are provided. A fluid transfer mechanism is utilized for inoculation, sampling, and nutrient replenishment of experiment cultures. In addition to payload design, representative experiments were developed to ensure scientific objectives remained compatible with hardware capabilities. The project is defined to provide biological data pertinent to extended duration crewed space flight including crew health issues and development of a Controlled Ecological Life Support System (CELSS). In addition, opportunities are opened for investigations leading to commercial applications of space, such as pharmaceutical development, modeling of terrestrial diseases, and material processing.

Autonomous support for microorganism research in space

NASA Technical Reports Server (NTRS)

Luttges, M. W.; Klaus, D. M.; Fleet, M. L.; Miller, M. S.; Shipley, D. E.; Smith, J. D.

1992-01-01

A preliminary design for performing on-orbit, autonomous research on microorganisms and cultured cells/tissues is presented. An understanding of gravity and its effects on cells is crucial for space exploration as well as for terrestrial applications. The payload is designed to be compatible with the COMmercial Experiment Transported (COMET) launch vehicle, an orbiter middeck locker interface, and with Space Station Freedom. Uplink/downlink capabilities and sample return through controlled reentry are available for all carriers. Autonomous testing activities are preprogrammed with inflight reprogrammability. Sensors for monitoring temperature, pH, light, gravity levels, vibration, and radiation are provided for environmental regulation and experimental data collection. Additional experiment data acquisition includes optical density measurement, microscopy, video, and file photography. Onboard full data storage capabilities are provided. A fluid transfer mechanism is utilized for inoculation, sampling, and nutrient replenishment of experiment cultures. In addition to payload design, representative experiments were developed to ensure scientific objectives remained compatible with hardware capabilities. The project is defined to provide biological data pertinent to extended duration crewed space flight including crew health issues and development of a Controlled Ecological Life Support System (CELSS). In addition, opportunities are opened for investigations leading to commercial applications of space, such as pharmaceutical development, modeling of terrestrial diseases, and material processing.

Interior of Spacewedge #3

NASA Image and Video Library

1996-01-22

This photo shows the instrumentation and equipment inside the Spacewedge #3, a remotely-piloted research vehicle flown at the Dryden Flight Research Center, Edwards, California, to help develop technology for autonomous return systems for spacecraft as well as methods to deliver large Army cargo payloads to precise landings.

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;

Maiden Voyage of the Under-Ice Float

NASA Astrophysics Data System (ADS)

Shcherbina, A.; D'Asaro, E. A.; Light, B.; Deming, J. W.; Rehm, E.

2016-02-01

The Under-Ice Float (UIF) is a new autonomous platform for sea ice and upper ocean observations in the marginal ice zone (MIZ). UIF is based on the Mixed Layer Lagrangian Float design, inheriting its accurate buoyancy control and relatively heavy payload capability. A major challenge for sustained autonomous observations in the MIZ is detection of open water for navigation and telemetry surfacings. UIF employs the new surface classification algorithm based on the spectral analysis of surface roughness sensed by an upward-looking sonar. A prototype UIF was deployed in the MIZ of the central Arctic Ocean in late August 2015. The main payload of the first UIF was a bio-optical suit consisting of upward- and downward hyperspectral radiometers; temperature, salinity, chlorophyll, turbidity, and dissolved oxygen sensors, and a high-definition photo camera. In the early stages of its mission, the float successfully avoided ice, detected leads, surfaced in open water, and transmitted data and photographs. We will present the analysis of these observations from the full UIF mission extending into the freeze-up season.

STS-47 crew and backups at MSFC's Payload Crew Training Complex

NASA Technical Reports Server (NTRS)

1992-01-01

STS-47 Endeavour, Orbiter Vehicle (OV) 105, Spacelab Japan (SLJ) crewmembers and backup payload specialists stand outside SLJ module mockup at the Payload Crew Training Complex at Marshall SpaceFlight Center (MSFC) in Huntsville, Alabama. From left to right are Payload Specialist Mamoru Mohri, backup Payload Specialist Takao Doi, backup Payload Specialist Chiaki Naito-Mukai, Mission Specialist (MS) Mae C. Jemison, MS N. Jan Davis, backup Payload Specialist Stan Koszelak, and MS and Payload Commander (PLC) Mark C. Lee. The MSFC-managed mission is a joint venture in space-based research between the United States and Japan. Mohri, Doi, and Mukai represent Japan's National Space Development Agency (NASDA). View provided with alternate number 92P-142.

STS-55 German Payload Specialist Schlegel manipulates ROTEX controls in SL-D2

NASA Technical Reports Server (NTRS)

1993-01-01

STS-55 German Payload Specialist 2 Hans Schlegel, wearing goggles (eye glasses) and positioned in front of Spacelab Deutsche 2 (SL-D2) Rack 4 System Rack controls, operates Robotics Technology Experiment (ROTEX) arm. ROTEX is a robotic arm that operates within an enclosed workcell in Rack 6 (partially visible in the foreground) and uses teleoperation from both an onboard station located nearby in Rack 4 and from a station on the ground. The device uses teleprogramming and artificial intelligence to look at the design, verification and operation of advanced autonomous systems for use in future applications. Schlegel represents the German Aerospace Research Establishment (DLR). SL-D2, a German-managed payload, is aboard Columbia, Orbiter Vehicle (OV) 102, for this science research mission.

Evaluation of a Mobile Platform for Proof-of-Concept Autonomous Site Selection and Preparation

NASA Astrophysics Data System (ADS)

Gammell, Jonathan

A mobile robotic platform for Autonomous Site Selection and Preparation (ASSP) was developed for an analogue deployment to Mauna Kea, Hawai`i. A team of rovers performed an autonomous Ground Penetrating Radar (GPR) survey and constructed a level landing pad. They used interchangeable payloads that allowed the GPR and blade to be easily exchanged. Autonomy was accomplished by integrating the individual hardware devices with software based on the ArgoSoft framework previously developed at UTIAS. The rovers were controlled by an on-board netbook. The successes and failures of the devices and software modules are evaluated within. Recommendations are presented to address problems discovered during the deployment and to guide future research on the platform.

Fault tolerant and lifetime control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Bogdanov, Alexander; Chen, Yi-Liang; Sundareswaran, Venkataraman; Altshuler, Thomas

2008-04-01

Increased vehicle autonomy, survivability and utility can provide an unprecedented impact on mission success and are one of the most desirable improvements for modern autonomous vehicles. We propose a general architecture of intelligent resource allocation, reconfigurable control and system restructuring for autonomous vehicles. The architecture is based on fault-tolerant control and lifetime prediction principles, and it provides improved vehicle survivability, extended service intervals, greater operational autonomy through lower rate of time-critical mission failures and lesser dependence on supplies and maintenance. The architecture enables mission distribution, adaptation and execution constrained on vehicle and payload faults and desirable lifetime. The proposed architecture will allow managing missions more efficiently by weighing vehicle capabilities versus mission objectives and replacing the vehicle only when it is necessary.

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.

Space Shuttle Projects

NASA Image and Video Library

1994-10-08

Designed by the crew members, the STS-63 crew patch depicts the orbiter maneuvering to rendezvous with Russia's Space Station Mir. The name is printed in Cyrillic on the side of the station. Visible in the Orbiter's payload bay are the commercial space laboratory Spacehab and the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN) satellite which are major payloads on the flight. The six points on the rising sun and the three stars are symbolic of the mission's Space Transportation System (STS) numerical designation. Flags of the United States and Russia at the bottom of the patch symbolize the cooperative operations of this mission.

Adaptive glide slope control for parafoil and payload aircraft

NASA Astrophysics Data System (ADS)

Ward, Michael

Airdrop systems provide a unique capability of delivering large payloads to undeveloped and inaccessible locations. Traditionally, these systems have been unguided, requiring large landing zones and drops from low altitude. The invention of the steerable, gliding, ram-air parafoil enabled the possibility of precision aerial payload delivery. In practice, the gliding ability of the ram-air parafoil can actually create major problems for airdrop systems by making them more susceptible to winds and allowing them to achieve far greater miss distances than were previously possible. Research and development work on guided airdrop systems has focused primarily on evolutionary improvements to the guidance algorithm, while the navigation and control algorithms have changed little since the initial autnomous systems were developed. Furthermore, the control mechanisms have not changed since the invention of the ram-air canopy in the 1960’s. The primary contributions of this dissertation are: (1) the development of a reliable and robust method to identify a flight dynamic model for a parafoil and payload aircraft using minimal sensor data; (2) the first demonstration in flight test of the ability to achieve large changes in glide slope over ground using coupled incidence angle variation and trailing edge brake deflection; (3) the first development of a control law to implement glide slope control on an autonomous system; (4) the first flight tests of autonomous landing with a glide slope control mechanism demonstrating an improvement in landing accuracy by a factor of 2 or more in especially windy conditions, and (5) the first demonstrations in both simulation and flight test of the ability to perform in-flight system identification to adapt the internal control mappings to flight data and provide dramatic improvements in landing accuracy when there is a significant discrepancy between the assumed and actual flight characteristics.

Rocket Science at the Nanoscale.

PubMed

Li, Jinxing; Rozen, Isaac; Wang, Joseph

2016-06-28

Autonomous propulsion at the nanoscale represents one of the most challenging and demanding goals in nanotechnology. Over the past decade, numerous important advances in nanotechnology and material science have contributed to the creation of powerful self-propelled micro/nanomotors. In particular, micro- and nanoscale rockets (MNRs) offer impressive capabilities, including remarkable speeds, large cargo-towing forces, precise motion controls, and dynamic self-assembly, which have paved the way for designing multifunctional and intelligent nanoscale machines. These multipurpose nanoscale shuttles can propel and function in complex real-life media, actively transporting and releasing therapeutic payloads and remediation agents for diverse biomedical and environmental applications. This review discusses the challenges of designing efficient MNRs and presents an overview of their propulsion behavior, fabrication methods, potential rocket fuels, navigation strategies, practical applications, and the future prospects of rocket science and technology at the nanoscale.

High Resolution Airborne Laser Scanning and Hyperspectral Imaging with a Small Uav Platform

NASA Astrophysics Data System (ADS)

Gallay, Michal; Eck, Christoph; Zgraggen, Carlo; Kaňuk, Ján; Dvorný, Eduard

2016-06-01

The capabilities of unmanned airborne systems (UAS) have become diverse with the recent development of lightweight remote sensing instruments. In this paper, we demonstrate our custom integration of the state-of-the-art technologies within an unmanned aerial platform capable of high-resolution and high-accuracy laser scanning, hyperspectral imaging, and photographic imaging. The technological solution comprises the latest development of a completely autonomous, unmanned helicopter by Aeroscout, the Scout B1-100 UAV helicopter. The helicopter is powered by a gasoline two-stroke engine and it allows for integrating 18 kg of a customized payload unit. The whole system is modular providing flexibility of payload options, which comprises the main advantage of the UAS. The UAS integrates two kinds of payloads which can be altered. Both payloads integrate a GPS/IMU with a dual GPS antenna configuration provided by OXTS for accurate navigation and position measurements during the data acquisition. The first payload comprises a VUX-1 laser scanner by RIEGL and a Sony A6000 E-Mount photo camera. The second payload for hyperspectral scanning integrates a push-broom imager AISA KESTREL 10 by SPECIM. The UAS was designed for research of various aspects of landscape dynamics (landslides, erosion, flooding, or phenology) in high spectral and spatial resolution.

Positioning challenges in reconfigurable semi-autonomous robotic NDE inspection

NASA Astrophysics Data System (ADS)

Pierce, S. Gareth; Dobie, Gordon; Summan, Rahul; Mackenzie, Liam; Hensman, James; Worden, Keith; Hayward, Gordon

2010-03-01

This paper describes work conducted into mobile, wireless, semi-autonomous NDE inspection robots developed at The University of Strathclyde as part of the UK Research Centre for Non Destructive Evaluation (RCNDE). The inspection vehicles can incorporate a number of different NDE payloads including ultrasonic, eddy current, visual and magnetic based payloads, and have been developed to try and improve NDE inspection techniques in challenging inspection areas (for example oil, gas, and nuclear structures). A significant research challenge remains in the accurate positioning and guidance of such vehicles for real inspection tasks. Employing both relative and absolute position measurements, we discuss a number of approaches to position estimation including Kalman and particle filtering. Using probabilistic approaches enables a common mathematical framework to be employed for both positioning and data fusion from different NDE sensors. In this fashion the uncertainties in both position and defect identification and classification can be dealt with using a consistent approach. A number of practical constraints and considerations to different precision positioning techniques are discussed, along with NDE applications and the potential for improved inspection capabilities by utilising the inherent reconfigurable capabilities of the inspection vehicles.

Payload Crew Training Complex (PCTC) utilization and training plan

NASA Technical Reports Server (NTRS)

Self, M. R.

1980-01-01

The physical facilities that comprise the payload crew training complex (PCTC) are described including the host simulator; experiment simulators; Spacelab aft flight deck, experiment pallet, and experiment rack mockups; the simulation director's console; payload operations control center; classrooms; and supporting soft- and hardware. The parameters of a training philosophy for payload crew training at the PCTC are established. Finally the development of the training plan is addressed including discussions of preassessment, and evaluation options.

STS-63 crew insignia

NASA Technical Reports Server (NTRS)

1994-01-01

Designed by the crew members, the crew patch depicts the Orbiter maneuving to rendezvous with Russia's Space Station Mir. The name is printed in Cyrillic on the side of the station. Visible in the Orbiter's payload bay are the commercial space laboratory Spacehab and the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN) satellite which are major payloads on the flight. The six points on the rising sun and the three stars are symbolic of the mission's Space Transportation System (STS) numerical designation. Flags of the United States and Russia at the bottom of the patch symbolize the cooperative operations of this mission. The crew will be flying aboard the space shuttle Discovery.

Design and evaluation of a payload to support plant growth onboard COMET 1

NASA Technical Reports Server (NTRS)

Hoehn, A.; Kliss, M. H.; Luttges, M. W.; Robinson, M. C.; Stodieck, L. S.

1992-01-01

The paper describes the design and the operation principles of the Plant Module for Autonomous Space Support (P-MASS), designed to provide life support for a variety of plants, algae, and bacteria in low earth orbit during the maiden flight of COMET-1, scheduled for 1993. During flight (scheduled to continue for 30 days), both color video images and collected environmental data (including light intensity, temperature, relative humidity, CO2 and O2 concentrations, soil moisture, and nutrients released) will be downlinked to earth several times a day. These data will also be stored within the payload and retrieved from it after reentry and recovery.

WEB - A Wireless Experiment Box for the Dextre Pointing Package ELC Payload

NASA Technical Reports Server (NTRS)

Bleier, Leor Z.; Marrero-Fontanez, Victor J.; Sparacino, Pietro A.; Moreau, Michael C.; Mitchell, Jason William

2012-01-01

The Wireless Experiment Box (WEB) was proposed to work with the International Space Station (ISS) External Wireless Communication (EWC) system to support high-definition video from the Dextre Pointing Package (DPP). DPP/WEB was a NASA GSFC proposed ExPRESS Logistics Carrier (ELC) payload designed to flight test an integrated suite of Autonomous Rendezvous and Docking (AR&D) technologies to enable a wide spectrum of future missions across NASA and other US Government agencies. The ISS EWC uses COTS Wireless Access Points (WAPs) to provide high-rate bi-directional communications to ISS. In this paper, we discuss WEB s packaging, operation, antenna development, and performance testing.

Web: A Wireless Experiment Box for the Dextre Pointing Package ELC Payload

NASA Technical Reports Server (NTRS)

Bleier, Leor Z.; Marrero-Fontanez, Victor J.; Sparacino, Pietro A.; Moreau, Michael C.; Mitchell, Jason W.

2012-01-01

The Wireless Experiment Box (WEB) was proposed to work with the International Space Station (ISS) External Wireless Communication (EWC) system to support high-definition video from the Dextre Pointing Package (DPP). DPP/WEB was a NASA GSFC proposed ExPRESS Logistics Carrier (ELC) payload designed to flight test an integrated suite of Autonomous Rendezvous and Docking (AR&D) technologies to enable a wide spectrum of future missions across NASA and other US Government agencies. The ISS EWC uses COTS Wireless Access Points (WAPs) to provide high-rate bi-directional communications to ISS. In this paper, we discuss WEB s packaging, operation, antenna development, and performance testing.

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.

AMO EXPRESS: A Command and Control Experiment for Crew Autonomy Onboard the International Space Station

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 experiment on-board the International Space Station that demonstrated single action intelligent procedures for crew command and control. The target problem was to enable crew initialization of a facility class rack 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 initialization of a medical facility to respond to 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). Utilization of Draper Laboratory's Timeliner software, deployed on-board the ISS within the Command and Control (C&C) computers and the Payload computers, allowed development of the automated procedures specific to ISS without having to certify and employ novel software for procedure development and execution. The procedures contained the ground procedure logic and actions as possible to include fault detection and recovery capabilities.

Autonomous rendezvous and docking operations of unmanned expendable cargo transfer vehicles (e.g. Centaur) with Space Station Freedom

NASA Technical Reports Server (NTRS)

Emmet, Brian R.

1991-01-01

This paper describes the results of the feasibility study using Centaur or other CTV's to deliver payloads to the Space Station Freedom (SSF). During this study was examined the requirements upon unmanned cargo transfer stages (including Centaur) for phasing, rendezvous, proximity operations and docking/berthing (capture).

An autonomous flying vehicle for Mars exploration

NASA Astrophysics Data System (ADS)

Bouras, Peter; Fox, Tim

1990-09-01

A remotely reprogrammable, autonomous flying craft for surveying and mapping the Martian surface environment is presented. This solar powered, modified flying wing design could cover about 2000 statute miles while maneuvering at Mach 0.3. The craft is configured to fly one km above the surface, measuring atmospheric properties, performing subsurface mapping, mapping the surface topography, and searching for the presence of water and perhaps life. A 35 kg scientific payload, plus communication and control electronics, are placed spanwise inside the flying wing, removing the requirement for a normal fuselage, and reducing structural needs. Thrust is provided by a two-bladed electrically driven propeller motorized by high-efficiency solar cells.

Technical Report: Unmanned Helicopter Solution for Survey-Grade Lidar and Hyperspectral Mapping

NASA Astrophysics Data System (ADS)

Kaňuk, Ján; Gallay, Michal; Eck, Christoph; Zgraggen, Carlo; Dvorný, Eduard

2018-05-01

Recent development of light-weight unmanned airborne vehicles (UAV) and miniaturization of sensors provide new possibilities for remote sensing and high-resolution mapping. Mini-UAV platforms are emerging, but powerful UAV platforms of higher payload capacity are required to carry the sensors for survey-grade mapping. In this paper, we demonstrate a technological solution and application of two different payloads for highly accurate and detailed mapping. The unmanned airborne system (UAS) comprises a Scout B1-100 autonomously operating UAV helicopter powered by a gasoline two-stroke engine with maximum take-off weight of 75 kg. The UAV allows for integrating of up to 18 kg of a customized payload. Our technological solution comprises two types of payload completely independent of the platform. The first payload contains a VUX-1 laser scanner (Riegl, Austria) and a Sony A6000 E-Mount photo camera. The second payload integrates a hyperspectral push-broom scanner AISA Kestrel 10 (Specim, Finland). The two payloads need to be alternated if mapping with both is required. Both payloads include an inertial navigation system xNAV550 (Oxford Technical Solutions Ltd., United Kingdom), a separate data link, and a power supply unit. Such a constellation allowed for achieving high accuracy of the flight line post-processing in two test missions. The standard deviation was 0.02 m (XY) and 0.025 m (Z), respectively. The intended application of the UAS was for high-resolution mapping and monitoring of landscape dynamics (landslides, erosion, flooding, or crops growth). The legal regulations for such UAV applications in Switzerland and Slovakia are also discussed.

The real-time control of planetary rovers through behavior modification

NASA Technical Reports Server (NTRS)

Miller, David P.

1991-01-01

It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.

DORADO/DOLPHIN: A Unique Semi-submersible Autonomous Vehicle for Ocean Field Experiments.

NASA Astrophysics Data System (ADS)

Wallace, D.

2016-02-01

The Ocean Science and Technology research group (CERC.OCEAN) at Dalhousie University focuses on new approaches to the design and development of autonomous platforms to study biogeochemical and ecological changes in the world's oceans. Mesoscale "patch" experiments involving tracers are used to test hypotheses (e.g. iron fertilization) and examine near-surface processes and air-sea exchange. Such experiments typically require mapping of rapidly-evolving properties on scales of 10's to 100's of kilometers. These experiments typically employ a research vessel to monitor patch movement and to support process studies: however allocation of expensive vessel time between these uses can be problematic. We present a class of autonomous vehicle with unique potential for mesoscale mapping and experimental science at sea. The Dorado/Dolphin semi-submersibles, manufactured by International Submarine Engineering Ltd., travel just below the sea surface. A surface-piercing, "snorkel" mast allows use of a diesel engine allowing speeds of up to 16 knots and sufficient power for support of complex payloads. A tow-body can profile to 200m. The mast allows air sampling with near-zero atmospheric disturbance as well as remote sensing of the sea surface. The characteristics of this type of vehicle will be compared with those of other available platforms. We will report on our adaptation of the vehicle for measurement of gases and purposeful tracers (e.g. SF5CF3) as well as properties such as T, S, pCO2, O2, fluorescence, etc. and present and solicit ideas for the vehicles' further application/use for ocean science.

STS-40 crew trains in JSC's SLS mockup located in Bldg 36

NASA Image and Video Library

1987-03-10

STS-40 Payload Specialist Millie Hughes-Fulford along with backup payload specialist Robert Ward Phillips familiarize themselves with Spacelab Life Sciences 1 (SLS-1) equipment. The two scientists are in JSC's Life Sciences Project Division (LSPD) SLS mockup located in the Bioengineering and Test Support Facility Bldg 36. Hughes-Fulford, in the center aisle, pulls equipment from an overhead stowage locker while Phillips, in the foreground, experiments with the baroreflex neck pressure chamber at Rack 11. The baroreflex collar will be used in conjuction with Experiment No. 022, Influence of Weightlessness Upon Human Autonomic Cardiovascular Control. Behind Phillips in the center aisle are body mass measurement device (BMMD) (foreground) and the stowed bicycle ergometer.

STS-56 freeflying SPARTAN-201 backdropped over the Red Sea coast of Sudan

NASA Image and Video Library

1993-04-17

During STS-56, the Shuttle Pointed Autonomous Research Tool for Astronomy 201 (SPARTAN-201), a freeflying payload, was captured on 70mm film as it drifts over the Red Sea coast of Sudan. SPARTAN-201 was photographed by the crewmembers aboard Discovery, Orbiter Vehicle (OV) 103. On the mission's third day, crewmembers used the remote manipulator system (RMS) to lift the satellite from its support structure in OV-103's payload bay (PLB) and release it into space. SPARTAN-201 was later recaptured by OV-103's RMS and returned to Earth with the astronaut crew. The cape structure in the background is Ras abu Shagara, north of Port Sudan.

STS-47 MS Davis trains at Payload Crew Training Complex at Marshall SFC

NASA Technical Reports Server (NTRS)

1992-01-01

STS-47 Endeavour, Orbiter Vehicle (OV) 105, Mission Specialist (MS) N. Jan Davis, wearing the Autogenic Feedback Training System 2 suit and lightweight headset, reviews a Payload Systems Handbook in the Spacelab Japan (SLJ) mockup during training at the Payload Crew Training Complex at Marshall Space Flight Center (MSFC) in Huntsville, Alabama. View provided with alternate number 92P-137.

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.

STS-47 MS Jemison trains in SLJ module at MSFC Payload Crew Training Complex

NASA Technical Reports Server (NTRS)

1992-01-01

STS-47 Endeavour, Orbiter Vehicle (OV) 105, Mission Specialist (MS) Mae C. Jemison, wearing Autogenic Feedback Training System 2 suit, works with the Frog Embryology Experiment in a General Purpose Workstation (GPWS) in the Spacelab Japan (SLJ) module mockup at the Payload Crew Training Complex. The experiment will study the effects of weightlessness on the development of frog eggs fertilized in space. The Payload Crew Training Complex is located at the Marshall Space Flight Center (MSFC) in Huntsville, Alabama. View provided with alternate number 92P-139.

9. PAYLOAD CONTROL CONSOLE NEAR EAST WALL OF SLC3W CONTROL ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

9. PAYLOAD CONTROL CONSOLE NEAR EAST WALL OF SLC-3W CONTROL ROOM. PAYLOAD CONTROLS INSTALLED IN CONSOLE BY THE PAYLOAD SPONSOR PRIOR TO EACH LAUNCH. - Vandenberg Air Force Base, Space Launch Complex 3, Launch Operations Building, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Life Science Research in Outer Space: New Platform Technologies for Low-Cost, Autonomous Small Satellite Missions

NASA Technical Reports Server (NTRS)

Ricco, Antonio J.; Parra, Macarena P.; Niesel, David; McGinnis, Michael; Ehrenfreund, Pascale; Nicholson, Wayne; Mancinelli, Rocco; Piccini, Matthew E.; Beasley, Christopher C.; Timucin, Linda R.;

A Custom Robotic System for Inspecting HEPA Filters in the Payload Changeout Room at the NASA Kennedy Space Center

NASA Technical Reports Server (NTRS)

Spencer, James E., Jr.; Looney, Joe

1994-01-01

In this paper, the prime objective is to describe a custom 4-dof (degree-of-freedom) robotic arm capable of autonomously or telerobotically performing systematic HEPA filter inspection and certification in the Shuttle Launch Pad Payload Changeout Rooms (PCR's) on pads A and B at the Kennedy Space Center, Florida. This HEPA filter inspection robot (HFIR) has been designed to be easily deployable and is equipped with the necessary sensory devices, control hardware, software and man-machine interfaces needed to implement HEPA filter inspection reliably and efficiently without damaging the filters or colliding with existing PCR structures or filters. The main purpose of the HFIR is to implement an automated positioning system to move special inspection sensors in pre-defined or manual patterns for the purpose of verifying filter integrity and efficiency. This will ultimately relieve NASA Payload Operations from significant problems associated with time, cost and personnel safety, impacts realized during non-automated PCR HFIR filter certification.

Investigating the Impact of a Solar Eclipse on Atmospheric Radiation

NASA Astrophysics Data System (ADS)

Fender, Josh; Morse, Justin; Ringler, John; Galovich, Cynthia; Kuehn, Charles A.; Semak, Matthew

2018-06-01

We present a project that measured atmospheric muon flux as a function of altitude during a total solar eclipse. An auxiliary goal was to design and build a cost-effective muon detection device that is simple enough for those with minimal training to build. The detector is part of a self-contained autonomous payload that is carried to altitude aboard a weather balloon. The detection system consists of three Geiger counters connected to a coincidence circuit. This system, along with internal and external temperature sensors and an altimeter, are controlled by an onboard Arduino Mega microcontroller. An internal frame was constructed to house and protect the payload components using modular 3D-printed parts. The payload was launched during the 2017 solar eclipse from Guernsey, Wyoming, along the path of totality. Initial data analysis indicates that line-of-sight blockage of the sun due to a total eclipse produces a negligible difference in muon flux when compared to the results of previous daytime flights. The successful performance of the payload, its low overall cost, and its ease of use suggest that this project would be well-suited for individuals or groups such as high school or undergraduate science students to reproduce and enhance.

Space Congress, 27th, Cocoa Beach, FL, Apr. 24-27, 1990, Proceedings

NASA Technical Reports Server (NTRS)

1990-01-01

The present symposium on aeronautics and space encompasses DOD research and development, science payloads, small microgravity carriers, the Space Station, technology payloads and robotics, commercial initiatives, STS derivatives, space exploration, and DOD space operations. Specific issues addressed include the use of AI to meet space requirements, the Astronauts Laboratory Smart Structures/Skins Program, the Advanced Liquid Feed Experiment, an overview of the Spacelab program, the Autonomous Microgravity Industrial Carrier Initiative, and the Space Station requirements and transportation options for a lunar outpost. Also addressed are a sensor-data display for telerobotic systems, the Pegasus and Taurus launch vehicles, evolutionary transportation concepts, the upgrade of the Space Shuttle avionics, space education, orbiting security sentinels, and technologies for improving launch-vehicle responsiveness.

Payload-Directed Control of Geophysical Magnetic Surveys

NASA Technical Reports Server (NTRS)

Lee, Ritchie; Yeh, Yoo-Hsiu; Ippolito, Corey; Spritzer, John; Phelps, Geoffrey

2010-01-01

Using non-navigational (e.g. imagers, scientific) sensor information in control loops is a difficult problem to which no general solution exists. Whether the task can be successfully achieved in a particular case depends highly on problem specifics, such as application domain and sensors of interest. In this study, we investigate the feasibility of using magnetometer data for control feedback in the context of geophysical magnetic surveys. An experimental system was created and deployed to (a) assess sensor integration with autonomous vehicles, (b) investigate how magnetometer data can be used for feedback control, and (c) evaluate the feasibility of using such a system for geophysical magnetic surveys. Finally, we report the results of our experiments and show that payload-directed control of geophysical magnetic surveys is indeed feasible.

STS-55 German Payload Specialist Schlegel manipulates ROTEX controls in SL-D2

NASA Image and Video Library

1993-05-06

STS055-106-100 (26 April-6 May 1993) --- Hans Schlegel, wearing special glasses, works at the Robotics Experiment (ROTEX) workstation in the science module aboard the Earth-orbiting Space Shuttle Columbia. Schlegel was one of two payload specialists representing the German Aerospace Research Establishment (DLR) on the 10-day Spacelab D-2 mission. ROTEX is a robotic arm that operates within an enclosed workcell in rack 6 of the Spacelab module and uses teleoperation from both an onboard station located nearby in rack 4 and from a station on the ground. The device uses teleprogramming and artificial intelligence to look at the design, verification and operation of advanced autonomous systems for use in future applications.

Applications of a new mass-driver concept

NASA Technical Reports Server (NTRS)

Oneill, G. K.

1981-01-01

A description of the operating principles and requirements of a novel mass-driver concept is presented. The design obtains acceleration of payload bucket coils by means of transverse focussing from strong, off-axis restoring forces that are produced by drive coils operating in a 'pull-only' mode. The concept offers the unprecedented possibility of operating high-performance mass-drivers entirely within the limitations of existing commercial switching devices, such as silicon-controlled rectifiers, spark gaps, vacuum-triggered arcs or vacuum mechanical switches. Representative applications of the concept described are: (1) a large-diameter magnetic lunar launcher for payloads having autonomous maneuvering; (2) an intermediate-diameter launcher with long operational life; and (3) a reaction engine for orbit transfer of large, massive objects.

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Van Eepoel, John; D'Souza, Chris; Patrick, Bryan

2016-01-01

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Van Eepoel, John; D' Souza, Chris; Patrick, Bryan

2016-01-01

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors.

Development and Characteristics of a Mobile, Semi-Autonomous Floating Platform for in situ Lake Measurements

NASA Astrophysics Data System (ADS)

Barry, D.; Lemmin, U.; Le Dantec, N.; Zulliger, L.; Rusterholz, M.; Bolay, M.; Rossier, J.; Kangur, K.

2013-12-01

In the development of sustainable management strategies of lakes more insight into their physical, chemical and ecological dynamics is needed. Field data obtained from various types of sensors with adequate spatial and temporal sampling rate are essential to understand better the processes that govern fluxes and pathways of water masses and transported compounds, whether for model validation or for monitoring purposes. One advantage of unmanned platforms is that they limit the disturbances typically affecting the quality of data collected on small vessels, including perturbations caused by movements of onboard crew. We have developed a mobile, semi-autonomous floating platform with 8 h power autonomy using a 5 m long by 2.5 m wide catamaran. Our approach focused on modularity and high payload capacity in order to accommodate a large number of sensors both in terms of electronic (power and data) and mechanical constraints of integration. Software architecture and onboard electronics use National Instruments technology to simplify and standardize integration of sensors, actuators and communication. Piecewise-movable deck sections allow optimizing platform stability depending on the payload. The entire system is controlled by a remote computer located on an accompanying vessel and connected via a wireless link with a range of over 1 km. Real-time transmission of GPS-stamped measurements allows immediate modifications in the survey plan if needed. The displacement of the platform is semi-autonomous, with the options of either autopilot mode following a pre-planned course specified by waypoints or remote manual control from the accompanying vessel. Maintenance of permanent control over the platform displacement is required for safety reasons with respect to other users of the lake. Currently, the sensor payload comprises an array of fast temperature probes, a bottom-tracking ADCP and atmospheric sensors including a radiometer. A towed CTD with additional water quality sensors operated from a remotely controlled winch is presently being integrated. Field tests have shown that the platform is reliable, capable of collecting long transects of 2D lake and collocated atmospheric boundary layer data and adaptable to integrate new sensors.

Space Station Simulation Computer System (SCS) study for NASA/MSFC. Concept document

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's Space Station Freedom Program (SSFP) planning efforts have identified a need for a payload training simulator system to serve as both a training facility and as a demonstrator to validate operational concepts. The envisioned MSFC Payload Training Complex (PTC) required to meet this need will train the Space Station Payload of experiments that will be onboard the Space Station Freedom. The simulation will support the Payload Training Complex at MSFC. The purpose of this SCS Study is to investigate issues related to the SCS, alternative requirements, simulator approaches, and state-of-the-art technologies to develop candidate concepts and designs.

An automatic parachute release for high altitude scientific balloons

NASA Astrophysics Data System (ADS)

Field, Chris

NASA's Columbia Scientific Balloon Facility launches high altitude scientific research balloons at many locations around the world. Locations like Antarctica are flat for hundreds of miles and have nothing to snag a parachute consequently causing it to be more important to separate the parachute from the payload than in an area with vegetation and fences. Scientists are now building one of a kind payloads costing millions of dollars, taking five years or more to build, and are requesting multiple flights. In addition to that, the data gathering rate of many science payloads far exceeds the data downlink rate on over-the-horizon flights therefore making a recovery of at least the data hard drives a "minimum success requirement". The older mentality in ballooning; separating the parachute and payload from the balloon and getting it on the ground is more important than separating the parachute after the payload is on the ground has changed. It is now equally as important to separate the parachute from the gondola to prevent damage from dragging. Until now, commands had to be sent to separate the parachute from the gondola at approximately 60K ft, 30K ft, and 10K ft to use the Semi Automatic Parachute Release (SAPR), which is after the sometimes violent parachute opening shock. By using the Gondola controlled Automatic Parachute Release (GAPR) all commanding is done prior to termination, making the parachute release fully autonomous.

Smart materials on the way to theranostic nanorobots: Molecular machines and nanomotors, advanced biosensors, and intelligent vehicles for drug delivery.

PubMed

Sokolov, Ilya L; Cherkasov, Vladimir R; Tregubov, Andrey A; Buiucli, Sveatoslav R; Nikitin, Maxim P

2017-06-01

Theranostics, a fusion of two key parts of modern medicine - diagnostics and therapy of the organism's disorders, promises to bring the efficacy of medical treatment to a fundamentally new level and to become the basis of personalized medicine. Extrapolating today's progress in the field of smart materials to the long-run prospect, we can imagine future intelligent agents capable of performing complex analysis of different physiological factors inside the living organism and implementing a built-in program thereby triggering a series of therapeutic actions. These agents, by analogy with their macroscopic counterparts, can be called nanorobots. It is quite obscure what these devices are going to look like but they will be more or less based on today's achievements in nanobiotechnology. The present Review is an attempt to systematize highly diverse nanomaterials, which may potentially serve as modules for theranostic nanorobotics, e.g., nanomotors, sensing units, and payload carriers. Biocomputing-based sensing, externally actuated or chemically "fueled" autonomous movement, swarm inter-agent communication behavior are just a few inspiring examples that nanobiotechnology can offer today for construction of truly intelligent drug delivery systems. The progress of smart nanomaterials toward fully autonomous drug delivery nanorobots is an exciting prospect for disease treatment. Synergistic combination of the available approaches and their further development may produce intelligent drugs of unmatched functionality. Copyright © 2017 Elsevier B.V. All rights reserved.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

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

2012-12-01

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

Payload crew interface design criteria and techniques. Task 1: Inflight operations and training for payloads. [space shuttles

NASA Technical Reports Server (NTRS)

Carmean, W. D.; Hitz, F. R.

1976-01-01

Guidelines are developed for use in control and display panel design for payload operations performed on the aft flight deck of the orbiter. Preliminary payload procedures are defined. Crew operational concepts are developed. Payloads selected for operational simulations were the shuttle UV optical telescope (SUOT), the deep sky UV survey telescope (DUST), and the shuttle UV stellar spectrograph (SUSS). The advanced technology laboratory payload consisting of 11 experiments was selected for a detailed evaluation because of the availability of operational data and its operational complexity.

Galileo spacecraft power distribution and autonomous fault recovery

NASA Technical Reports Server (NTRS)

Detwiler, R. C.

1982-01-01

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

Magician Simulator: A Realistic Simulator for Heterogenous Teams of Autonomous Robots. MAGIC 2010 Challenge

DTIC Science & Technology

2011-02-07

Sensor UGVs (SUGV) or Disruptor UGVs, depending on their payload. The SUGVs included vision, GPS/IMU, and LIDAR systems for identifying and tracking...employed by all the MAGICian research groups. Objects of interest were tracked using standard LIDAR and Computer Vision template-based feature...tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous Locali- zation and Mapping ( SLAM ). Our system contains

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

Earth Observations Capabilities of the International Space Station

NASA Astrophysics Data System (ADS)

Eppler, Dean B.; Scott, Karen P.

The International Space Station (ISS) is presently being assembled through the joint efforts of the United States, Russia, Canada, Japan, the European Space Agency and Brazil, and will be an orbiting, multi-use facility expected to remain on-orbit into the next decade. The orbital inclination of 51.6 degrees allows the ISS to overfly approximately 75% of the Earth's land area and approximately 95% of the Earth's population. Due to the westward precession of orbit tracks, the ISS will overfly the same location approximately every three days, with the identical lighting conditions being repeated every three months. The ISS has two basic capabilities for Earth observations: a fused silica window in the Destiny laboratory, and sites on the external truss and partner modules that accommodate external payloads. The Destiny laboratory has a window port built into its nadir facing side. The window consists of 3 panes of Corning 7940 fused silica which are approximately 56 cm in diameter, providing an approximately 51 cm clear aperture. In 1996, the ISS Program agreed to upgrade the glass in the Destiny window to a set of stringent optical performance requirements. The window has a wavefront error of 1/15 wavelength peak-to-valley over a 15.2 cm aperture relative to a reference wavelength of 632.8 nm, which will allow up to a 30 cm telescope to be flown. The flight article window was radiometrically calibrated in May of 2000, indicating that the window had better than 95% transmittance in the visible region, with a steep drop-off in the ultraviolet and a gradual drop-off in the infrared from the visible through the near and short wave infrared spectra. Utilization of the optical performance of the Destiny window requires the use of the Window Observational Research Facility (WORF). The WORF is essentially an Express rack with a 0.8 m^3 payload volume centered on the Destiny window. The payload volume provides mounting surfaces for window payload hardware, including a stiff lower payload shelf designed to minimize transmission of ISS vibrations into the payload. The interior of the WORF will be sealed by means of an aisle-side hatch. The interior of the payload volume will be painted flat black, to allow investigations of faint upper atmosphere phenomenon such as aurora. WORF will provide power, data and cooling water for up to three payloads simultaneously. Power will be 28 Volts DC. WORF will also provide an average downlink data on the order of 2 Mpbs. Investigators will be able to operate their payloads autonomously from their institution, with data going through the Huntsville Operations Support Center at Marshall Space Flight Center. It is generally expected that WORF payloads will operate autonomously, although crewmembers can operate payloads from the Destiny laboratory aisle using an externally mounted laptop. The WORF design accommodates crew observations as well. The WORF includes a variety of crew stabilization devices, as well as brackets to allow vibration-free operation of still cameras and video recorders. The four external payload accommodations that will be discussed are the USOS Truss Segment 3 (S3), the EXPRESS Pallet System (ExPS) when mounted on S3, the Columbus Exposed Payload Facility (CEPF), and the Japanese Experiment Module - Exposed Facility (JEM-EF). The S3 has four sites available for payloads. Two of these sites are on the nadir side of the truss and provide terrestrial viewing. The current NASA long-term plans are to mount an EXPRESS Pallet on each of the sites The ExPS is a facility that can be attached at the NASA primary external locations on the S3 Truss to support up to six smaller payloads. The ExPS consists of the EXPRESS Pallet, the EXPRESS Pallet Controller and the EXPRESS Pallet Adapters. User developed payloads are attached and interfaced to the EXPRESS Pallet Adapter and through this EXPRESS Pallet Adapter, the EXPRESS Pallet System provides the payloads with an attachment location, power, and data. The CEPF consists of two mounted structures attached to the starboard end-cone of the Columbus module. Each of these structures has accommodations for attaching two external payloads. One of the four sites provides and excellent nadir view and two of the other sites provides a significant nadir viewing opportunity. The mechanical attachment is compatible with that of the EXPRESS Pallet. The JEM-EF is module-sized structure attached to port end-cone of the JEM Pressurized Module. There are ten locations for attaching payloads and each of the locations provides simultaneous nadir and zenith viewing.

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.

Large Diameter Shuttle Launched-AEM (LDSL-AEM) study

NASA Technical Reports Server (NTRS)

1976-01-01

A technical description of a Large Diameter Shuttle Launched-AEM (LDSL-AEM), an AEM base module adapted to carry 5 ft diameter payloads in the shuttle with propulsion for carrying payloads to higher altitude orbits from a 150 NM shuttle orbit, is described. The AEM is designed for launch on the scout launch vehicle. Onboard equipment provides capability to despin, acquire the earth, and control the vehicle in an earth pointing mode using reaction wheels for torque with magnets for all attitude acquisition, wheel desaturation, and nutation damping. Earth sensors in the wheels provide pitch and roll attitude. This system provides autonomous control capability to 1 degree in pitch and roll and 2 degrees in yaw. The attitude can be determined to .5 degrees in pitch and roll and 2 degrees in yaw.

Drawing of STS-34 SSBUV orbiter interface and command and status monitoring

NASA Technical Reports Server (NTRS)

1989-01-01

Line drawing titled SSBUV ORBITER INTERFACE FOR COMMAND AND STATUS MONITORING shows how the shuttle solar backscatter ultraviolet (UV) (SSBUV) will be operated by crewmembers on the aft flight deck using a autonomous payload controller (APC). SSBUV instrument will calibrate ozone measuring space-based instruments on the National Oceanic and Atmospheric Administration's (NOAA's) TIROS satellites NOAA-9 and NOAA-11. During STS-34, SSBUV instruments mounted in get away special (GAS) canisters in Atlantis', Orbiter Vehicle (OV) 104's, payload bay will use the Space Shuttle's orbital flight path to assess instrument performance by directly comparing data from identical instruments aboard the TIROS satellite, as OV-104 and the satellite pass over the same Earth location within a one-hour window. SSBUV is managed by NASA's Goddard Space Flight Center (GSFC).

Flight Testing of Terrain-Relative Navigation and Large-Divert Guidance on a VTVL Rocket

NASA Technical Reports Server (NTRS)

Trawny, Nikolas; Benito, Joel; Tweddle, Brent; Bergh, Charles F.; Khanoyan, Garen; Vaughan, Geoffrey M.; Zheng, Jason X.; Villalpando, Carlos Y.; Cheng, Yang; Scharf, Daniel P.;

Fluid Phase Separation (FPS) experiment for flight on a space shuttle Get Away Special (GAS) canister

NASA Technical Reports Server (NTRS)

Peters, Bruce; Wingo, Dennis; Bower, Mark; Amborski, Robert; Blount, Laura; Daniel, Alan; Hagood, Bob; Handley, James; Hediger, Donald; Jimmerson, Lisa

1990-01-01

The separation of fluid phases in microgravity environments is of importance to environmental control and life support systems (ECLSS) and materials processing in space. A successful fluid phase separation experiment will demonstrate a proof of concept for the separation technique and add to the knowledge base of material behavior. The phase separation experiment will contain a premixed fluid which will be exposed to a microgravity environment. After the phase separation of the compound has occurred, small samples of each of the species will be taken for analysis on the Earth. By correlating the time of separation and the temperature history of the fluid, it will be possible to characterize the process. The experiment has been integrated into space available on a manifested Get Away Special (GAS) experiment, CONCAP 2, part of the Consortium for Materials Complex Autonomous Payload (CAP) Program, scheduled for STS-42. The design and the production of a fluid phase separation experiment for rapid implementation at low cost is presented.

10. PAYLOAD CONTROL CONSOLE NEAR SOUTH WALL OF SLC3W CONTROL ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

10. PAYLOAD CONTROL CONSOLE NEAR SOUTH WALL OF SLC-3W CONTROL ROOM. DECALS ON CONSOLE IN FOREGROUND INDICATE PAYLOAD PROGRAMS LAUNCHED FROM SLC-3W. - Vandenberg Air Force Base, Space Launch Complex 3, Launch Operations Building, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Aircraft Pilot Situational Awareness Interface for Airborne Operation of Network Controlled Unmanned Systems (US)

DTIC Science & Technology

2008-03-01

operator, can be operated autonomously or remotely, can be expendable or recoverable, and can carry a lethal or nonlethal payload. Ballistic or semi ...states that vehicles should be recoverable, and that ballistic or semi - ballistic vehicles, cruise missiles, and artillery projectiles are not considered...2007-2032. 32 Nicola Tesla and his telautomatons (robots); Tesla further demonstrated remote control of objects by wireless in an exhibition in 1898

Autonomy and automation for Space Station housekeeping and maintenance functions

NASA Technical Reports Server (NTRS)

Turner, P. R.

1983-01-01

The Space Station crew will be a critical resource for economical operation of science and commercial payloads. Core station housekeeping and maintenance functions should be provided in a manner that requires a minimum of crew interaction. This paper outlines a prospective functional architecture for allocation of autonomous and automated control of these functions and discusses implementation issues arising from safety of manned operations, integration test requirements, and evolution of future station capabilities.

Long-Term Autonomous Measurement of Ocean Dissipation with EPS-MAPPER

DTIC Science & Technology

2002-09-30

profiler merges two well-established instruments, EPSONDE (Oakey, 1988) and Seahorse (Hamilton et al, 1999). The EPSONDE ocean- microstructure technology...will be repackaged with modernized electronics and data logging memory and used as the payload for the Seahorse  moored profiler. APPROACH The...mounting to decouple the SeaHorse motions from the profiler. SeaHorseTM uses wave energy to move the profiler down a mooring wire to a docked

Collaborative Autonomous Unmanned Aerial - Ground Vehicle Systems for Field Operations

DTIC Science & Technology

2007-08-31

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

Ensuring Payload Safety in Missions with Special Partnerships

NASA Technical Reports Server (NTRS)

Staubus, Calvert A.; Willenbring, Rachel C.; Blankenship, Michael D.

2016-01-01

The National Aeronautics and Space Administration (NASA) Expendable Launch Vehicle (ELV) payload space flight missions involve cooperative work between NASA and partners including spacecraft (or payload) contractors, universities, nonprofit research centers, Agency payload organization, Range Safety organization, Agency launch service organizations, and launch vehicle contractors. The role of NASA's Safety and Mission Assurance (SMA) Directorate is typically fairly straightforward, but when a mission's partnerships become more complex, to realize cost and science benefits (e.g., multi-agency payload(s) or cooperative international missions), the task of ensuring payload safety becomes much more challenging. This paper discusses lessons learned from NASA safety professionals working multiple-agency missions and offers suggestions to help fellow safety professionals working multiple-agency missions.

Autonomous propulsion of nanorods trapped in an acoustic field

NASA Astrophysics Data System (ADS)

Sader, John; Collis, Jesse; Chakraborty, Debadi

2017-11-01

Recent measurements demonstrate that nanorods trapped in acoustic fields generate autonomous propulsion, with their direction and speed controlled by both the particle's shape and density distribution. In this talk, we investigate the physical mechanisms underlying this combined density/shape induced phenomenon by developing a simple yet rigorous mathematical framework for arbitrary axisymmetric particles. This only requires solution of the (linear) unsteady Stokes equations. Geometric and density asymmetries in the particle generate axial jets that can produce motion in either direction. Strikingly, the propulsion direction is found to reverse with increasing frequency, an effect that is yet to be reported experimentally. The general theory and mechanism described here enable the a priori design and fabrication of nano-motors in fluid for transport of small-scale payloads and robotic applications.

Deep Space 1: Testing New Technologies for Future Small Bodies Missions

NASA Technical Reports Server (NTRS)

Rayman, Marc D.

2001-01-01

Launched on October 24, 1998, Deep Space 1 (DS1) was the first mission of NASA's New Millennium Program, chartered to validate in space high-risk, new technologies important for future space science programs. The advanced technology payload that was tested on DS1 comprises solar electric propulsion, solar concentrator arrays, autonomous on-board navigation and other autonomous systems, several telecommunications and microelectronics devices, and two low-mass integrated science instrument packages. The mission met or exceeded all of its success criteria. The 12 technologies were rigorously exercised so that subsequent flight projects would not have to incur the cost and risk of being the fist users of these new capabilities. Examples of the benefits to future small body missions from DS1's technologies will be described.

The LEAN Payload Integration Process

NASA Technical Reports Server (NTRS)

Jordan, Lee P.; Young, Yancy; Rice, Amanda

2011-01-01

It is recognized that payload development and integration with the International Space Station (ISS) can be complex. This streamlined integration approach is a first step toward simplifying payload integration; making it easier to fly payloads on ISS, thereby increasing feasibility and interest for more research and commercial organizations to sponsor ISS payloads and take advantage of the ISS as a National Laboratory asset. The streamlined integration approach was addressed from the perspective of highly likely initial payload types to evolve from the National Lab Pathfinder program. Payloads to be accommodated by the Expedite the Processing of Experiments for Space Station (EXPRESS) Racks and Microgravity Sciences Glovebox (MSG) pressurized facilities have been addressed. It is hoped that the streamlined principles applied to these types of payloads will be analyzed and implemented in the future for other host facilities as well as unpressurized payloads to be accommodated by the EXPRESS Logistics Carrier (ELC). Further, a payload does not have to be classified as a National Lab payload in order to be processed according to the lean payload integration process; any payload that meets certain criteria can follow the lean payload integration process.

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.

Payload accommodations. Avionics payload support architecture

NASA Technical Reports Server (NTRS)

Creasy, Susan L.; Levy, C. D.

1990-01-01

Concepts for vehicle and payload avionics architectures for future NASA programs, including the Assured Shuttle Access program, Space Station Freedom (SSF), Shuttle-C, Advanced Manned Launch System (AMLS), and the Lunar/Mars programs are discussed. Emphasis is on the potential available to increase payload services which will be required in the future, while decreasing the operational cost/complexity by utilizing state of the art advanced avionics systems and a distributed processing architecture. Also addressed are the trade studies required to determine the optimal degree of vehicle (NASA) to payload (customer) separation and the ramifications of these decisions.

Automatic maintenance payload on board of a Mexican LEO microsatellite

NASA Astrophysics Data System (ADS)

Vicente-Vivas, Esaú; García-Nocetti, Fabián; Mendieta-Jiménez, Francisco

2006-02-01

Few research institutions from Mexico work together to finalize the integration of a technological demonstration microsatellite called Satex, aiming the launching of the first ever fully designed and manufactured domestic space vehicle. The project is based on technical knowledge gained in previous space experiences, particularly in developing GASCAN automatic experiments for NASA's space shuttle, and in some support obtained from the local team which assembled the México-OSCAR-30 microsatellites. Satex includes three autonomous payloads and a power subsystem, each one with a local microcomputer to provide intelligent and dedicated control. It also contains a flight computer (FC) with a pair of full redundancies. This enables the remote maintenance of processing boards from the ground station. A fourth communications payload depends on the flight computer for control purposes. A fifth payload was decided to be developed for the satellite. It adds value to the available on-board computers and extends the opportunity for a developing country to learn and to generate domestic space technology. Its aim is to provide automatic maintenance capabilities for the most critical on-board computer in order to achieve continuous satellite operations. This paper presents the virtual computer architecture specially developed to provide maintenance capabilities to the flight computer. The architecture is periodically implemented by software with a small amount of physical processors (FC processors) and virtual redundancies (payload processors) to emulate a hybrid redundancy computer. Communications among processors are accomplished over a fault-tolerant LAN. This allows a versatile operating behavior in terms of data communication as well as in terms of distributed fault tolerance. Obtained results, payload validation and reliability results are also presented.

International Cooperation in the Field of International Space Station (ISS) Payload Safety

NASA Astrophysics Data System (ADS)

Grayson, C.; Sgobba, T.; Larsen, A.; Rose, S.; Heimann, T.; Ciancone, M.; Mulhern, V.

2005-12-01

In the frame of the International Space Station (ISS) Program cooperation, in 1998 the European Space Agency (ESA) approached the National Aeronautics and Space Administration (NASA) with the unique concept of a Payload Safety Review Panel (PSRP) "franchise" based at the European Space Technology Center (ESTEC), where the panel would be capable of autonomously reviewing flight hardware for safety. This paper will recount the course of an ambitious idea as it progressed into a fully functional reality. It will show how a panel initially conceived at NASA to serve a national programme has evolved into an international safety cooperation asset. The PSRP established at NASA began reviewing ISS payloads approximately in late 1994 or early 1995 as an expansion of the pre- existing Shuttle Program PSRP. This paper briefly describes the fundamental Shuttle safety process and the establishment of the safety requirements for payloads intending to use the Space Transportation System and ISS. The paper will also offer some historical statistics about the experiments that completed the payload safety process for Shuttle and ISS. The paper then presents the background of ISS agreements and international treaties that had to be considered when establishing the ESA PSRP. The paper will expound upon the detailed franchising model, followed by an outline of the cooperation charter approved by the NASA Associate Administrator, Office of Space Flight, and ESA Director of Manned Spaceflight and Microgravity. The paper will then address the resulting ESA PSRP implementation and its success statistics to date. Additionally, the paper presents ongoing developments with the Japan Aerospace Exploration Agency (JAXA). The discussion will conclude with ideas for future developments, such to achieve a fully integrated international system of payload safety panels for ISS.

International Cooperation in the Field of International Space Station (ISS) Payload Safety

NASA Technical Reports Server (NTRS)

Heimann, Timothy; Larsen, Axel M.; Rose, Summer; Sgobba, Tommaso

2005-01-01

In the frame of the International Space Station (ISS) Program cooperation, in 1998, the European Space Agency (ESA) approached the National Aeronautics and Space Administration (NASA) with the unique concept of a Payload Safety Review Panel (PSRP) "franchise" based at the European Space Technology Center (ESTEC), where the panel would be capable of autonomously reviewing flight hardware for safety. This paper will recount the course of an ambitious idea as it progressed into a fully functional reality. It will show how a panel initially conceived at NASA to serve a national programme has evolved into an international safety cooperation asset. The PSRP established at NASA began reviewing ISS payloads approximately in late 1994 or early 1995 as an expansion of the pre-existing Shuttle Program PSRP. This paper briefly describes the fundamental Shuttle safety process and the establishment of the safety requirements for payloads intending to use the Space Transportation System and International Space Station (ISS). The paper will also offer some historical statistics about the experiments that completed the payload safety process for Shuttle and ISS. The paper 1 then presents the background of ISS agreements and international treaties that had to be taken into account when establishing the ESA PSRP. The detailed franchising model will be expounded upon, followed by an outline of the cooperation charter approved by the NASA Associate Administrator, Office of Space Flight, and ESA Director of Manned Spaceflight and Microgravity. The resulting ESA PSRP implementation and its success statistics to date will then be addressed. Additionally the paper presents the ongoing developments with the Japan Aerospace Exploration Agency. The discussion will conclude with ideas for future developments, such to achieve a fully integrated international system of payload safety panels for ISS.

Space Station Simulation Computer System (SCS) study for NASA/MSFC. Volume 2: Baseline architecture report

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's Space Station Freedom Program (SSFP) planning efforts have identified a need for a payload training simulator system to serve as both a training facility and as a demonstrator to validate operational concepts. The envisioned MSFC Payload Training Complex (PTC) required to meet this need will train the Space Station payload scientists, station scientists, and ground controllers to operate the wide variety of experiments that will be onboard the Space Station Freedom. The Simulation Computer System (SCS) is the computer hardware, software, and workstations that will support the Payload Training Complex at MSFC. The purpose of this SCS Study is to investigate issues related to the SCS, alternative requirements, simulator approaches, and state-of-the-art technologies to develop candidate concepts and designs.

Space Station Simulation Computer System (SCS) study for NASA/MSFC. Phased development plan

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's Space Station Freedom Program (SSFP) planning efforts have identified a need for a payload training simulator system to serve as both a training facility and as a demonstrator to validate operational concepts. The envisioned MSFC Payload Training Complex (PTC) required to meet this need will train the Space Station payload scientists, station scientists and ground controllers to operate the wide variety of experiments that will be onboard the Space Station Freedom. The Simulation Computer System (SCS) is made up of computer hardware, software, and workstations that will support the Payload Training Complex at MSFC. The purpose of this SCS Study is to investigate issues related to the SCS, alternative requirements, simulator approaches, and state-of-the-art technologies to develop candidate concepts and designs.

Space Station Simulation Computer System (SCS) study for NASA/MSFC. Volume 1: Baseline architecture report

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's Space Station Freedom Program (SSFP) planning efforts have identified a need for a payload training simulator system to serve as both a training facility and as a demonstrator to validate operational concepts. The envisioned MSFC Payload Training Complex (PTC) required to meet this need will train the Space Station payload scientists, station scientists, and ground controllers to operate the wide variety of experiments that will be onboard the Space Station Freedom. The Simulation Computer System (SCS) is made up of the computer hardware, software, and workstations that will support the Payload Training Complex at MSFC. The purpose of this SCS Study is to investigate issues related to the SCS, alternative requirements, simulator approaches, and state-of-the-art technologies to develop candidate concepts and designs.

Space Station Simulation Computer System (SCS) study for NASA/MSFC. Operations concept report

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's Space Station Freedom Program (SSFP) planning efforts have identified a need for a payload training simulator system to serve as both a training facility and as a demonstrator to validate operational concepts. The envisioned MSFC Payload Training Complex (PTC) required to meet this need will train the Space Station payload scientists, station scientists, and ground controllers to operate the wide variety of experiments that will be onboard the Space Station Freedom. The Simulation Computer System (SCS) is made up of computer hardware, software, and workstations that will support the Payload Training Complex at MSFC. The purpose of this SCS Study is to investigate issues related to the SCS, alternative requirements, simulator approaches, and state-of-the-art technologies to develop candidate concepts and designs.

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.

Context Aware TCP for Intelligence, Surveillance and Reconnaissance Missions on Autonomous Platforms

DTIC Science & Technology

2014-10-08

under the Unmanned Vehicle Experimental Communications Testbed (UVECT) flight test plan and were done over the Stockbridge Research Facility in the...sure the payload did not interfere with the command and control systems of the aircraft several flight paths were selected to exert the link and the...throughput from data source to destination. Figure 1 shows the flight path of a small RPA in a PoL flight path scenario. The change of SNR

Precision Airdrop Technology Conference and Demonstration 2007

DTIC Science & Technology

2010-04-01

not deployed. 10. Onyx 300 – Atair Aerospace, Inc. The Onyx 3006 is a hybrid system used for delivering 0 to 300 lbs of cargo. The Onyx 300...payloads or damage-induced asymmetries while in flight. Six Onyx 300 systems were airdropped during PATCAD. The first stick of three was dropped on 24...11. Onyx Ultra Light (UL) – Atair Aerospace, Inc. The Onyx Ultra Light (UL) uses an autonomous, GPS guided AGU that is capable of interfacing

Mobile System for Precise Aero Delivery with Global Reach Network Capability

DTIC Science & Technology

2009-08-30

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

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

DTIC Science & Technology

2014-06-06

Structure Flex Joints 6828 68% Power Primary: Lithium-Ion 7530 75% Secondary: Fuel Cells (miniature) 8843 88% Sensors IMU /LIDAR 7713 77...mission requirements taken into account; the payload included a LIDAR, sonar, and an IMU . Moreover, the focus moved to the integration of the entire...negligible for any pitch or roll angle less than 15 degrees. The small deflection assumption utilized instead seeks to minimize momentum generation. To

Defense Science Board 1998 Summer Study. Joint Operations Superiority in the 21st Century: Integrating Capabilities Underwriting Joint Vision 2010 and Beyond. Volume 2: Supporting Reports

DTIC Science & Technology

1998-10-01

of motivation , acculturation, education, training and potentially action. This is a process of years. The timelines associated with each level of...payload and approximately $5K cost). This backpack robot clearly is most suited to visual scouting of threatening environments, including inside...Organic Man Portable, Ground Vehicle Backpack , Reusable Launch Techniques Command, Telemetry, and Image Return Deployment VTOL, Ship-Capable Autonomous

State estimation for autonomous flight in cluttered environments

NASA Astrophysics Data System (ADS)

Langelaan, Jacob Willem

Safe, autonomous operation in complex, cluttered environments is a critical challenge facing autonomous mobile systems. The research described in this dissertation was motivated by a particularly difficult example of autonomous mobility: flight of a small Unmanned Aerial Vehicle (UAV) through a forest. In cluttered environments (such as forests or natural and urban canyons) signals from navigation beacons such as GPS may frequently be occluded. Direct measurements of vehicle position are therefore unavailable, and information required for flight control, obstacle avoidance, and navigation must be obtained using only on-board sensors. However, payload limitations of small UAVs restrict both the mass and physical dimensions of sensors that can be carried. This dissertation describes the development and proof-of-concept demonstration of a navigation system that uses only a low-cost inertial measurement unit and a monocular camera. Micro electromechanical inertial measurements units are well suited to small UAV applications and provide measurements of acceleration and angular rate. However, they do not provide information about nearby obstacles (needed for collision avoidance) and their noise and bias characteristics lead to unbounded growth in computed position. A monocular camera can provide bearings to nearby obstacles and landmarks. These bearings can be used both to enable obstacle avoidance and to aid navigation. Presented here is a solution to the problem of estimating vehicle state (position, orientation and velocity) as well as positions of obstacles in the environment using only inertial measurements and bearings to obstacles. This is a highly nonlinear estimation problem, and standard estimation techniques such as the Extended Kalman Filter are prone to divergence in this application. In this dissertation a Sigma Point Kalman Filter is implemented, resulting in an estimator which is able to cope with the significant nonlinearities in the system equations and uncertainty in state estimates while remaining tractable for real-time operation. In addition, the issues of data association and landmark initialization are addressed. Estimator performance is examined through Monte Carlo simulations in both two and three dimensions for scenarios involving UAV flight in cluttered environments. Hardware tests and simulations demonstrate navigation through an obstacle-strewn environment by a small Unmanned Ground Vehicle.

Automated Derivation of Complex System Constraints from User Requirements

NASA Technical Reports Server (NTRS)

Foshee, Mark; Murey, Kim; Marsh, Angela

2010-01-01

The Payload Operations Integration Center (POIC) located at the Marshall Space Flight Center has the responsibility of integrating US payload science requirements for the International Space Station (ISS). All payload operations must request ISS system resources so that the resource usage will be included in the ISS on-board execution timelines. The scheduling of resources and building of the timeline is performed using the Consolidated Planning System (CPS). The ISS resources are quite complex due to the large number of components that must be accounted for. The planners at the POIC simplify the process for Payload Developers (PD) by providing the PDs with a application that has the basic functionality PDs need as well as list of simplified resources in the User Requirements Collection (URC) application. The planners maintained a mapping of the URC resources to the CPS resources. The process of manually converting PD's science requirements from a simplified representation to a more complex CPS representation is a time-consuming and tedious process. The goal is to provide a software solution to allow the planners to build a mapping of the complex CPS constraints to the basic URC constraints and automatically convert the PD's requirements into systems requirements during export to CPS.

Payload/GSE/data system interface: Users guide for the VPF (Vertical Processing Facility)

NASA Technical Reports Server (NTRS)

1993-01-01

Payload/GSE/data system interface users guide for the Vertical Processing Facility is presented. The purpose of the document is three fold. First, the simulated Payload and Ground Support Equipment (GSE) Data System Interface, which is also known as the payload T-0 (T-Zero) System is described. This simulated system is located with the Cargo Integration Test Equipment (CITE) in the Vertical Processing Facility (VPF) that is located in the KSC Industrial Area. The actual Payload T-0 System consists of the Orbiter, Mobile Launch Platforms (MLPs), and Launch Complex (LC) 39A and B. This is referred to as the Pad Payload T-0 System (Refer to KSC-DL-116 for Pad Payload T-0 System description). Secondly, information is provided to the payload customer of differences between this simulated system and the actual system. Thirdly, a reference guide of the VPF Payload T-0 System for both KSC and payload customer personnel is provided.

Development and demonstration of autonomous behaviors for urban environment exploration

NASA Astrophysics Data System (ADS)

Ahuja, Gaurav; Fellars, Donald; Kogut, Gregory; Pacis Rius, Estrellina; Schoolov, Misha; Xydes, Alexander

2012-06-01

Under the Urban Environment Exploration project, the Space and Naval Warfare Systems Center Pacic (SSC- PAC) is maturing technologies and sensor payloads that enable man-portable robots to operate autonomously within the challenging conditions of urban environments. Previously, SSC-PAC has demonstrated robotic capabilities to navigate and localize without GPS and map the ground oors of various building sizes.1 SSC-PAC has since extended those capabilities to localize and map multiple multi-story buildings within a specied area. To facilitate these capabilities, SSC-PAC developed technologies that enable the robot to detect stairs/stairwells, maintain localization across multiple environments (e.g. in a 3D world, on stairs, with/without GPS), visualize data in 3D, plan paths between any two points within the specied area, and avoid 3D obstacles. These technologies have been developed as independent behaviors under the Autonomous Capabilities Suite, a behavior architecture, and demonstrated at a MOUT site at Camp Pendleton. This paper describes the perceptions and behaviors used to produce these capabilities, as well as an example demonstration scenario.

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.;

STS-64 Space Shuttle mission report

NASA Technical Reports Server (NTRS)

Fricke, Robert W., Jr.

1995-01-01

The STS-64 Space Shuttle Program Mission Report summarizes the Payload activities as well as the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Redesigned Solid Rocket Motor (RSRM), and the Space Shuttle main engine (SSME) systems performance during the sixty-fourth flight of the Space Shuttle Program and the nineteenth flight of the Orbiter vehicle Discovery (OV-103). In addition to the Orbiter, the flight vehicle consisted of an ET that was designated ET-66; three SSMEs that were designated as serial numbers 2031, 2109, and 2029 in positions 1, 2, and 3, respectively; and two SRB's that were designated Bl-068. The RSRM's that were installed in each SRB were designated as 360L041 A for the left SRB, and 360L041 B for the right SRB. The primary objective of this flight was to successfully perform the planned operations of the Lidar In-Space Technology Experiment (LITE), and to deploy the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN) -201 payload. The secondary objectives were to perform the planned activities of the Robot Operated Materials Processing System (ROMPS), the Shuttle Amateur Radio Experiment - 2 (SAREX-2), the Solid Surface Combustion Experiment (SSCE), the Biological Research in Canisters (BRIC) experiment, the Radiation Monitoring Equipment-3 (RME-3) payload, the Military Application of Ship Tracks (MAST) experiment, and the Air Force Maui Optical Site Calibration Test (AMOS) payload.

GN and C Subsystem Concept for Safe Precision Landing of the Proposed Lunar MARE Robotic Science Mission

NASA Technical Reports Server (NTRS)

Carson, John M., III; Johnson, Andrew E.; Anderson, F. Scott; Condon, Gerald L.; Nguyen, Louis H.; Olansen, Jon B.; Devolites, Jennifer L.; Harris, William J.; Hines, Glenn D.; Lee, David E.;

Mobile Payload Element (MPE): Concept study for a sample fetching rover for the ESA Lunar Lander Mission

NASA Astrophysics Data System (ADS)

Haarmann, R.; Jaumann, R.; Claasen, F.; Apfelbeck, M.; Klinkner, S.; Richter, L.; Schwendner, J.; Wolf, M.; Hofmann, P.

2012-12-01

In late 2010, the DLR Space Administration invited the German industry to submit a proposal for a study about a Mobile Payload Element (MPE), which could be a German national contribution to the ESA Lunar Lander Mission. Several spots in the south polar region of the moon come into consideration as landing site for this mission. All possible spots provide sustained periods of solar illumination, interrupted by darkness periods of several 10 h. The MPE is outlined to be a small, autonomous, innovative vehicle in the 10 kg class for scouting and sampling the environment in the vicinity of the lunar landing site. The novel capabilities of the MPE will be to acquire samples of lunar regolith from surface, subsurface as well as shadowed locations, define their geological context and bring them back to the lander. This will enable access to samples that are not contaminated by the lander descent propulsion system plumes to increase the chances of detecting any indigenous lunar volatiles contained within the samples. Kayser-Threde, as prime industrial contractor for Phase 0/A, has assembled for this study a team of German partners with relevant industrial and institutional competence in space robotics and lunar science. The primary scientific objective of the MPE is to acquire clearly documented samples and to bring them to the lander for analysis with the onboard Lunar Dust Analysis Package (L-DAP) and Lunar Volatile Resources Analysis Package (L-VRAP). Due to the unstable nature of volatiles, which are of particular scientific interest, the MPE design needs to provide a safe storage and transportation of the samples to the lander. The proposed MPE rover concept has a four-wheeled chassis configuration with active suspension, being a compromise between innovation and mass efficiency. The suspension chosen allows a compact stowage of the MPE on the lander as well as precise alignment of the solar generators and instruments. Since therefore no further complex mechanics are necessary, the active suspension significantly contributes to the lightweight MPE design. The thermal control system enables the MPE to operate in shaded areas for about 2 h and hibernate darkness periods of about 14 h. Increasing the hibernation capability requires additional battery capacity and thus increases the MPE mass. As operational modes teleoperations from earth and autonomous navigation are foreseen. The MPE payload includes navigation cameras, a close-up imager and a mole as sampling device. The MPE phase 0/A study finished in early 2012. This article describes the resulting MPE rover concept with focus on its scientific benefit for the Lunar Lander Mission.

Implementing Legacy-C Algorithms in FPGA Co-Processors for Performance Accelerated Smart Payloads

NASA Technical Reports Server (NTRS)

Pingree, Paula J.; Scharenbroich, Lucas J.; Werne, Thomas A.; Hartzell, Christine

2008-01-01

Accurate, on-board classification of instrument data is used to increase science return by autonomously identifying regions of interest for priority transmission or generating summary products to conserve transmission bandwidth. Due to on-board processing constraints, such classification has been limited to using the simplest functions on a small subset of the full instrument data. FPGA co-processor designs for SVM1 classifiers will lead to significant improvement in on-board classification capability and accuracy.

A 16-m Telescope for the Advanced Technology Large Aperture Telescope (ATLAST) Mission

NASA Astrophysics Data System (ADS)

Lillie, Charles F.; Dailey, D. R.; Polidan, R. S.

2010-01-01

Future space observatories will require increasingly large telescopes to study the earliest stars and galaxies, as well as faint nearby objects. Technologies now under development will enable telescopes much larger than the 6.5-meter diameter James Webb Space Telescope (JWST) to be developed at comparable costs. Current segmented mirror and deployable optics technology enables the 6.5 meter JWST telescope to be folded for launch in the 5-meter diameter Ariane 5 payload fairing, and deployed autonomously after reaching orbit. Late in the next decade, when the Ares V Cargo Launch Vehicle payload fairing becomes operational, even larger telescope can be placed in orbit. In this paper we present our concept for a 16-meter JWST derivative, chord-fold telescope which could be stowed in the 10-m diameter Ares V fairing, plus a description of the new technologies that enable ATLAST to be developed at an affordable price.

Ranging Consistency Based on Ranging-Compensated Temperature-Sensing Sensor for Inter-Satellite Link of Navigation Constellation

PubMed Central

Meng, Zhijun; Yang, Jun; Guo, Xiye; Zhou, Yongbin

2017-01-01

Global Navigation Satellite System performance can be significantly enhanced by introducing inter-satellite links (ISLs) in navigation constellation. The improvement in position, velocity, and time accuracy as well as the realization of autonomous functions requires ISL distance measurement data as the original input. To build a high-performance ISL, the ranging consistency among navigation satellites is an urgent problem to be solved. In this study, we focus on the variation in the ranging delay caused by the sensitivity of the ISL payload equipment to the ambient temperature in space and propose a simple and low-power temperature-sensing ranging compensation sensor suitable for onboard equipment. The experimental results show that, after the temperature-sensing ranging compensation of the ISL payload equipment, the ranging consistency becomes less than 0.2 ns when the temperature change is 90 °C. PMID:28608809

Estimation of payload loads using rigid body interface accelerations. [in structural design of launch vehicle systems

NASA Technical Reports Server (NTRS)

Chen, J. C.; Garba, J. A.; Wada, B. K.

1978-01-01

In the design/analysis process of a payload structural system, the accelerations at the payload/launch vehicle interface obtained from a system analysis using a rigid payload are often used as the input forcing function to the elastic payload to obtain structural design loads. Such an analysis is at best an approximation since the elastic coupling effects are neglected. This paper develops a method wherein the launch vehicle/rigid payload interface accelerations are modified to account for the payload elasticity. The advantage of the proposed method, which is exact to the extent that the physical system can be described by a truncated set of generalized coordinates, is that the complete design/analysis process can be performed within the organization responsible for the payload design. The method requires the updating of the system normal modes to account for payload changes, but does not require a complete transient solution using the composite system model. An application to a real complex structure, the Viking Spacecraft System, is given.

P-MASS and P-GBA: Two new hardware developments for growing plants in space

NASA Technical Reports Server (NTRS)

Hoehn, Alexander; Luttges, Marvin W.; Robinson, Michael C.; Stodieck, Louis S.; Kliss, Mark H.

1994-01-01

Plant growth, and especially plant performance experiments in microgravity are limited by the currently available plant growth facilities (low light levels, inadequate nutrient delivery and atmosphere conditioning systems, insufficient science instrumentation, infrequent flight opportunities). In addition, mission durations of 10 to 14 days aboard the NSTS Space Shuttle allow for only brief periods of microgravity exposure with respect to the life cycle of a plant. Based on seed germination experiments, using the Generic BioProcessing Apparatus hardware (GBA), two new payloads have been designed specifically for plant growth. These payloads provide new opportunities for plant gravitational and space biology research and emphasize the investigation of plant performance (photosynthesis, biomass accumulations) in microgravity. The Plant-Module for Autonomous Space Support (P-MASS) was designed to utilize microgravity exposure times in excess of 30 days on the first flight of the recoverable COMET satellite (Commercial Experiment Transporter). The Plant-Generic Bioprocessing Apparatus (P-GBA), is designed for the National Space Transportation System (NSTS) Space Shuttle middeck and the SPACEHAB environment. The P-GBA is an evolution from the GBA hardware and P-MASS (plant chamber and instrumentation). The available light levels of both payloads more than double currently available capabilities.

Intrepid: Exploring the NEA population with a Fleet of Highly Autonomous SmallSat explorers

NASA Astrophysics Data System (ADS)

Blacksberg, Jordana; Chesley, Steven R.; Ehlmann, Bethany; Raymond, Carol Anne

2017-10-01

The Intrepid mission concept calls for phased deployment of a fleet of small highly autonomous rendezvous spacecraft designed to characterize the evolution, structure and composition of dozens of Near-Earth Asteroids (NEAs). Intrepid represents a marked departure from conventional solar system exploration projects, where a single unique and complex spacecraft is typically directed to explore a single target body. In contrast, Intrepid relies on the deployment of a large number of autonomous spacecraft to provide redundancy and ensure that the project goals are achieved at a small fraction of the cost of typical missions.The Intrepid science goals are threefold: (1) to understand the evolutionary processes that govern asteroid physical, chemical and dynamical histories and relate these results to solar system origins and evolution; (2) to facilitate impactor deflection scenarios for planetary defense by statistically characterizing relevant asteroid physical properties; (3) to quantify the presence and extractability of potentially useful resources on a large sample of asteroids. To achieve these goals, the baseline architecture includes multiple modular instruments including cameras, spectrometers, radar sounders, and projectiles that could interact with the target asteroid. Key questions to be addressed are: what is the total quantity of water in each object? How is the water incorporated? Are organics present? What is the asteroid physical structure? How would the object respond to impact/deflection?We have begun development of a miniature infrared point spectrometer, a cornerstone of the Intrepid payload, covering both shortwave infrared (SWIR) and mid-infrared (MIR) spectral bands. The spectrometer is designed with a compact 2U form-factor, making it both relevant to Intrepid and implementable on a CubeSat. The combination of SWIR and MIR in a single integrated instrument would enable robust compositional interpretations from a single dataset combining both solar reflectance and thermal emission spectroscopy. These measurements would be crucial to determining the quantity and nature of water present.

Heart Rate Complexity in Response to Upright Tilt in Persons with Down Syndrome

ERIC Educational Resources Information Center

Agiovlasitis, Stamatis; Baynard, Tracy; Pitetti, Kenneth H.; Fernhall, Bo

2011-01-01

People with Down syndrome (DS) show altered autonomic response to sympatho-excitation. Cardiac autonomic modulation may be examined with heart rate (HR) complexity which is associated uniquely with cardiovascular risk. This study examined whether the response of HR complexity to passive upright tilt differs between persons with and without DS and…

Inflight resistance measurement on high-T(sub c) superconducting thin films exposed to orbital atomic oxygen on CONCAP-2 (STS-46)

NASA Technical Reports Server (NTRS)

Gregory, J. C.; Raiker, G. N.; Bijvoet, J. A.; Nerren, P. D.; Sutherland, W. T.; Mogro-Camperso, A.; Turner, L. G.; Kwok, Hoi; Raistrick, I. D.; Cross, J. B.

1995-01-01

In 1992, UAH (University of Alabama in Huntsville) conducted a unique experiment on STS-46 in which YBa2Cu3O7 (commonly known as '1-2-3' superconductor) high-T(c) superconducting thin film samples prepared at three different laboratories were exposed to 5 eV atomic oxygen in low Earth orbit on the ambient and 320 C hot plate during the first flight of the CONCAP-2 (Complex Autonomous Payload) experiment carrier. The resistance of the thin films was measured in flight during the atomic oxygen exposure and heating cycle. Superconducting properties were measured in the laboratory before and after the flight by the individual experimenters. Films with good superconducting properties, and which were exposed to the oxygen flux, survived the flight including those heated to 320 C (600 K) with properties essentially unchanged, while other samples which were heated but not exposed to oxygen were degraded. The properties of other flight controls held at ambient temperature appear unchanged and indistinguishable from those of ground controls, whether exposed to oxygen or not.

76. DETAIL OF AIRCONDITIONING DUCT BETWEEN PORTABLE PAYLOAD AIRCONDITIONING SYSTEM ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

76. DETAIL OF AIR-CONDITIONING DUCT BETWEEN PORTABLE PAYLOAD AIR-CONDITIONING SYSTEM AND LSB (BLDG. 770) - Vandenberg Air Force Base, Space Launch Complex 3, Launch Pad 3 West, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Passive orientation apparatus

DOEpatents

Spletzer, Barry L.; Fischer, Gary J.; Martinez, Michael A.

2001-01-01

An apparatus that can return a payload to a known orientation after unknown motion, without requiring external power or complex mechanical systems. The apparatus comprises a faceted cage that causes the system to rest in a stable position and orientation after arbitrary motion. A gimbal is mounted with the faceted cage and holds the payload, allowing the payload to move relative to the stable faceted cage. The payload is thereby placed in a known orientation by the interaction of gravity with the geometry of the faceted cage, the mass of the system, and the motion of the payload and gimbal. No additional energy, control, or mechanical actuation is required. The apparatus is suitable for use in applications requiring positioning of a payload to a known orientation after arbitrary or uncontrolled motion, including remote sensing and mobile robot applications.

Autonomous Unmanned Helicopter System for Remote Sensing Missions in Unknown Environments

NASA Astrophysics Data System (ADS)

Merz, T.; Chapman, S.

2011-09-01

This paper presents the design of an autonomous unmanned helicopter system for low-altitude remote sensing. The proposed concepts and methods are generic and not limited to a specific helicopter. The development was driven by the need for a dependable, modular, and affordable system with sufficient payload capacity suitable for both research and real-world deployment. The helicopter can be safely operated without a backup pilot in a contained area beyond visual range. This enables data collection in inaccessible or dangerous areas. Thanks to its terrain following and obstacle avoidance capability, the system does not require a priori information about terrain elevation and obstacles. Missions are specified in state diagrams and flight plans. We present performance characteristics of our system and show results of its deployment in real-world scenarios. We have successfully completed several dozen infrastructure inspection missions and crop monitoring missions facilitating plant phenomics studies.

Satellite Servicing's Autonomous Rendezvous and Docking Testbed on the International Space Station

NASA Technical Reports Server (NTRS)

Naasz, Bo J.; Strube, Matthew; Van Eepoel, John; Barbee, Brent W.; Getzandanner, Kenneth M.

2011-01-01

The Space Servicing Capabilities Project (SSCP) at NASA's Goddard Space Flight Center (GSFC) has been tasked with developing systems for servicing space assets. Starting in 2009, the SSCP completed a study documenting potential customers and the business case for servicing, as well as defining several notional missions and required technologies. In 2010, SSCP moved to the implementation stage by completing several ground demonstrations and commencing development of two International Space Station (ISS) payloads-the Robotic Refueling Mission (RRM) and the Dextre Pointing Package (DPP)--to mitigate new technology risks for a robotic mission to service existing assets in geosynchronous orbit. This paper introduces the DPP, scheduled to fly in July of 2012 on the third operational SpaceX Dragon mission, and its Autonomous Rendezvous and Docking (AR&D) instruments. The combination of sensors and advanced avionics provide valuable on-orbit demonstrations of essential technologies for servicing existing vehicles, both cooperative and non-cooperative.

56. DETAIL OF PAYLOAD ELECTRICAL AND AIRCONDITIONING UMBILICAL CONNECTIONS ON ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

56. DETAIL OF PAYLOAD ELECTRICAL AND AIR-CONDITIONING UMBILICAL CONNECTIONS ON NORTH FACE OF SLC-3W UMBILICAL MAST - Vandenberg Air Force Base, Space Launch Complex 3, Launch Pad 3 West, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Study to evaluate the effect of EVA on payload systems. Volume 1: Executive summary. [project planning of space missions employing extravehicular activity as a means of cost reduction

NASA Technical Reports Server (NTRS)

Patrick, J. W.; Kraly, E. F.

1975-01-01

Programmatic benefits to payloads are examined which can result from the routine use of extravehicular activity (EVA) during space missions. Design and operations costs were compared for 13 representative baseline payloads to the costs of those payloads adapted for EVA operations. The EVA-oriented concepts developed in the study were derived from these baseline concepts and maintained mission and program objectives as well as basic configurations. This permitted isolation of cost saving factors associated specifically with incorporation of EVA in a variety of payload designs and operations. The study results were extrapolated to a total of 74 payload programs. Using appropriate complexity and learning factors, net EVA savings were extrapolated to over $551M for NASA and U.S. civil payloads for routine operations. Adding DOD and ESRO payloads increases the net estimated savings of $776M. Planned maintenance by EVA indicated an estimated $168M savings due to elimination of automated service equipment. Contingency problems of payloads were also analyzed to establish expected failure rates for shuttle payloads. The failure information resulted in an estimated potential for EVA savings of $1.9 B.

75. GENERAL VIEW OF PORTABLE PAYLOAD AIRCONDITIONING SYSTEM LOCATED ON ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

75. GENERAL VIEW OF PORTABLE PAYLOAD AIR-CONDITIONING SYSTEM LOCATED ON NORTH SIDE OF SLC-3W LIQUID OXYGEN APRON - Vandenberg Air Force Base, Space Launch Complex 3, Launch Pad 3 West, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

DARPA Orbital Express program: effecting a revolution in space-based systems

NASA Astrophysics Data System (ADS)

Whelan, David A.; Adler, E. A.; Wilson, Samuel B., III; Roesler, Gordon M., Jr.

2000-11-01

A primary goal of the Defense Advanced Research Projects Agency is to develop innovative, high-risk technologies with the potential of a revolutionary impact on missions of the Department of Defense. DARPA is developing a space experiment to prove the feasibility of autonomous on- orbit servicing of spacecraft. The Orbital Express program will demonstrate autonomous on-orbit refueling, as well as autonomous delivery of a small payload representing an avionics upgrade package. The maneuverability provided to spacecraft from a ready refueling infrastructure will enable radical new capabilities for the military, civil and commercial spacecraft. Module replacement has the potential to extend bus lifetimes, and to upgrade the performance of key subsystems (e.g. processors) at the pace of technology development. The Orbital Express technology development effort will include the necessary autonomy for a viable servicing infrastructure; a universal interface for docking, refueling and module transfers; and a spacecraft bus design compatible with this servicing concept. The servicer spacecraft of the future may be able to act as a host platform for microsatellites, extending their capabilities while reducing risk. An infrastructure based on Orbital Express also benefits from, and stimulates the development of, lower-cost launch strategies.

Payload training methodology study

NASA Technical Reports Server (NTRS)

1990-01-01

The results of the Payload Training Methodology Study (PTMS) are documented. Methods and procedures are defined for the development of payload training programs to be conducted at the Marshall Space Flight Center Payload Training Complex (PCT) for the Space Station Freedom program. The study outlines the overall training program concept as well as the six methodologies associated with the program implementation. The program concept outlines the entire payload training program from initial identification of training requirements to the development of detailed design specifications for simulators and instructional material. The following six methodologies are defined: (1) The Training and Simulation Needs Assessment Methodology; (2) The Simulation Approach Methodology; (3) The Simulation Definition Analysis Methodology; (4) The Simulator Requirements Standardization Methodology; (5) The Simulator Development Verification Methodology; and (6) The Simulator Validation Methodology.

NEXT-Lunar Lander -an Opportunity for a Close Look at the Lunar South Pole

NASA Astrophysics Data System (ADS)

Homeister, Maren; Thaeter, Joachim; Scheper, Marc; Apeldoorn, Jeffrey; Koebel, David

The NEXT-Lunar Lander mission, as contracted by ESA and investigated by OHB-System and its industrial study team, has two main purposes. The first is technology demonstration for enabling technologies like propulsion-based soft precision landing for future planetary landing missions. This involves also enabling technology experiments, like fuel cell, life science and life support, which are embedded in the stationary payload of the lander. The second main and equally important aspect is the in-situ investigation of the surface of the Moon at the lunar South Pole by stationary payload inside the Lander, deployable payload to be placed in the vicinity of the lander and mobile payload carried by a rover. The currently assessed model payload includes 15 instruments on the lander and additional five on the rover. They are addressing the fields geophysics, geochemistry, geology and radio astronomy preparation. The mission is currently under investigation in frame of a phase A mission study contract awarded by ESA to two independent industrial teams, of which one is led by OHB-System. The phase A activities started in spring 2008 and were conducted until spring 2010. A phase B is expected shortly afterwards. The analysed mission architectures range from a Soyuz-based mission to a Shared-Ariane V class mission via different transfer trajectories. Depending on the scenario payload masses including servicing of 70 to 150 kg can be delivered to the lunar surface. The lander can offer different services to the payload. The stationary payload is powered and conditioned by the lander. Examples for embarked payloads are an optical camera system, a Radio Science Experiment and a radiation monitor. The lander surface payload is deployed to the lunar surface by a 5 DoF robotic arm and will be powered by the Lander. To this group of payloads belong seismometers, a magnetometer and an instrumented Mole. The mobile payload will be carried by a rover. The rover is equipped with its own 5 DoF robotic arm and can travel with an average speed of about 1 cm/s. The Rover is generally tele-operated but has the capability to execute autonomously pre-selected operation tasks, is aware of its current status and analyses potential hazards to avoid loss of its mission by operator failure. It is equipped with a model payload consisting of a camera system for multi-spectra including infra-red, a Raman-LIBS and a CLUPI. In addition its task is to position seismometers at a distance of about 1 km away from the lander. The baseline scenario includes a launch in the 2018 timeframe and one year of surface operations at the Shakleton crater rim. This presentation will focus on the following points: • Mission architecture and spacecraft layout as elaborated during the past study activities • Surface operations of lander and rover • Current mission capability to support scientific investigations at the lunar South Pole

Flexible Wing Base Micro Aerial Vehicles: Micro Air Vehicles (MAVs) for Surveillance and Remote Sensor Delivery

NASA Technical Reports Server (NTRS)

Ifju, Peter

2002-01-01

Micro Air Vehicles (MAVs) will be developed for tracking individuals, locating terrorist threats, and delivering remote sensors, for surveillance and chemical/biological agent detection. The tasks are: (1) Develop robust MAV platform capable of carrying sensor payload. (2) Develop fully autonomous capabilities for delivery of sensors to remote and distant locations. The current capabilities and accomplishments are: (1) Operational electric (inaudible) 6-inch MAVs with novel flexible wing, providing superior aerodynamic efficiency and control. (2) Vision-based flight stability and control (from on-board cameras).

Dual RF Astrodynamic GPS Orbital Navigator Satellite

NASA Technical Reports Server (NTRS)

Kanipe, David B.; Provence, Robert Steve; Straube, Timothy M.; Reed, Helen; Bishop, Robert; Lightsey, Glenn

2009-01-01

Dual RF Astrodynamic GPS Orbital Navigator Satellite (DRAGONSat) will demonstrate autonomous rendezvous and docking (ARD) in low Earth orbit (LEO) and gather flight data with a global positioning system (GPS) receiver strictly designed for space applications. ARD is the capability of two independent spacecraft to rendezvous in orbit and dock without crew intervention. DRAGONSat consists of two picosatellites (one built by the University of Texas and one built by Texas A and M University) and the Space Shuttle Payload Launcher (SSPL); this project will ultimately demonstrate ARD in LEO.

KSC-92PC-1538

NASA Image and Video Library

1992-07-18

CAPE CANAVERAL, Fla. -- At Cape Canaveral Air Force Station's Launch Complex 17, Pad A, technicians encapsulate the Geotail spacecraft upper and attached Payload Assist Module-D upper stage lower in the protective payload fairing. Geotail and secondary payload Diffuse Ultraviolet Experiment DUVE are scheduled for launch about the Delta II rocket on July 24. The GEOTAIL mission is a collaborative project undertaken by the Institute of Space and Astronautical Science ISAS, Japan Aerospace Exploration Agency JAXA and NASA. Photo Credit: NASA

Overview for Attached Payload Accommodations and Environments

NASA Technical Reports Server (NTRS)

Schaffer, Craig; Cook, Gene; Nabizadeh, Rodney; Phillion, James

2007-01-01

External payload accommodations are provided at attach sites on the U.S provided ELC, U.S. Truss, the Japanese Experiment Module Exposed Facility (JEM EF) and the Columbus EPF (External Payload Facilities). The Integrated Truss Segment (ITS) provides the backbone structure for the ISS. It attaches the solar and thermal control arrays to the rest of the complex, and houses cable distribution trays Extravehicular Activity (EVA) support equipment such as handholds and lighting; and providing for Extravehicular Robotic (EVR) accommodations using the Mobile Servicing System (MSS). It also provides logistics and maintenance, and payload attachment sites. The attachment sites accommodate logistics and maintenance and payloads carriers, zenith and nadir. The JEM-EF, a back porch-like attachment to the JEM Pressurized Module, accommodates up to eight payloads, which can be serviced by the crew via the JEM PM's airlock and dedicated robotic arm. The Columbus-EPF is another porch-like platform that can accommodate two zenith and two nadir looking payloads.

Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs)

DTIC Science & Technology

2007-08-01

An increasing variety of sensors are becoming available for use onboard autonomous vehicles . Given these enhanced sensing capabilities, scientific...and military personnel are interested in exploiting autonomous vehicles for increasingly complex missions. Most of these missions require the vehicle to

Using remotely piloted aircraft and onboard processing to optimize and expand data collection

NASA Astrophysics Data System (ADS)

Fladeland, M. M.; Sullivan, D. V.; Chirayath, V.; Instrella, R.; Phelps, G. A.

2016-12-01

Remotely piloted aircraft (RPA) have the potential to revolutionize local to regional data collection for geophysicists as platform and payload size decrease while aircraft capabilities increase. In particular, data from RPAs combine high-resolution imagery available from low flight elevations with comprehensive areal coverage, unattainable from ground investigations and difficult to acquire from manned aircraft due to budgetary and logistical costs. Low flight elevations are particularly important for detecting signals that decay exponentially with distance, such as electromagnetic fields. Onboard data processing coupled with high-bandwidth telemetry open up opportunities for real-time and near real-time data processing, producing more efficient flight plans through the use of payload-directed flight, machine learning and autonomous systems. Such applications not only strive to enhance data collection, but also enable novel sensing modalities and temporal resolution. NASA's Airborne Science Program has been refining the capabilities and applications of RPA in support of satellite calibration and data product validation for several decades. In this paper, we describe current platforms, payloads, and onboard data systems available to the research community. Case studies include Fluid Lensing for littoral zone 3D mapping, structure from motion for terrestrial 3D multispectral imaging, and airborne magnetometry on medium and small RPAs.

Weathering the Storm: Unmanned Aircraft Systems in the Maritime, Atmospheric and Polar Environments

NASA Technical Reports Server (NTRS)

Fladeland, Matthew M.; Sullivan, Donald V.; Chirayath, Ved; Instrella, Ron; Phelps, Geoffrey

2017-01-01

Remotely piloted aircraft (RPA) have the potential to revolutionize local to regional data collection for geophysicists as platform and payload size decrease while aircraft capabilities increase. In particular, data from RPAs combine high-resolution imagery available from low flight elevations with comprehensive areal coverage, unattainable from ground investigations and difficult to acquire from manned aircraft due to budgetary and logistical costs. Low flight elevations are particularly important for detecting signals that decay exponentially with distance, such as electromagnetic fields. Onboard data processing coupled with high-bandwidth telemetry open up opportunities for real-time and near real-time data processing, producing more efficient flight plans through the use of payload-directed flight, machine learning and autonomous systems. Such applications not only strive to enhance data collection, but also enable novel sensing modalities and temporal resolution. NASAs Airborne Science Program has been refining the capabilities and applications of RPA in support of satellite calibration and data product validation for several decades. In this paper, we describe current platforms, payloads, and onboard data systems available to the research community. Case studies include Fluid Lensing for littoral zone 3D mapping, structure from motion for terrestrial 3D multispectral imaging, and airborne magnetometry on medium and small RPAs.

How to Interactively Operate the Global Hawk UAS NOAA/NASA ENSO Payload, from Your Armchair, Five Thousand Kilometers Away

NASA Technical Reports Server (NTRS)

Sullivan, Don

2016-01-01

This paper will describe the information technologies developed by NASA and NOAA for the February 2016 Sensing Hazards with Operational Unmanned Technology (SHOUT) El Niño Southern Oscillation (ENSO) Campaign. The air vehicle is a NASA Global Hawk UAS, with a primary payload of four instruments, two developed by NASA, two developed by NOAA. The aircraft is based at the NASA Armstrong Flight Research Center, Edwards Air Force Base, California. The payload components are remotely operated by scientists at various facilities, and the data collected downloaded over satellite links in real time for analysis and collaboration. NOAA: Advanced Vertical Atmospheric Profiling System (AVAPS), developed by NCAR, which deploys dozens of dropsondes at altitudes up to 65,000 ft to collect high vertical resolution measurements of the temperature, pressure, relative humidity, and wind speed and direction. NASA: High-Altitude Imaging Wind and Rain Airborne Profiler (HIWRAP), a radar designed to examine the factors of storm intensity: formation, structure and intensification. NOAA: O3 Photometer (UAS-O3), designed specifically for autonomous, precise, and accurate O3 measurements in the upper troposphere and lower stratosphere (UT/LS). NASA JPL: High Altitude MMIC Sounding Radiometer (HAMSR), an atmospheric microwave temperature and humidity sounder instrument that looks at the microwave spectrum.

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

STS-46 Space Shuttle mission report

NASA Astrophysics Data System (ADS)

Fricke, Robert W.

1992-10-01

The STS-46 Space Shuttle Program Mission Report contains a summary of the Orbiter, External Tank (ET), Solid Rocket Booster/Redesigned Solid Rocket Motor (SRB/RSRM), and the Space Shuttle main engine (SSME) subsystem performance during the forty-ninth flight of the Space Shuttle Program, and the twelfth flight of the Orbiter vehicle Atlantis (OV-104). In addition to the Atlantis vehicle, the flight vehicle consisted of the following: an ET, designated ET-48 (LWT-41); three SSME's, which were serial numbers 2032, 2033, and 2027 in positions 1, 2, and 3, respectively; and two SRB's which were designated BI-052. The lightweight/redesigned SRM's that were installed in each SRB were designated 360W025A for the left RSRM and 360L025B for the right RSRM. The primary objective of this flight was to successfully deploy the European Retrievable Carrier (EURECA) payload and perform the operations of the Tethered Satellite System-1 (TSS-1) and the Evaluation of Oxygen Interaction with Material 3/Thermal Energy Management Processes 2A-3 (EOIM-3/TEMP 2A-3). The secondary objectives of this flight were to perform the operations of the IMAX Cargo Bay Camera (ICBC), Consortium for Material Development in Space Complex Autonomous Payload-2 and 3 (CONCAP-2 and CONCAP-3), Limited Duration Space Environment Candidate Materials Exposure (LDCE), Pituitary Growth Hormone Cell Function (PHCF), and Ultraviolet Plume Instrumentation (UVPI). In addition to summarizing subsystem performance, this report also discusses each Orbiter, ET, SSME, SRB, and RSRM in-flight anomaly in the applicable section of the report. Also included in the discussion is a reference to the assigned tracking number as published on the Problem Tracking List. All times are given in Greenwich mean time (G.m.t.) as well as mission elapsed time (MET).

STS-46 Space Shuttle mission report

NASA Technical Reports Server (NTRS)

Fricke, Robert W.

1992-01-01

The STS-46 Space Shuttle Program Mission Report contains a summary of the Orbiter, External Tank (ET), Solid Rocket Booster/Redesigned Solid Rocket Motor (SRB/RSRM), and the Space Shuttle main engine (SSME) subsystem performance during the forty-ninth flight of the Space Shuttle Program, and the twelfth flight of the Orbiter vehicle Atlantis (OV-104). In addition to the Atlantis vehicle, the flight vehicle consisted of the following: an ET, designated ET-48 (LWT-41); three SSME's, which were serial numbers 2032, 2033, and 2027 in positions 1, 2, and 3, respectively; and two SRB's which were designated BI-052. The lightweight/redesigned SRM's that were installed in each SRB were designated 360W025A for the left RSRM and 360L025B for the right RSRM. The primary objective of this flight was to successfully deploy the European Retrievable Carrier (EURECA) payload and perform the operations of the Tethered Satellite System-1 (TSS-1) and the Evaluation of Oxygen Interaction with Material 3/Thermal Energy Management Processes 2A-3 (EOIM-3/TEMP 2A-3). The secondary objectives of this flight were to perform the operations of the IMAX Cargo Bay Camera (ICBC), Consortium for Material Development in Space Complex Autonomous Payload-2 and 3 (CONCAP-2 and CONCAP-3), Limited Duration Space Environment Candidate Materials Exposure (LDCE), Pituitary Growth Hormone Cell Function (PHCF), and Ultraviolet Plume Instrumentation (UVPI). In addition to summarizing subsystem performance, this report also discusses each Orbiter, ET, SSME, SRB, and RSRM in-flight anomaly in the applicable section of the report. Also included in the discussion is a reference to the assigned tracking number as published on the Problem Tracking List. All times are given in Greenwich mean time (G.m.t.) as well as mission elapsed time (MET).

Autonomic Physiological Response Patterns Related to Intelligence

ERIC Educational Resources Information Center

Melis, Cor; van Boxtel, Anton

2007-01-01

We examined autonomic physiological responses induced by six different cognitive ability tasks, varying in complexity, that were selected on the basis of on Guilford's Structure of Intellect model. In a group of 52 participants, task performance was measured together with nine different autonomic response measures and respiration rate. Weighted…

Sub-arcminute pointing from a balloonborne platform

NASA Astrophysics Data System (ADS)

Craig, William W.; McLean, Ryan; Hailey, Charles J.

1998-07-01

We describe the design and performance of the pointing and aspect reconstruction system on the Gamma-Ray Arcminute Telescope Imaging System. The payload consists of a 4m long gamma-ray telescope, capable of producing images of the gamma-ray sky at an angular resolution of 2 arcminutes. The telescope is operated at an altitude of 40km in azimuth/elevation pointing mode. Using a variety of sensor, including attitude GPS, fiber optic gyroscopes, star and sun trackers, the system is capable of pointing the gamma-ray payload to within an arc-minute from the balloon borne platform. The system is designed for long-term autonomous operation and performed to specification throughout a recent 36 hour flight from Alice Springs, Australia. A star tracker and pattern recognition software developed for the mission permit aspect reconstruction to better than 10 arcseconds. The narrow field star tracker system is capable of acquiring and identifying a star field without external input. We present flight data form all sensors and the resultant gamma-ray source localizations.

BigDog

NASA Astrophysics Data System (ADS)

Playter, R.; Buehler, M.; Raibert, M.

2006-05-01

BigDog's goal is to be the world's most advanced quadruped robot for outdoor applications. BigDog is aimed at the mission of a mechanical mule - a category with few competitors to date: power autonomous quadrupeds capable of carrying significant payloads, operating outdoors, with static and dynamic mobility, and fully integrated sensing. BigDog is about 1 m tall, 1 m long and 0.3 m wide, and weighs about 90 kg. BigDog has demonstrated walking and trotting gaits, as well as standing up and sitting down. Since its creation in the fall of 2004, BigDog has logged tens of hours of walking, climbing and running time. It has walked up and down 25 & 35 degree inclines and trotted at speeds up to 1.8 m/s. BigDog has walked at 0.7 m/s over loose rock beds and carried over 50 kg of payload. We are currently working to expand BigDog's rough terrain mobility through the creation of robust locomotion strategies and terrain sensing capabilities.

KSC-07pd3233

NASA Image and Video Library

2007-11-03

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, an overhead crane moves the integrated cargo carrier-lite, or ICC-L, into the payload canister below. The ICC-L is an unpressurized cross-bay carrier providing launch and return transportation with the space shuttle. It rests on a keel yoke assembly, seen underneath. The ICC-L carries three elements: a nitrogen tank assembly that is part of the external active thermal control system on the International Space Station, the European technology Exposure Facility composed of nine science instruments and an autonomous temperature measurement unit, and the SOLAR payload designed for sun observation. The nitrogen tank assembly is mounted underneath. The exposure facility is seen at left on top, and the SOLAR is on the right. The SOLAR will be transferred and stowed on the Columbus module during the third spacewalk of the mission. STS-122 is targeted for launch on Dec. 6 on space shuttle Atlantis. Photo credit: NASA/Amanda Diller

KSC-07pd3234

NASA Image and Video Library

2007-11-03

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, an overhead crane moves the integrated cargo carrier-lite, or ICC-L, into the payload canister below. The ICC-L is an unpressurized cross-bay carrier providing launch and return transportation with the space shuttle. It rests on a keel yoke assembly, seen underneath. The ICC-L carries three elements: a nitrogen tank assembly that is part of the external active thermal control system on the International Space Station, the European technology Exposure Facility composed of nine science instruments and an autonomous temperature measurement unit, and the SOLAR payload designed for sun observation. The nitrogen tank assembly is mounted underneath. The exposure facility is seen at left on top, and the SOLAR is on the right. The SOLAR will be transferred and stowed on the Columbus module during the third spacewalk of the mission. STS-122 is targeted for launch on Dec. 6 on space shuttle Atlantis. Photo credit: NASA/Amanda Diller

KSC-2012-4353

NASA Image and Video Library

2012-08-10

CAPE CANAVERAL, Fla. – The Radiation Belt Storm Probes, or RBSP, spacecraft are moved inside their payload fairing on the payload transporter from the Astrotech payload processing facility in Titusville, Fla. to Space Launch Complex-41 at Cape Canaveral Air Force Station. The fairing, which holds the twin RBSP spacecraft, will be lifted to the top of a United Launch Alliance Atlas V rocket for launch later in August. The two spacecraft are designed to study the Van Allen radiation belts in unprecedented detail. Photo credit: NASA/Dmitri Gerondidakis

A supersaturating delivery system of silibinin exhibiting high payload achieved by amorphous nano-complexation with chitosan.

PubMed

Nguyen, Minh-Hiep; Yu, Hong; Dong, Bingxue; Hadinoto, Kunn

2016-06-30

The therapeutic potentials of silibinin - a phytochemical isolated from milk thistle plants - have not been fully realized due to its poor oral bioavailability caused by the low aqueous solubility. Existing solubility enhancement strategies of silibinin by nanonization were limited by their low payload. Herein we developed a supersaturating delivery system of silibinin exhibiting a high payload (≈76%) in the form of amorphous silibinin-chitosan nanoparticle complex (or silibinin nanoplex in short) prepared by self-assembly drug-polysaccharide complexation. The effects of (1) pH and (2) charge ratio of chitosan to silibinin on the nanoplex's physical characteristics (i.e. size, zeta potential, and payload) and preparation efficiency (i.e. silibinin utilization, overall yield) were investigated. The formation of nanoplex (≈240nm) was feasible only in a narrow pH range (5.1-5.8) and favored charge ratio below unity. At the optimal condition (pH 5.8 and charge ratio of 0.30), the nanoplex preparation exhibited 87% silibinin utilization rate and 63% yield signifying its high efficiency. The amorphous state and colloidal stabilities of the nanoplex during storage, and prolonged supersaturation generation (3h) at more than 10× of the saturation solubility were successfully demonstrated. Copyright © 2016 Elsevier B.V. All rights reserved.

Recent Developments in the Design, Capabilities and Autonomous Operations of a Lightweight Surface Manipulation System and Test-bed

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Jones, Thomas C.; Doggett, W. R.; Brady, Jeffrey S.; Berry, Felecia C.; Ganoe, George G.; Anderson, Eric; King, Bruce D.; Mercer, David C.

2011-01-01

The first generation of a versatile high performance device for performing payload handling and assembly operations on planetary surfaces, the Lightweight Surface Manipulation System (LSMS), has been designed and built. Over the course of its development, conventional crane type payload handling configurations and operations have been successfully demonstrated and the range of motion, types of operations and the versatility greatly expanded. This enhanced set of 1st generation LSMS hardware is now serving as a laboratory test-bed allowing the continuing development of end effectors, operational techniques and remotely controlled and automated operations. This paper describes the most recent LSMS and test-bed development activities, that have focused on two major efforts. The first effort was to complete a preliminary design of the 2nd generation LSMS that has the capability for limited mobility and can reposition itself between lander decks, mobility chassis, and fixed base locations. A major portion of this effort involved conducting a study to establish the feasibility of, and define, the specifications for a lightweight cable-drive waist joint. The second effort was to continue expanding the versatility and autonomy of large planetary surface manipulators using the 1st generation LSMS as a test-bed. This has been accomplished by increasing manipulator capabilities and efficiencies through both design changes and tool and end effector development. A software development effort has expanded the operational capabilities of the LSMS test-bed to include; autonomous operations based on stored paths, use of a vision system for target acquisition and tracking, and remote command and control over a communications bridge.

KENNEDY SPACE CENTER, FLA. - The turbulent weather common to a Florida afternoon in the summer subsides into a serene canopy of cornflower blue, and a manmade "bird" takes flight. The Space Shuttle Discovery soars skyward from Launch Pad 39B on Mission STS-64 at 6:22:35 p.m. EDT, Sept. 9. On board are a crew of six: Commander Richard N. Richards; Pilot L. Blaine Hammond Jr.; and Mission Specialists Mark C. Lee, Carl J. Meade, Susan J. Helms and Dr. J.M. Linenger. Payloads for the flight include the Lidar In-Space Technology Experiment (LITE), the Shuttle Pointed Autonomous Research Tool for Astronomy-201 (SPARTAN-201) and the Robot Operated Material Processing System (ROMPS). Mission Specialists Lee and Meade also are scheduled to perform an extravehicular activity during the 64th Shuttle mission.

NASA Image and Video Library

1994-09-09

KENNEDY SPACE CENTER, FLA. - The turbulent weather common to a Florida afternoon in the summer subsides into a serene canopy of cornflower blue, and a manmade "bird" takes flight. The Space Shuttle Discovery soars skyward from Launch Pad 39B on Mission STS-64 at 6:22:35 p.m. EDT, Sept. 9. On board are a crew of six: Commander Richard N. Richards; Pilot L. Blaine Hammond Jr.; and Mission Specialists Mark C. Lee, Carl J. Meade, Susan J. Helms and Dr. J.M. Linenger. Payloads for the flight include the Lidar In-Space Technology Experiment (LITE), the Shuttle Pointed Autonomous Research Tool for Astronomy-201 (SPARTAN-201) and the Robot Operated Material Processing System (ROMPS). Mission Specialists Lee and Meade also are scheduled to perform an extravehicular activity during the 64th Shuttle mission.

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.

The SALSA Project - High-End Aerial 3d Camera

NASA Astrophysics Data System (ADS)

Rüther-Kindel, W.; Brauchle, J.

2013-08-01

The ATISS measurement drone, developed at the University of Applied Sciences Wildau, is an electrical powered motor glider with a maximum take-off weight of 25 kg including a payload capacity of 10 kg. Two 2.5 kW engines enable ultra short take-off procedures and the motor glider design results in a 1 h endurance. The concept of ATISS is based on the idea to strictly separate between aircraft and payload functions, which makes ATISS a very flexible research platform for miscellaneous payloads. ATISS is equipped with an autopilot for autonomous flight patterns but under permanent pilot control from the ground. On the basis of ATISS the project SALSA was undertaken. The aim was to integrate a system for digital terrain modelling. Instead of a laser scanner a new design concept was chosen based on two synchronized high resolution digital cameras, one in a fixed nadir orientation and the other in a oblique orientation. Thus from every object on the ground images from different view angles are taken. This new measurement camera system MACS-TumbleCam was developed at the German Aerospace Center DLR Berlin-Adlershof especially for the ATISS payload concept. Special advantage in comparison to laser scanning is the fact, that instead of a cloud of points a surface including texture is generated and a high-end inertial orientation system can be omitted. The first test flights show a ground resolution of 2 cm and height resolution of 3 cm, which underline the extraordinary capabilities of ATISS and the MACS measurement camera system.

Preserved cardiac autonomic dynamics during sleep in subjects with spinal cord injuries.

PubMed

Tobaldini, Eleonora; Proserpio, Paola; Sambusida, Katrina; Lanza, Andrea; Redaelli, Tiziana; Frigerio, Pamela; Fratticci, Lara; Rosa, Silvia; Casali, Karina R; Somers, Virend K; Nobili, Lino; Montano, Nicola

2015-06-01

Spinal cord injuries (SCI) are associated with altered cardiovascular autonomic control (CAC). Sleep is characterized by modifications of autonomic control across sleep stages; however, no data are available in SCI subjects on CAC during sleep. We aim to assess cardiac autonomic modulation during sleep in subjects with SCI. 27 participants with a neurological and radiological diagnosis of cervical (Cerv, n = 12, ie, tetraplegic) and thoracic SCI (Thor, n = 15, ie, paraplegic) and healthy subjects (Controls) were enrolled. Overnight polysomnographic (PSG) recordings were obtained in all participants. Electrocardiography and respiration were extracted from PSG, divided into sleep stages [wakefulness (W), non-REM sleep (NREM) and REM] for assessment of CAC, using symbolic analysis (SA) and corrected conditional entropy (CCE). SA identified indices of sympathetic and parasympathetic modulation and CCE evaluated the degree of complexity of the heart period time series. SA revealed a reduction of sympathetic and predominant parasympathetic control during NREM compared to W and REM in SCI patients, independent of the level of the lesion, similar to the Controls. In all three groups, complexity of autonomic regulation was higher in NREM compared to W and REM. In subjects with SCI, cardiac autonomic control changed across sleep stages, with a reduction of sympathetic and an increase of parasympathetic modulation during NREM compared to W and REM, and a parallel increase of complexity during NREM, which was similar to the Controls. Cardiac autonomic dynamics during sleep are maintained in SCI, independent of the level of the lesion. Copyright © 2014 Elsevier B.V. All rights reserved.

Optimal design and experimental analyses of a new micro-vibration control payload-platform

NASA Astrophysics Data System (ADS)

Sun, Xiaoqing; Yang, Bintang; Zhao, Long; Sun, Xiaofen

2016-07-01

This paper presents a new payload-platform, for precision devices, which possesses the capability of isolating the complex space micro-vibration in low frequency range below 5 Hz. The novel payload-platform equipped with smart material actuators is investigated and designed through optimization strategy based on the minimum energy loss rate, for the aim of achieving high drive efficiency and reducing the effect of the magnetic circuit nonlinearity. Then, the dynamic model of the driving element is established by using the Lagrange method and the performance of the designed payload-platform is further discussed through the combination of the controlled auto regressive moving average (CARMA) model with modified generalized prediction control (MGPC) algorithm. Finally, an experimental prototype is developed and tested. The experimental results demonstrate that the payload-platform has an impressive potential of micro-vibration isolation.

Fish and chips: implementation of a neural network model into computer chips to maximize swimming efficiency in autonomous underwater vehicles.

PubMed

Blake, R W; Ng, H; Chan, K H S; Li, J

2008-09-01

Recent developments in the design and propulsion of biomimetic autonomous underwater vehicles (AUVs) have focused on boxfish as models (e.g. Deng and Avadhanula 2005 Biomimetic micro underwater vehicle with oscillating fin propulsion: system design and force measurement Proc. 2005 IEEE Int. Conf. Robot. Auto. (Barcelona, Spain) pp 3312-7). Whilst such vehicles have many potential advantages in operating in complex environments (e.g. high manoeuvrability and stability), limited battery life and payload capacity are likely functional disadvantages. Boxfish employ undulatory median and paired fins during routine swimming which are characterized by high hydromechanical Froude efficiencies (approximately 0.9) at low forward speeds. Current boxfish-inspired vehicles are propelled by a low aspect ratio, 'plate-like' caudal fin (ostraciiform tail) which can be shown to operate at a relatively low maximum Froude efficiency (approximately 0.5) and is mainly employed as a rudder for steering and in rapid swimming bouts (e.g. escape responses). Given this and the fact that bioinspired engineering designs are not obligated to wholly duplicate a biological model, computer chips were developed using a multilayer perception neural network model of undulatory fin propulsion in the knifefish Xenomystus nigri that would potentially allow an AUV to achieve high optimum values of propulsive efficiency at any given forward velocity, giving a minimum energy drain on the battery. We envisage that externally monitored information on flow velocity (sensory system) would be conveyed to the chips residing in the vehicle's control unit, which in turn would signal the locomotor unit to adopt kinematics (e.g. fin frequency, amplitude) associated with optimal propulsion efficiency. Power savings could protract vehicle operational life and/or provide more power to other functions (e.g. communications).

The Hotel Payload, plans for the period 2003-2006

NASA Astrophysics Data System (ADS)

Hansen, Gudmund; Mikalsen, Per-Arne

2003-08-01

The cost and complexity of scientific experiments, carried by traditional sounding rocket payloads, are increasing. At the same time the scientific environment faces declining funding for this basic research. In order to meet the invitation from the science community, Andøya Rocket Range runs a programme for developing a sounding rocket payload, in order to achieve an inexpensive and cost-effective tool for atmosphere research and educational training. The Hotel Payload is a new technological payload concept in the sounding rocket family. By means of standardized mechanical structures and electronics, flexibility in data collection and transmission, roomy vehicles are affordable to most of the scientific research environments as well as for educational training. A complete vehicle - ready for installation of scientific experiments - is offered to the scientists to a fixed price. The fixed price service also includes launch services. This paper describes the Hotel Payload concept and its technology. In addition the three year plan for the development project is discussed. The opportunity of using the Hotel Payload as a platform for a collaborative triangle between research, education and industry is also discussed.

Transient excitation and mechanical admittance test techniques for prediction of payload vibration environments

NASA Technical Reports Server (NTRS)

Kana, D. D.; Vargas, L. M.

1977-01-01

Transient excitation forces were applied separately to simple beam-and-mass launch vehicle and payload models to develop complex admittance functions for the interface and other appropriate points on the structures. These measured admittances were then analytically combined by a matrix representation to obtain a description of the coupled system dynamic characteristics. Response of the payload model to excitation of the launch vehicle model was predicted and compared with results measured on the combined models. These results are also compared with results of earlier work in which a similar procedure was employed except that steady-state sinusoidal excitation techniques were included. It is found that the method employing transient tests produces results that are better overall than the steady state methods. Furthermore, the transient method requires far less time to implement, and provides far better resolution in the data. However, the data acquisition and handling problem is more complex for this method. It is concluded that the transient test and admittance matrix prediction method can be a valuable tool for development of payload vibration tests.

Space station Simulation Computer System (SCS) study for NASA/MSFC. Volume 1: Overview and summary

NASA Technical Reports Server (NTRS)

1989-01-01

NASA's Space Station Freedom Program (SSFP) planning efforts have identified a need for a payload training simulator system to serve as both a training facility and as a demonstrator to validate operational concepts. The envisioned Marshall Space Flight Center (MSFC) Payload Training Complex (PTC) required to meet this need will train the space station payload scientists, station scientists, and ground controllers to operate the wide variety of experiments that will be onboard the Space Station Freedom. The Simulation Computer System (SCS) is the computer hardware, software, and workstations that will support the Payload Training Complex at MSFC. The purpose of this SCS study is to investigate issues related to the SCS, alternative requirements, simulator approaches, and state-of-the-art technologies to develop candidate concepts and designs. This study was performed August 1988 to October 1989. Thus, the results are based on the SSFP August 1989 baseline, i.e., pre-Langley configuration/budget review (C/BR) baseline. Some terms, e.g., combined trainer, are being redefined. An overview of the study activities and a summary of study results are given here.

Simulating Vibrations in a Complex Loaded Structure

NASA Technical Reports Server (NTRS)

Cao, Tim T.

2005-01-01

The Dynamic Response Computation (DIRECT) computer program simulates vibrations induced in a complex structure by applied dynamic loads. Developed to enable rapid analysis of launch- and landing- induced vibrations and stresses in a space shuttle, DIRECT also can be used to analyze dynamic responses of other structures - for example, the response of a building to an earthquake, or the response of an oil-drilling platform and attached tanks to large ocean waves. For a space-shuttle simulation, the required input to DIRECT includes mathematical models of the space shuttle and its payloads, and a set of forcing functions that simulates launch and landing loads. DIRECT can accommodate multiple levels of payload attachment and substructure as well as nonlinear dynamic responses of structural interfaces. DIRECT combines the shuttle and payload models into a single structural model, to which the forcing functions are then applied. The resulting equations of motion are reduced to an optimum set and decoupled into a unique format for simulating dynamics. During the simulation, maximum vibrations, loads, and stresses are monitored and recorded for subsequent analysis to identify structural deficiencies in the shuttle and/or payloads.

Promoting Crew Autonomy: Current Advances and Novel Techniques

NASA Technical Reports Server (NTRS)

Harris, Samantha

2017-01-01

Since the dawn of the era of human space flight, mission control centers around the world have played an integral role in guiding space travelers toward mission success. In the International Space Station (ISS) program, astronauts and cosmonauts have the benefit of near constant access to the expertise and resources within mission control, as well as lifeboat capability to quickly return to Earth if something were to go wrong. As we move into an era of longer duration missions to more remote locations, rapid and ready access to mission control on earth will no longer be feasible. To prepare for such missions, long duration crews must be prepared to operate more autonomously, and the mission control paradigm that has been successfully employed for decades must be re-examined. The team at NASA's Payload Operations and Integration Center (POIC) in Huntsville, Alabama is playing an integral role in the development of concepts for a more autonomous long duration crew of the future via research on the ISS.

TARDEC's Intelligent Ground Systems overview

NASA Astrophysics Data System (ADS)

Jaster, Jeffrey F.

2009-05-01

The mission of the Intelligent Ground Systems (IGS) Area at the Tank Automotive Research, Development and Engineering Center (TARDEC) is to conduct technology maturation and integration to increase Soldier robot control/interface intuitiveness and robotic ground system robustness, functionality and overall system effectiveness for the Future Combat System Brigade Combat Team, Robotics Systems Joint Project Office and game changing capabilities to be fielded beyond the current force. This is accomplished through technology component development focused on increasing unmanned ground vehicle autonomy, optimizing crew interfaces and mission planners that capture commanders' intent, integrating payloads that provide 360 degree local situational awareness and expanding current UGV tactical behavior, learning and adaptation capabilities. The integration of these technology components into ground vehicle demonstrators permits engineering evaluation, User assessment and performance characterization in increasingly complex, dynamic and relevant environments to include high speed on road or cross country operations, all weather/visibility conditions and military operations in urban terrain (MOUT). Focused testing and experimentation is directed at reducing PM risk areas (safe operations, autonomous maneuver, manned-unmanned collaboration) and transitioning technology in the form of hardware, software algorithms, test and performance data, as well as User feedback and lessons learned.

An Astronaut Assistant Rover for Martian Surface Exploration

NASA Astrophysics Data System (ADS)

1999-01-01

Lunar exploration, recent field tests, and even on-orbit operations suggest the need for a robotic assistant for an astronaut during extravehicular activity (EVA) tasks. The focus of this paper is the design of a 300-kg, 2 cubic meter, semi-autonomous robotic rover to assist astronauts during Mars surface exploration. General uses of this rover include remote teleoperated control, local EVA astronaut control, and autonomous control. Rover size, speed, sample capacity, scientific payload and dexterous fidelity were based on known Martian environmental parameters,- established National Aeronautics and Space Administration (NASA) standards, the NASA Mars Exploration Reference Mission, and lessons learned from lunar and on-orbit sorties. An assumed protocol of a geological, two astronaut EVA performed during daylight hours with a maximum duration of tour hour dictated the following design requirements: (1) autonomously follow the EVA team over astronaut traversable Martian terrain for four hours; (2) retrieve, catalog, and carry 12 kg of samples; (3) carry tools and minimal in-field scientific equipment; (4) provide contingency life support; (5) compile and store a detailed map of surrounding terrain and estimate current position with respect to base camp; (6) provide supplemental communications systems; and (7) carry and support the use of a 7 degree - of- freedom dexterous manipulator.

Open-Loop Flight Testing of COBALT GN&C Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Amzajerdian, Farzin; Seubert, Carl R.; Restrepo, Carolina I.

2017-01-01

A terrestrial, open-loop (OL) flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed, with support through the NASA Advanced Exploration Systems (AES), Game Changing Development (GCD), and Flight Opportunities (FO) Programs. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuzes the NDL and LVS data in real time to produce a precise navigation solution that is independent of the Global Positioning System (GPS) and suitable for future, autonomous planetary landing systems. The OL campaign tested COBALT as a passive payload, with COBALT data collection and filter execution, but with the Xodiac vehicle Guidance and Control (G&C) loops closed on a Masten GPS-based navigation solution. The OL test was performed as a risk reduction activity in preparation for an upcoming 2017 closed-loop (CL) flight campaign in which Xodiac G&C will act on the COBALT navigation solution and the GPS-based navigation will serve only as a backup monitor.

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.

Comparative anatomy of the autonomic nervous system.

PubMed

Nilsson, Stefan

2011-11-16

This short review aims to point out the general anatomical features of the autonomic nervous systems of non-mammalian vertebrates. In addition it attempts to outline the similarities and also the increased complexity of the autonomic nervous patterns from fish to tetrapods. With the possible exception of the cyclostomes, perhaps the most striking feature of the vertebrate autonomic nervous system is the similarity between the vertebrate classes. An evolution of the complexity of the system can be seen, with the segmental ganglia of elasmobranchs incompletely connected longitudinally, while well developed paired sympathetic chains are present in teleosts and the tetrapods. In some groups the sympathetic chains may be reduced (dipnoans and caecilians), and have yet to be properly described in snakes. Cranial autonomic pathways are present in the oculomotor (III) and vagus (X) nerves of gnathostome fish and the tetrapods, and with the evolution of salivary and lachrymal glands in the tetrapods, also in the facial (VII) and glossopharyngeal (IX) nerves. Copyright © 2010 Elsevier B.V. All rights reserved.

External Contamination Environment at ISS Included: Selected Results from Payloads Contamination Mapping Delivery 3 Package

NASA Technical Reports Server (NTRS)

Olsen, Randy; Huang, Alvin; Steagall, Courtney; Kohl, Nathaniel; Koontz, Steve; Worthy, Erica

2017-01-01

The International Space Station is the largest and most complex on-orbit platform for space science utilization in low Earth orbit. Multiple sites for external payloads, with exposure to the associated natural and induced environments, are available to support a variety of space science utilization objectives. Contamination is one of the induced environments that can impact performance, mission success and science utilization on the vehicle. The ISS has been designed, built and integrated with strict contamination requirements to provide low levels of induced contamination on external payload assets.

Flexible imaging payload for real-time fluorescent biological imaging in parabolic, suborbital and space analog environments

NASA Astrophysics Data System (ADS)

Bamsey, Matthew T.; Paul, Anna-Lisa; Graham, Thomas; Ferl, Robert J.

2014-10-01

Fluorescent imaging offers the ability to monitor biological functions, in this case biological responses to space-related environments. For plants, fluorescent imaging can include general health indicators such as chlorophyll fluorescence as well as specific metabolic indicators such as engineered fluorescent reporters. This paper describes the Flex Imager a fluorescent imaging payload designed for Middeck Locker deployment and now tested on multiple flight and flight-related platforms. The Flex Imager and associated payload elements have been developed with a focus on 'flexibility' allowing for multiple imaging modalities and change-out of individual imaging or control components in the field. The imaging platform is contained within the standard Middeck Locker spaceflight form factor, with components affixed to a baseplate that permits easy rearrangement and fine adjustment of components. The Flex Imager utilizes standard software packages to simplify operation, operator training, and evaluation by flight provider flight test engineers, or by researchers processing the raw data. Images are obtained using a commercial cooled CCD image sensor, with light-emitting diodes for excitation and a suite of filters that allow biological samples to be imaged over wavelength bands of interest. Although baselined for the monitoring of green fluorescent protein and chlorophyll fluorescence from Arabidopsis samples, the Flex Imager payload permits imaging of any biological sample contained within a standard 10 cm by 10 cm square Petri plate. A sample holder was developed to secure sample plates under different flight profiles while permitting sample change-out should crewed operations be possible. In addition to crew-directed imaging, autonomous or telemetric operation of the payload is also a viable operational mode. An infrared camera has also been integrated into the Flex Imager payload to allow concurrent fluorescent and thermal imaging of samples. The Flex Imager has been utilized to assess, in real-time, the response of plants to novel environments including various spaceflight analogs, including several parabolic flight environments as well as hypobaric plant growth chambers. Basic performance results obtained under these operational environments, as well as laboratory-based tests are described. The Flex Imager has also been designed to be compatible with emerging suborbital platforms.

Distance-Based Behaviors for Low-Complexity Control in Multiagent Robotics

NASA Astrophysics Data System (ADS)

Pierpaoli, Pietro

Several biological examples show that living organisms cooperate to collectively accomplish tasks impossible for single individuals. More importantly, this coordination is often achieved with a very limited set of information. Inspired by these observations, research on autonomous systems has focused on the development of distributed control techniques for control and guidance of groups of autonomous mobile agents, or robots. From an engineering perspective, when coordination and cooperation is sought in large ensembles of robotic vehicles, a reduction in hardware and algorithms' complexity becomes mandatory from the very early stages of the project design. The research for solutions capable of lowering power consumption, cost and increasing reliability are thus worth investigating. In this work, we studied low-complexity techniques to achieve cohesion and control on swarms of autonomous robots. Starting from an inspiring example with two-agents, we introduced effects of neighbors' relative positions on control of an autonomous agent. The extension of this intuition addressed the control of large ensembles of autonomous vehicles, and was applied in the form of a herding-like technique. To this end, a low-complexity distance-based aggregation protocol was defined. We first showed that our protocol produced a cohesion aggregation among the agent while avoiding inter-agent collisions. Then, a feedback leader-follower architecture was introduced for the control of the swarm. We also described how proximity measures and probability of collisions with neighbors can also be used as source of information in highly populated environments.

How Can Music Influence the Autonomic Nervous System Response in Patients with Severe Disorder of Consciousness?

PubMed

Riganello, Francesco; Cortese, Maria D; Arcuri, Francesco; Quintieri, Maria; Dolce, Giuliano

2015-01-01

Activations to pleasant and unpleasant musical stimuli were observed within an extensive neuronal network and different brain structures, as well as in the processing of the syntactic and semantic aspects of the music. Previous studies evidenced a correlation between autonomic activity and emotion evoked by music listening in patients with Disorders of Consciousness (DoC). In this study, we analyzed retrospectively the autonomic response to musical stimuli by mean of normalized units of Low Frequency (nuLF) and Sample Entropy (SampEn) of Heart Rate Variability (HRV) parameters, and their possible correlation to the different complexity of four musical samples (i.e., Mussorgsky, Tchaikovsky, Grieg, and Boccherini) in Healthy subjects and Vegetative State/Unresponsive Wakefulness Syndrome (VS/UWS) patients. The complexity of musical sample was based on Formal Complexity and General Dynamics parameters defined by Imberty's semiology studies. The results showed a significant difference between the two groups for SampEn during the listening of Mussorgsky's music and for nuLF during the listening of Boccherini and Mussorgsky's music. Moreover, the VS/UWS group showed a reduction of nuLF as well as SampEn comparing music of increasing Formal Complexity and General Dynamics. These results put in evidence how the internal structure of the music can change the autonomic response in patients with DoC. Further investigations are required to better comprehend how musical stimulation can modify the autonomic response in DoC patients, in order to administer the stimuli in a more effective way.

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.

Explosive vapor detection payload for small robots

NASA Astrophysics Data System (ADS)

Stimac, Phil J.; Pettit, Michael; Wetzel, John P.; Haas, John W.

2013-05-01

Detection of explosive hazards is a critical component of enabling and improving operational mobility and protection of US Forces. The Autonomous Mine Detection System (AMDS) developed by the US Army RDECOM CERDEC Night Vision and Electronic Sensors Directorate (NVESD) is addressing this challenge for dismounted soldiers. Under the AMDS program, ARA has developed a vapor sampling system that enhances the detection of explosive residues using commercial-off-the-shelf (COTS) sensors. The Explosives Hazard Trace Detection (EHTD) payload is designed for plug-and-play installation and operation on small robotic platforms, addressing critical Army needs for more safely detecting concealed or exposed explosives in areas such as culverts, walls and vehicles. In this paper, we describe the development, robotic integration and performance of the explosive vapor sampling system, which consists of a sampling "head," a vapor transport tube and an extendable "boom." The sampling head and transport tube are integrated with the boom, allowing samples to be collected from targeted surfaces up to 7-ft away from the robotic platform. During sample collection, an IR lamp in the sampling head is used to heat a suspected object/surface and the vapors are drawn through the heated vapor transport tube to an ion mobility spectrometer (IMS) for detection. The EHTD payload is capable of quickly (less than 30 seconds) detecting explosives such as TNT, PETN, and RDX at nanogram levels on common surfaces (brick, concrete, wood, glass, etc.).

Integration and Ruggedization of a Commercially Available Gas Chromatograph and Mass Spectrometer (GCMS) for the Resource Prospector Mission (RPM)

NASA Technical Reports Server (NTRS)

Loftin, Kathleen; Griffin, Timothy; Captain, Janine

2013-01-01

The Resource Prospector is a mission to prospect for lunar volatiles (primarily water) at one of the two lunar poles, as well as demonstrate In-Situ Resource Utilization (ISRU) on the Moon. The Resource Prospector consists of a lander, a rover, and a rover-borne scientific payload. The Regolith and Environment Science and Oxygen & Lunar Volatile Extraction (RESOLVE) payload, will be able to (1) locate near subsurface volatiles, (2) excavate and analyze samples of the volatile-bearing regolith, and (3) demonstrate the form, extractability and usefulness of the materials. The gas chromatograph mass spectrometer (GCMS) is the primary instrument in the RESOLVE instrumentation suite responsible for identification and quantification of the volatiles evolved from the lunar regolith. Specifically, this instrument must have: a low mass, a low power consumption, be able to perform fast analyses of samples ranging from less than one to greater than ninety nine percent water by mass, be autonomously controlled by the payload's software and avionics platform, and be able to operate in the harsh lunar environment. The RPM's short mission duration is the primary driver of the requirement for a very fast analysis time currently base lined at less than 2 minutes per sample. This presentation will discuss the requirements levied upon the GCMS design, lessons learned from a preliminary field demonstration deployment, the current design, and the path forward.

Plant-module for autonomous space-support (p-mass).

NASA Technical Reports Server (NTRS)

Luttges, M. W.; Stodieck, L.; Hoehn, A.

1994-01-01

A wide variety of technical and science questions arise when attempting to envision the long-term support of plants, algae and bacteria in space. Currently, spaceflight data remain elusive since there are no U.S. carriers for investigating either the germane technical or scientific issues. The first flight of the Commercial Experiment Transporter (COMET) will provide a nominal 30 day orbital opportunity to evlauate such issues. The P-Mass is a small payload that is designed to meet the mass (40 lbs), Volume (1.5cu. ft.), and power (120 W0 constraints of one of several COMET payloads while enabling flight evaluations of plants, algae and bacteria. Various biological sub-systems have been similarly evaluated. Through a variety of sensors coupled with color video, the P-Mass performance and the supported biological systems will be compared for terrestrial controls versus spaceflight materials. This small, low cost payload should return valuable regarding the requirements for hardware and biological systems needed to move toward biogenerative life support systems in space. In addition, it should be possible to accurately identify major unresolved difficulties that may arise in the long-term, this generic spaceflight capability should enable a variety of plant research programs focused on the use of microgravity to modulate and exploit plant products for commercial applications ranging from new agricultural products to pharmacological feedstocks and new controlled agricultural strategies.

The Geo Quick Ride (GQR) Program: Providing Inexpensive and Frequent Access to Space

NASA Technical Reports Server (NTRS)

Caffrey, Robert; Baniszewski, John

2004-01-01

This paper examines piggybacking NASA, university, and industry payloads on commercial geosynchronous satellites. NASA's RSDO Office awarded Geo Quick Ride (GQR) study contracts in 1998 to spacecraft manufactures to examine the issues with flying secondary payloads. The study results were very promising. Commercial communication satellites have frequent flights and significant unused resources that could be used to fly secondary payloads. However, manifesting secondary payloads on a commercial revenue-generating satellite is a complex problem to solve. The solution requires multiple simultaneous approaches in order to be successful. There are business, economic, technical, schedule, and organizational issues to be resolved. This paper examines the Geo Quick Ride (GQR) concept, discusses the development issues, and describes how this concept solves many of these issues.

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

STS-63 Space Shuttle report

NASA Technical Reports Server (NTRS)

Fricke, Robert W., Jr.

1995-01-01

The STS-63 Space Shuttle Program Mission Report summarizes the Payload activities and provides detailed data on the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Reusable Solid Rocket Motor (RSRM), and the Space Shuttle Main Engine (SSME) systems performance during this sixty-seventh flight of the Space Shuttle Program, the forty-second since the return to flight, and twentieth flight of the Orbiter vehicle Discovery (OV-103). In addition to the OV-103 Orbiter vehicle, the flight vehicle consisted of an ET that was designated ET-68; three SSME's that were designated 2035, 2109, and 2029 in positions 1, 2, and 3, respectively; and two SRB's that were designated BI-070. The RSRM's that were an integral part of the SRB's were designated 360Q042A for the left SRB and 360L042B for the right SRB. The STS-63 mission was planned as an 8-day duration mission with two contingency days available for weather avoidance or Orbiter contingency operations. The primary objectives of the STS-63 mission were to perform the Mir rendezvous operations, accomplish the Spacehab-3 experiments, and deploy and retrieve the Shuttle Pointed Autonomous Research Tool for Astronomy-204 (SPARTAN-204) payload. The secondary objectives were to perform the Cryogenic Systems Experiment (CSE)/Shuttle Glo-2 Experiment (GLO-2) Payload (CGP)/Orbital Debris Radar Calibration Spheres (ODERACS-2) (CGP/ODERACS-2) payload objectives, the Solid Surface Combustion Experiment (SSCE), and the Air Force Maui Optical Site Calibration Tests (AMOS). The objectives of the Mir rendezvous/flyby were to verify flight techniques, communication and navigation-aid sensor interfaces, and engineering analyses associated with Shuttle/Mir proximity operations in preparation for the STS-71 docking mission.

UNH Project SMART 2017: Space Science for High School Students

NASA Astrophysics Data System (ADS)

Smith, C. W.; Broad, L.; Goelzer, S.; Levergood, R.; Lugaz, N.; Moebius, E.

2017-12-01

Every summer for the past 26 years the University of New Hampshire (UNH) has run a month-long, residential outreach program for high school students considering careers in mathematics, science, or engineering. Space science is one of the modules. Students work directly with UNH faculty performing original work with real spacecraft data and hardware and present the results of that effort at the end of the program. This year the student research projects used data from the Messenger, STEREO, and Triana missions. In addition, the students build and fly a high-altitude balloon payload with instruments of their own construction. Students learn circuit design and construction, microcontroller programming, and core atmospheric and space science along with fundamental concepts in space physics and engineering. Our payload design has evolved significantly since the first flight of a simple rectangular box and now involves a stable descent vehicle that does not require a parachute. Our flight hardware includes an on-board flight control computer, in-flight autonomous control and data acquisition of multiple student-built instruments, and real-time camera images sent to ground. This year we developed, built and flew a successful line cutter based on GPS location information that prevents our payload from falling into the ocean while also separating the payload from the balloon remains for a cleaner descent. We will describe that new line cutter design and implementation along with the shielded Geiger counters that we flew as part of our cosmic ray air shower experiment. This is a program that can be used as a model for other schools to follow and that high schools can initiate. More information can be found at .

Initial results of centralized autonomous orbit determination of the new-generation BDS satellites with inter-satellite link measurements

NASA Astrophysics Data System (ADS)

Tang, Chengpan; Hu, Xiaogong; Zhou, Shanshi; Liu, Li; Pan, Junyang; Chen, Liucheng; Guo, Rui; Zhu, Lingfeng; Hu, Guangming; Li, Xiaojie; He, Feng; Chang, Zhiqiao

2018-01-01

Autonomous orbit determination is the ability of navigation satellites to estimate the orbit parameters on-board using inter-satellite link (ISL) measurements. This study mainly focuses on data processing of the ISL measurements as a new measurement type and its application on the centralized autonomous orbit determination of the new-generation Beidou navigation satellite system satellites for the first time. The ISL measurements are dual one-way measurements that follow a time division multiple access (TDMA) structure. The ranging error of the ISL measurements is less than 0.25 ns. This paper proposes a derivation approach to the satellite clock offsets and the geometric distances from TDMA dual one-way measurements without a loss of accuracy. The derived clock offsets are used for time synchronization, and the derived geometry distances are used for autonomous orbit determination. The clock offsets from the ISL measurements are consistent with the L-band two-way satellite, and time-frequency transfer clock measurements and the detrended residuals vary within 0.5 ns. The centralized autonomous orbit determination is conducted in a batch mode on a ground-capable server for the feasibility study. Constant hardware delays are present in the geometric distances and become the largest source of error in the autonomous orbit determination. Therefore, the hardware delays are estimated simultaneously with the satellite orbits. To avoid uncertainties in the constellation orientation, a ground anchor station that "observes" the satellites with on-board ISL payloads is introduced into the orbit determination. The root-mean-square values of orbit determination residuals are within 10.0 cm, and the standard deviation of the estimated ISL hardware delays is within 0.2 ns. The accuracy of the autonomous orbits is evaluated by analysis of overlap comparison and the satellite laser ranging (SLR) residuals and is compared with the accuracy of the L-band orbits. The results indicate that the radial overlap differences between the autonomous orbits are less than 15.0 cm for the inclined geosynchronous orbit (IGSO) satellites and less than 10.0 cm for the MEO satellites. The SLR residuals are approximately 15.0 cm for the IGSO satellites and approximately 10.0 cm for the MEO satellites, representing an improvement over the L-band orbits.

KSC-97pc458

NASA Image and Video Library

1997-03-13

The STS-83 crew poses in the White Room at Launch Complex 39A during the crew's Terminal Countdown Demonstration Test (TCDT). From left to right, standing, they are Payload Specialist Gregory T. Linteris, Pilot Susan L. Still, Mission Commander James D. Halsell, Mission Specialist Michael L. Gernhardt, Payload Specialist Roger K. Crouch, and Mission Specialist Donald Thomas. Mission Specialist Janice E. Voss is kneeling

A feasibility study of a hypersonic real-gas facility

NASA Technical Reports Server (NTRS)

Gully, J. H.; Driga, M. D.; Weldon, W. F.

1987-01-01

A four month feasibility study of a hypersonic real-gas free flight test facility for NASA Langley Research Center (LARC) was performed. The feasibility of using a high-energy electromagnetic launcher (EML) to accelerate complex models (lifting and nonlifting) in the hypersonic, real-gas facility was examined. Issues addressed include: design and performance of the accelerator; design and performance of the power supply; design and operation of the sabot and payload during acceleration and separation; effects of high current, magnetic fields, temperature, and stress on the sabot and payload; and survivability of payload instrumentation during acceleration, flight, and soft catch.

KSC01kodi072

NASA Image and Video Library

2001-08-08

KODIAK ISLAND, Alaska -- The Sapphire payload is moved into position next to the Starshine 3 payload at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program.

KSC01kodi062

NASA Image and Video Library

2001-07-31

KODIAK ISLAND, Alaska -- Technicians prepare the Starshine 3 payload, while the payload fairing of the Athena 1 launch vehicle awaits servicing at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5:00 to 7:00 p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program

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.

Conditions for Fully Autonomous Anticipation

NASA Astrophysics Data System (ADS)

Collier, John

2006-06-01

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

Stratospheric Balloon Platforms for Near Space Access

NASA Astrophysics Data System (ADS)

Dewey, R. G.

2012-12-01

For over five decades, high altitude aerospace balloon platforms have provided a unique vantage point for space and geophysical research by exposing scientific instrument packages and experiments to space-like conditions above 99% of Earth's atmosphere. Reaching altitudes in excess of 30 km for durations ranging from hours to weeks, high altitude balloons offer longer flight durations than both traditional sounding rockets and emerging suborbital reusable launch vehicles. For instruments and experiments requiring access to high altitudes, engineered balloon systems provide a timely, responsive, flexible, and cost-effective vehicle for reaching near space conditions. Moreover, high altitude balloon platforms serve as an early means of testing and validating hardware bound for suborbital or orbital space without imposing space vehicle qualifications and certification requirements on hardware in development. From float altitudes above 30 km visible obscuration of the sky is greatly reduced and telescopes and other sensors function in an orbit-like environment, but in 1g. Down-facing sensors can take long-exposure atmospheric measurements and images of Earth's surface from oblique and nadir perspectives. Payload support subsystems such as telemetry equipment and command, control, and communication (C3) interfaces can also be tested and operationally verified in this space-analog environment. For scientific payloads requiring over-flight of specific areas of interests, such as an active volcano or forest region, advanced mission planning software allows flight trajectories to be accurately modeled. Using both line-of-sight and satellite-based communication systems, payloads can be tracked and controlled throughout the entire mission duration. Under NASA's Flight Opportunities Program, NSC can provide a range of high altitude flight options to support space and geophysical research: High Altitude Shuttle System (HASS) - A balloon-borne semi-autonomous glider carries payloads to high altitude and returns them safely to pre-selected landing sites, supporting quick recovery, refurbishment, and re-flight. Small Balloon System (SBS) - Controls payload interfaces via a standardized avionics system. Using a parachute for recovery, the SBS is well suited for small satellite and spacecraft subsystem developers wanting to raise their Technology Readiness Level (TRL) in an operationally relevant environment. Provides flexibility for scientific payloads requiring externally mounted equipment, such as telescopes and antennas. Nano Balloon System (NBS) - For smaller payloads (~CubeSats) with minimal C3 requirements, the Nano Balloon System (NBS) operates under less restrictive flight regulations with increased operational flexibility. The NBS is well suited for payload providers seeking a quick, simple, and cost effective solution for operating small ~passive payloads in near space. High altitude balloon systems offer the payload provider and experimenter a unique and flexible platform for geophysical and space research. Though new launch vehicles continue to expand access to suborbital and orbital space, recent improvements in high altitude balloon technology and operations provide a cost effective alternative to access space-like conditions.

International Space Station External Contamination Environment for Space Science Utilization

NASA Technical Reports Server (NTRS)

Soares, Carlos E.; Mikatarian, Ronald R.; Steagall, Courtney A.; Huang, Alvin Y.; Koontz, Steven; Worthy, Erica

2014-01-01

The International Space Station (ISS) is the largest and most complex on-orbit platform for space science utilization in low Earth orbit. Multiple sites for external payloads, with exposure to the associated natural and induced environments, are available to support a variety of space science utilization objectives. Contamination is one of the induced environments that can impact performance, mission success and science utilization on the vehicle. The ISS has been designed, built and integrated with strict contamination requirements to provide low levels of induced contamination on external payload assets. This paper addresses the ISS induced contamination environment at attached payload sites, both at the requirements level as well as measurements made on returned hardware, and contamination forecasting maps being generated to support external payload topology studies and science utilization.

Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

NASA Astrophysics Data System (ADS)

Armah, Stephen Kofi

Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized second-order altitude models for the quadrotor, AR.Drone 2.0. Proportional (P), pole placement or proportional plus velocity (PV), linear quadratic regulator (LQR), and model reference adaptive control (MRAC) controllers are designed and validated through simulations using MATLAB/Simulink. Control input saturation and time delay in the controlled systems are also studied. MATLAB graphical user interface (GUI) and Simulink programs are developed to implement the controllers on the drone. Thirdly, the time delay in the drone's control system is estimated using analytical and experimental methods. In the experimental approach, the transient properties of the experimental altitude responses are compared to those of simulated responses. The analytical approach makes use of the Lambert W function to obtain analytical solutions of scalar first-order delay differential equations (DDEs). A time-delayed P-feedback control system (retarded type) is used in estimating the time delay. Then an improved system performance is obtained by incorporating the estimated time delay in the design of the PV control system (neutral type) and PV-MRAC control system. Furthermore, the stability of a parametric perturbed linear time-invariant (LTI) retarded-type system is studied. This is done by analytically calculating the stability radius of the system. Simulation of the control system is conducted to confirm the stability. This robust control design and uncertainty analysis are conducted for first-order and second-order quadrotor models. Lastly, the robustly designed PV and PV-MRAC control systems are used to autonomously track multiple waypoints. Also, the robustness of the PV-MRAC controller is tested against a baseline PV controller using the payload capability of the drone. It is shown that the PV-MRAC offers several benefits over the fixed-gain approach of the PV controller. The adaptive control is found to offer enhanced robustness to the payload fluctuations.

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves 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 environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Drone inflight mixing of biochemical samples.

PubMed

Katariya, Mayur; Chung, Dwayne Chung Kim; Minife, Tristan; Gupta, Harshit; Zahidi, Alifa Afiah Ahmad; Liew, Oi Wah; Ng, Tuck Wah

2018-03-15

Autonomous systems for sample transport to the laboratory for analysis can be improved in terms of timeliness, cost and error mitigation in the pre-analytical testing phase. Drones have been reported for outdoor sample transport but incorporating devices on them to attain homogenous mixing of reagents during flight to enhance sample processing timeliness is limited by payload issues. It is shown here that flipping maneuvers conducted with quadcopters are able to facilitate complete and gentle mixing. This capability incorporated during automated sample transport serves to address an important factor contributing to pre-analytical variability which ultimately impacts on test result reliability. Copyright © 2018 Elsevier Inc. All rights reserved.

NASA Global Hawk: A New Tool for Earth Science Research

NASA Technical Reports Server (NTRS)

Hall, Phill

2009-01-01

This slide presentation reviews the Global Hawk, a unmanned aerial vehicle (UAV) that NASA plans to use for Earth Sciences research. The Global Hawk is the world's first fully autonomous high-altitude, long-endurance aircraft, and is capable of conducting long duration missions. Plans are being made for the use of the aircraft on missions in the Arctic, Pacific and Western Atlantic Oceans. There are slides showing the Global Hawk Operations Center (GHOC), Flight Control and Air Traffic Control Communications Architecture, and Payload Integration and Accommodations on the Global Hawk. The first science campaign, planned for a study of the Pacific Ocean, is reviewed.

Streamlining Payload Integration

NASA Technical Reports Server (NTRS)

Lufkin, Susan N.

2010-01-01

Payload integration onto space transport vehicles and the International Space Station (ISS) is a complex process. Yet, cargo transport is the sole reason for any space mission, be it for ferrying humans, science, or hardware. As the largest such effort in history, the ISS offers a wide variety of payload experience. However, for any payload to reach the Space Station under the current process, Payload Developers face a list of daunting tasks that go well beyond just designing the payload to the constraints of the transport vehicle and its stowage topology. Payload customers are required to prove their payload s functionality, structural integrity, and safe integration - including under less than nominal situations. They must also plan for or provide training, procedures, hardware labeling, ground support, and communications. In addition, they must deal with negotiating shared consumables, integrating software, obtaining video, and coordinating the return of data and hardware. All the while, they must meet export laws, launch schedules, budget limits, and the consensus of more than 12 panel and board reviews. Despite the cost and infrastructure overhead, payload proposals have increased. Just in the span from FY08 to FY09, the NASA Payload Space Station Support Office budget rose from $78M to $96M in attempt to manage the growing manifest, but the potential number of payloads still exceeds available Payload Integration Management manpower. The growth has also increased management difficulties due to the fact that payloads are more frequently added to a flight schedule late in the flow. The current standard ISS template for payload integration from concept to payload turn-over is 36 months, or 18 months if the payload already has a preliminary design. Customers are increasingly requiring a turn-around of 3 to 6-months to meet market needs. The following paper suggests options for streamlining the current payload integration process in order to meet customer schedule needs and reduce costs for both the integration support teams and the developers, without reducing quality or compromising safety. Issues for the key integration areas of planning, training, verification, and safety are presented in a Root-Cause Analysis study, with plausible solutions provided that involve technology and tools already available to the ISS community. Although based upon the ISS process, the payload integration techniques outlined herein also offer an integration template for any space transport endeavor.

Retrieval techniques: LVLH and inertially stabilized payloads

NASA Technical Reports Server (NTRS)

Yglesias, J. A.

1980-01-01

Procedures and techniques are discussed for retrieving payloads that are inertially or local vertical/local horizontal (LVLH) stabilized. Selection of the retrieval profile to be used depends on several factors: (1) control authority of the payload, (2) payload sensitivity to primary reaction control system (PRCS) plumes, (3) whether the payload is inertially or LVLH stabilized, (4) location of the grapple fixture, and (5) orbiter propellant consumption. The general retrieval profiles recommended are a V-bar approach for payloads that are LVLH or gravity-gradient stabilized, and the V-bar approach with one or two phase flyaround for inertially stabilized payloads. Once the general type of profile has been selected, the detailed retrieval profile and timeline should consider the various guidelines, groundrules, and constraints associated with a particular payload or flight. Reaction control system (RCS) propellant requirements for the recommended profiles range from 200 to 1500 pounds, depending on such factors as braking techniques, flyaround maneuvers (if necessary), and stationkeeping operations. The time required to perform a retrieval (starting from 1000 feet) varies from 20 to 130 minutes, depending on the complexity of the profile. The goals of this project are to develop a profile which ensures mission success; to make the retrieval profiles simple; and to keep the pilot workload to a minimum by making use of the automatic features of the orbiter flight software whenever possible.

Supervised autonomous robotic soft tissue surgery.

PubMed

Shademan, Azad; Decker, Ryan S; Opfermann, Justin D; Leonard, Simon; Krieger, Axel; Kim, Peter C W

2016-05-04

The current paradigm of robot-assisted surgeries (RASs) depends entirely on an individual surgeon's manual capability. Autonomous robotic surgery-removing the surgeon's hands-promises enhanced efficacy, safety, and improved access to optimized surgical techniques. Surgeries involving soft tissue have not been performed autonomously because of technological limitations, including lack of vision systems that can distinguish and track the target tissues in dynamic surgical environments and lack of intelligent algorithms that can execute complex surgical tasks. We demonstrate in vivo supervised autonomous soft tissue surgery in an open surgical setting, enabled by a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. Inspired by the best human surgical practices, a computer program generates a plan to complete complex surgical tasks on deformable soft tissue, such as suturing and intestinal anastomosis. We compared metrics of anastomosis-including the consistency of suturing informed by the average suture spacing, the pressure at which the anastomosis leaked, the number of mistakes that required removing the needle from the tissue, completion time, and lumen reduction in intestinal anastomoses-between our supervised autonomous system, manual laparoscopic surgery, and clinically used RAS approaches. Despite dynamic scene changes and tissue movement during surgery, we demonstrate that the outcome of supervised autonomous procedures is superior to surgery performed by expert surgeons and RAS techniques in ex vivo porcine tissues and in living pigs. These results demonstrate the potential for autonomous robots to improve the efficacy, consistency, functional outcome, and accessibility of surgical techniques. Copyright © 2016, American Association for the Advancement of Science.

Plastic Cubesat: An innovative and low-cost way to perform applied space research and hands-on education

NASA Astrophysics Data System (ADS)

Piattoni, Jacopo; Candini, Gian Paolo; Pezzi, Giulio; Santoni, Fabio; Piergentili, Fabrizio

2012-12-01

This paper describes the design and the manufacturing of a Cubesat platform based on a plastic structure. The Cubesat structure has been realized in plastic material (ABS) using a "rapid prototyping" technique. The "rapid prototyping" technique has several advantages including fast implementation, accuracy in manufacturing small parts and low cost. Moreover, concerning the construction of a small satellite, this technique is very useful thanks to the accuracy achievable in details, which are sometimes difficult and expensive to realize with the use of tools machine. The structure must be able to withstand the launch loads. For this reason, several simulations using an FEM simulation and an intensive vibration test campaign have been performed in the system development and test phase. To demonstrate that this structure is suitable for hosting a complete satellite system, offering innovative integrated solutions, other subsystems have been developed and assembled. Despite its small size, this single unit (1U) Cubesat has a system for active attitude control, a redundant telecommunication system, a payload camera and a photovoltaic system based on high efficiency solar cells. The developed communication subsystem has small dimensions, low power consumption and low cost. An example of the innovations introduced is the antenna system, which has been manufactured inside the ABS structure. The communication protocol which has been implemented, the AX.25 protocol, is mainly used by radio amateurs. The communication system has the capability to transmit both telemetry and data from the payload, in this case a microcamera. The attitude control subsystem is based on an active magnetic system with magnetorquers for detumbling and momentum dumping and three reaction wheels for fine control. It has a total dimension of about 50×50×50 mm. A microcontroller implements the detumbling control law autonomously taking data from integrated magnetometers and executes pointing maneuvers on the basis of commands received in real time from ground. The subsystems developed for this Cubesat have also been designed to be scaled up for larger satellites such as 2U or 3U Cubesats. The additional volume can be used for more complex payloads. Thus the satellite can be used as a low cost platform for companies, institutions or universities to test components in space.

Amplifying human ability through autonomics and machine learning in IMPACT

NASA Astrophysics Data System (ADS)

Dzieciuch, Iryna; Reeder, John; Gutzwiller, Robert; Gustafson, Eric; Coronado, Braulio; Martinez, Luis; Croft, Bryan; Lange, Douglas S.

2017-05-01

Amplifying human ability for controlling complex environments featuring autonomous units can be aided by learned models of human and system performance. In developing a command and control system that allows a small number of people to control a large number of autonomous teams, we employ an autonomics framework to manage the networks that represent mission plans and the networks that are composed of human controllers and their autonomous assistants. Machine learning allows us to build models of human and system performance useful for monitoring plans and managing human attention and task loads. Machine learning also aids in the development of tactics that human supervisors can successfully monitor through the command and control system.

Cost-effective alternative to nano-encapsulation: Amorphous curcumin-chitosan nanoparticle complex exhibiting high payload and supersaturation generation.

PubMed

Nguyen, Minh Hiep; Yu, Hong; Kiew, Tie Yi; Hadinoto, Kunn

2015-10-01

While the wide-ranging therapeutic activities of curcumin have been well established, its successful delivery to realize its true therapeutic potentials faces a major challenge due to its low oral bioavailability. Even though nano-encapsulation has been widely demonstrated to be effective in enhancing the bioavailability of curcumin, it is not without drawbacks (i.e. low payload and costly preparation). Herein we present a cost-effective bioavailability enhancement strategy of curcumin in the form of amorphous curcumin-chitosan nanoparticle complex (or curcumin nanoplex in short) exhibiting a high payload (>80%). The curcumin nanoplex was prepared by a simple yet highly efficient drug-polysaccharide complexation method that required only mixing of the curcumin and chitosan solutions under ambient condition. The effects of (1) pH and (2) charge ratio of chitosan to curcumin on the (i) physical characteristics of the nanoplex (i.e. size, colloidal stability and payload), (ii) complexation efficiency, and (iii) production yield were investigated from which the optimal preparation condition was determined. The nanoplex formation was found to favor low acidic pH and charge ratio below unity. At the optimal condition (i.e. pH 4.4. and charge ratio=0.8), stable curcumin nanoplex (≈260nm) was prepared at >90% complexation efficiency and ≈50% production yield. The amorphous state stability, colloidal stability, and in vitro non-cytotoxicity of the nanoplex were successfully established. The curcumin nanoplex produced prolonged supersaturation (3h) in the presence of hydroxypropyl methylcellulose (HPMC) at five times of the saturation solubility of curcumin. In addition, curcumin released from the nanoplex exhibited improved chemical stability owed to the presence of chitosan. Both results (i.e. high supersaturation and improved chemical stability) bode well for the ability of the curcumin nanoplex to enhance the bioavailability of curcumin clinically. Copyright © 2015 Elsevier B.V. All rights reserved.

Autonomic headache with autonomic seizures: a case report.

PubMed

Ozge, Aynur; Kaleagasi, Hakan; Yalçin Tasmertek, Fazilet

2006-10-01

The aim of the report is to present a case of an autonomic headache associated with autonomic seizures. A 19-year-old male who had had complex partial seizures for 15 years was admitted with autonomic complaints and left hemicranial headache, independent from seizures, that he had had for 2 years and were provoked by watching television. Brain magnetic resonance imaging showed right hippocampal sclerosis and electroencephalography revealed epileptic activity in right hemispheric areas. Treatment with valproic acid decreased the complaints. The headache did not fulfil the criteria for the diagnosis of trigeminal autonomic cephalalgias, and was different from epileptic headache, which was defined as a pressing type pain felt over the forehead for several minutes to a few hours. Although epileptic headache responds to anti-epileptics and the complaints of the present case decreased with antiepileptics, it has been suggested that the headache could be a non-trigeminal autonomic headache instead of an epileptic headache.

KSC-01pp1549

NASA Image and Video Library

2001-09-04

KODIAK ISLAND, Alaska -- At the Launch Service Structure, Kodiak Launch Complex (KLC), the fairing is lowered over the Kodiak Star spacecraft in preparation for launch. The first orbital launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC01kodi080

NASA Image and Video Library

2001-09-05

KODIAK ISLAND, ALASKA - The Launch Service Structure, Kodiak Launch Complex (KLC), on Kodiak Island is viewed from a distance. Kodiak Star, the first launch to take place from KLC, is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC-2012-5549

NASA Image and Video Library

2012-09-20

CAPE CANAVERAL, Fla. – Inside Orbiter Processing Facility-2 at NASA’s Kennedy Space Center in Florida, workers watch as the left payload bay door begins to close on space shuttle Atlantis. Both payload bay doors will be closed for the final time. The orbiter is undergoing final preparations for its transfer to the Kennedy Space Center Visitor complex targeted for November. The work is part of Transition and Retirement of the remaining shuttle. Atlantis is being prepared for public display at the visitor complex. Over the course of its 26-year career, Atlantis spent 293 days in space during 33 missions. For more information, visit http://www.nasa.gov/transition. Photo credit: NASA/Jim Grossmann

KSC-2012-5550

NASA Image and Video Library

2012-09-20

CAPE CANAVERAL, Fla. – Inside Orbiter Processing Facility-2 at NASA’s Kennedy Space Center in Florida, space shuttle Atlantis’ left payload bay door has been closed. Both payload bay doors will be closed for the final time. The orbiter is undergoing final preparations for its transfer to the Kennedy Space Center Visitor complex targeted for November. The work is part of Transition and Retirement of the remaining shuttle. Atlantis is being prepared for public display at the visitor complex. Over the course of its 26-year career, Atlantis spent 293 days in space during 33 missions. For more information, visit http://www.nasa.gov/transition. Photo credit: NASA/Jim Grossmann

Atmospheric, Magnetospheric and plasmas in Space (AMPS) spacelab payload definition study; Volume 4: Part 3, Labcraft instrument systems general specification

NASA Technical Reports Server (NTRS)

Keeley, J. T.

1976-01-01

Guidelines and general requirements applicable to the development of instrument flight hardware intended for use on the GSFC Shuttle Scientific Payloads Program are given. Criteria, guidelines, and an organized approach to specifying the appropriate level of requirements for each instrument in order to permit its development at minimum cost while still assuring crew safety, are included. It is recognized that the instruments for these payloads will encompass wide ranges of complexity, cost, development risk, and safety hazards. The flexibility required to adapt the controls, documentation, and verification requirements in accord with the specific instrument is provided.

KSC01kodi058

NASA Image and Video Library

2001-07-31

KODIAK ISLAND, Alaska -- Technicians prepare the Starshine 3 payload for its launch aboard the Athena 1 launch vehicle, while the payload fairing awaits processing, at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5:00 to 7:00 p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program.

GEOTAIL Spacecraft historical data report

NASA Technical Reports Server (NTRS)

Boersig, George R.; Kruse, Lawrence F.

1993-01-01

The purpose of this GEOTAIL Historical Report is to document ground processing operations information gathered on the GEOTAIL mission during processing activities at the Cape Canaveral Air Force Station (CCAFS). It is hoped that this report may aid management analysis, improve integration processing and forecasting of processing trends, and reduce real-time schedule changes. The GEOTAIL payload is the third Delta 2 Expendable Launch Vehicle (ELV) mission to document historical data. Comparisons of planned versus as-run schedule information are displayed. Information will generally fall into the following categories: (1) payload stay times (payload processing facility/hazardous processing facility/launch complex-17A); (2) payload processing times (planned, actual); (3) schedule delays; (4) integrated test times (experiments/launch vehicle); (5) unique customer support requirements; (6) modifications performed at facilities; (7) other appropriate information (Appendices A & B); and (8) lessons learned (reference Appendix C).

A New Paradigm for Robotic Rovers

NASA Astrophysics Data System (ADS)

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

We are in the process of developing rovers with extreme mobility needed to explore remote, rugged terrain. We call these systems Tetrahedral Explorer Technologies (TETs). Architecture is based on conformable tetrahedra, the simplest space-filling form, as building blocks, single or networked, where apices act as nodes from which struts reversibly deploy. The tetrahedral framework acts as a simple skeletal muscular structure. We have already prototyped a simple robotic walker from a single reconfigurable tetrahedron capable of tumbling and a more evolved 12Tetrahedral Walker, the Autonomous Landed Investigator (ALI), which has interior nodes for payload, more continuous motion, and is commandable through a user friendly interface. ALI is an EMS level mission concept which would allow autonomous in situ exploration of the lunar poles within the next decade. ALI would consist of one or more 12tetrahedral walkers capable of rapid locomotion with the many degrees of freedom and equipped for navigation in the unilluminated, inaccessible and thus largely unexplored rugged terrains where lunar resources are likely to be found: the Polar Regions. ALI walkers would act as roving reconnaissance teams for unexplored regions, analyzing samples along the way.

Adaptive and mobile ground sensor array.

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

Holzrichter, Michael Warren; O'Rourke, William T.; Zenner, Jennifer

The goal of this LDRD was to demonstrate the use of robotic vehicles for deploying and autonomously reconfiguring seismic and acoustic sensor arrays with high (centimeter) accuracy to obtain enhancement of our capability to locate and characterize remote targets. The capability to accurately place sensors and then retrieve and reconfigure them allows sensors to be placed in phased arrays in an initial monitoring configuration and then to be reconfigured in an array tuned to the specific frequencies and directions of the selected target. This report reviews the findings and accomplishments achieved during this three-year project. This project successfully demonstrated autonomousmore » deployment and retrieval of a payload package with an accuracy of a few centimeters using differential global positioning system (GPS) signals. It developed an autonomous, multisensor, temporally aligned, radio-frequency communication and signal processing capability, and an array optimization algorithm, which was implemented on a digital signal processor (DSP). Additionally, the project converted the existing single-threaded, monolithic robotic vehicle control code into a multi-threaded, modular control architecture that enhances the reuse of control code in future projects.« less

Onboard Atmospheric Modeling and Prediction for Autonomous Aerobraking Missions

NASA Technical Reports Server (NTRS)

Tolson, Robert H.; Prince, Jill L. H.

2011-01-01

Aerobraking has proven to be an effective means of increasing the science payload for planetary orbiting missions and/or for enabling the use of less expensive launch vehicles. Though aerobraking has numerous benefits, large operations cost have been required to maintain the aerobraking time line without violating aerodynamic heating or other constraints. Two operations functions have been performed on an orbit by orbit basis to estimate atmospheric properties relevant to aerobraking. The Navigation team typically solves for an atmospheric density scale factor using DSN tracking data and the atmospheric modeling team uses telemetric accelerometer data to recover atmospheric density profiles. After some effort, decisions are made about the need for orbit trim maneuvers to adjust periapsis altitude to stay within the aerobraking corridor. Autonomous aerobraking would reduce the need for many ground based tasks. To be successful, atmospheric modeling must be performed on the vehicle in near real time. This paper discusses the issues associated with estimating the planetary atmosphere onboard and evaluates a number of the options for Mars, Venus and Titan aerobraking missions.

Monitoring Coastal Processes at Local and Regional Geographic Scales with UAS

NASA Astrophysics Data System (ADS)

Starek, M. J.; Bridges, D.; Prouty, D.; Berryhill, J.; Williams, D.; Jeffress, G.

2014-12-01

Unmanned Aerial Systems (UAS) provide a powerful tool for coastal mapping due to attractive features such as low cost data acquisition, flexibility in data capture and resolution, rapid response, and autonomous flight. We investigate two different scales of UAS platforms for monitoring coastal processes along the central Texas Gulf coast. Firstly, the eBee is a small-scale UAS weighing ~0.7 kg designed for localized mapping. The imaging payload consists of a hand held RGB digital camera and NIR digital camera, both with 16.1 megapixel resolutions. The system can map up to 10 square kilometers on a single flight and is capable of acquiring imagery down to 1.5 cm ground sample distance. The eBee is configured with a GPS receiver, altitude sensor, gyroscope and a radio transmitter enabling autonomous flight. The system has a certificate of authorization (COA) from the FAA to fly over the Ward Island campus of Texas A&M University-Corpus Christi (TAMUCC). The campus has an engineered beach, called University Beach, located along Corpus Christi Bay. A set of groins and detached breakwaters were built in an effort to protect the beach from erosive wave action. The eBee is being applied to periodically survey the beach (Figure 1A). Through Structure from Motion (SfM) techniques, eBee-derived image sequences are post-processed to extract 3D topography and measure volumetric change. Additionally, when water clarity suffices, this approach enables the extraction of shallow-water bathymetry. Results on the utilization of the eBee to monitor beach morphodynamics will be presented including a comparison of derived estimates to RTK GPS and airborne lidar. Secondly, the RS-16 UAS has a 4 m wingspan and 11 kg sensor payload. The system is remotely piloted and has a flight endurance of 12 to 16 hours making it suitable for regional scale coastal mapping. The imaging payload consists of a multispectral sensor suite measuring in the visible, thermal IR, and ultraviolet ranges of the spectrum. The RS-16 is being used to conduct surveys along the shoreline of North Padre Island, which is a high wind energy and wave-dominated barrier island system (Figure 1B). Results on the utilization of the RS-16 to study alongshore variability in shoreline dynamics and surf zone processes, such as wave runup, will be presented.

Telemetric Technologies for the Assay of Gene Expression

NASA Astrophysics Data System (ADS)

Paul, Anna-Lisa; Bamsey, Matthew; Berinstain, Alain; Neron, Philip; Graham, Thomas; Ferl, Robert

Telemetric data collection has been widely used in spaceflight applications where human participation is limited (orbital mission payloads) or unfeasible (planetary landers, satellites, and probes). The transmission of digital data from electronic sensors of typical environmental parameters, growth patterns and physical properties of materials is routine telemetry, and even the collection and transmission of deep space images is a standard tool of astrophysics. But telemetric imaging for current biological payloads has thus far been limited to the collection of standard white-light photography that is largely confined to reporting the surface characteristics of the specimens involved. Advances in imaging technologies that facilitate the collection of a variety of light wavelengths will expand the science return on biological payloads to include evaluations of the molecular genetic response of organisms to the spaceflight or extraterrestrial environment, with minimal or no human intervention. Advanced imaging technology in combination with biologically engineered sensor organisms can create a system that can report via telemetry on the patterns of gene expression required to adapt to a novel environment. The utilization of genetically engineered plants as biosensors has made elegant strides in the recent years, providing keen insights into the health of plants in general and particularly in the nature and cellular location of stress responses. Moreover, molecular responses to gravitational vectors have been elegantly analyzed with fluorescent tools. Green Fluorescence Protein (GFP) and other fluorophores have made it possible for analyses of gene expression and biological responses to occur telemetrically, with the information potentially delivered to the investigator over large distances as simple, preprocessed fluorescence images. Having previously deployed transgenic plant biosensors to evaluate responses to orbital spaceflight, we wish to develop both the plants and the imaging devices required to conduct such fluorescence imaging experiments robotically, without direct operator intervention, within the operational constraints of extraterrestrial environments. This requires the development of an autonomous and remotely operated plant fluorescence imaging system and concomitant development of the infrastructure to manage dataflow. Here we report the results of the deployment of our spaceflight prototype GFP imaging system within the Arthur Clarke Mars Greenhouse (ACMG), an autonomously operated greenhouse located within the Haughton Mars Project in the High Canadian Arctic (75° 22'N Latitude: 89° 41'W Longitude). Results demonstrate both the applicability of the fundamental GFP biosensor technology and highlight the difficulties in collecting and managing telemetric data from challenging deployment environments.

Science, technology and the future of small autonomous drones.

PubMed

Floreano, Dario; Wood, Robert J

2015-05-28

We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

KSC-2013-3866

NASA Image and Video Library

2013-11-06

CAPE CANAVERAL, Fla. – Engineers and technicians move NASA's MAVEN spacecraft, inside payload fairing inside the Payload Hazardous Servicing Facility, or PHSF, into the airlock for mounting to a trailer for transport to Space Launch Complex 41 where it will be hoisted atop a United Launch Alliance Atlas V rocket that will lift it into space and on to Mars. MAVEN is short for Mars Atmosphere and Volatile Evolution. Photo credit: NASA/Kim Shiflett

KSC-2013-3867

NASA Image and Video Library

2013-11-06

CAPE CANAVERAL, Fla. – Engineers and technicians move NASA's MAVEN spacecraft, inside payload fairing inside the Payload Hazardous Servicing Facility, or PHSF, into the airlock for mounting to a trailer for transport to Space Launch Complex 41 where it will be hoisted atop a United Launch Alliance Atlas V rocket that will lift it into space and on to Mars. MAVEN is short for Mars Atmosphere and Volatile Evolution. Photo credit: NASA/Kim Shiflett

KSC-2013-3864

NASA Image and Video Library

2013-11-06

CAPE CANAVERAL, Fla. – Engineers and technicians move NASA's MAVEN spacecraft, inside payload fairing inside the Payload Hazardous Servicing Facility, or PHSF, into the airlock for mounting to a trailer for transport to Space Launch Complex 41 where it will be hoisted atop a United Launch Alliance Atlas V rocket that will lift it into space and on to Mars. MAVEN is short for Mars Atmosphere and Volatile Evolution. Photo credit: NASA/Kim Shiflett

KSC-2013-3865

NASA Image and Video Library

2013-11-06

CAPE CANAVERAL, Fla. – Engineers and technicians move NASA's MAVEN spacecraft, inside payload fairing inside the Payload Hazardous Servicing Facility, or PHSF, into the airlock for mounting to a trailer for transport to Space Launch Complex 41 where it will be hoisted atop a United Launch Alliance Atlas V rocket that will lift it into space and on to Mars. MAVEN is short for Mars Atmosphere and Volatile Evolution. Photo credit: NASA/Kim Shiflett

A distributed planning concept for Space Station payload operations

NASA Technical Reports Server (NTRS)

Hagopian, Jeff; Maxwell, Theresa; Reed, Tracey

1994-01-01

The complex and diverse nature of the payload operations to be performed on the Space Station requires a robust and flexible planning approach. The planning approach for Space Station payload operations must support the phased development of the Space Station, as well as the geographically distributed users of the Space Station. To date, the planning approach for manned operations in space has been one of centralized planning to the n-th degree of detail. This approach, while valid for short duration flights, incurs high operations costs and is not conducive to long duration Space Station operations. The Space Station payload operations planning concept must reduce operations costs, accommodate phased station development, support distributed users, and provide flexibility. One way to meet these objectives is to distribute the planning functions across a hierarchy of payload planning organizations based on their particular needs and expertise. This paper presents a planning concept which satisfies all phases of the development of the Space Station (manned Shuttle flights, unmanned Station operations, and permanent manned operations), and the migration from centralized to distributed planning functions. Identified in this paper are the payload planning functions which can be distributed and the process by which these functions are performed.

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 Space Shuttle

NASA Technical Reports Server (NTRS)

Siders, Jeffrey A.; Smith, Robert H.

2004-01-01

The continued assembly and operation of the International Space Station (ISS) is the cornerstone within NASA's overall Strategic P an. As indicated in NASA's Integrated Space Transportation Plan (ISTP), the International Space Station requires Shuttle to fly through at least the middle of the next decade to complete assembly of the Station, provide crew transport, and to provide heavy lift up and down mass capability. The ISTP reflects a tight coupling among the Station, Shuttle, and OSP programs to support our Nation's space goal . While the Shuttle is a critical component of this ISTP, there is a new emphasis for the need to achieve greater efficiency and safety in transporting crews to and from the Space Station. This need is being addressed through the Orbital Space Plane (OSP) Program. However, the OSP is being designed to "complement" the Shuttle as the primary means for crew transfer, and will not replace all the Shuttle's capabilities. The unique heavy lift capabilities of the Space Shuttle is essential for both ISS, as well as other potential missions extending beyond low Earth orbit. One concept under discussion to better fulfill this role of a heavy lift carrier, is the transformation of the Shuttle to an "un-piloted" autonomous system. This concept would eliminate the loss of crew risk, while providing a substantial increase in payload to orbit capability. Using the guidelines reflected in the NASA ISTP, the autonomous Shuttle a simplified concept of operations can be described as; "a re-supply of cargo to the ISS through the use of an un-piloted Shuttle vehicle from launch through landing". Although this is the primary mission profile, the other major consideration in developing an autonomous Shuttle is maintaining a crew transportation capability to ISS as an assured human access to space capability.

The development of an assessment tool for the mobility of lightweight autonomous vehicles on coastal terrain

NASA Astrophysics Data System (ADS)

Worley, Marilyn E.; Ren, Ping; Sandu, Corina; Hong, Dennis

2007-04-01

This study focuses on developing an assessment tool for the performance prediction of lightweight autonomous vehicles with varying locomotion platforms on coastal terrain involves three segments. A table based on the House of Quality shows the relationships - high, low, or adverse - between mission profile requirements and general performance measures and geometries of vehicles under consideration for use. This table, when combined with known values for vehicle metrics, provides information for an index formula used to quantitatively compare the mobility of a user-chosen set of vehicles, regardless of their methods of locomotion. To study novel forms of locomotion, and to compare their mobility and performance with more traditional wheeled and tracked vehicles, several new autonomous vehicles - bipedal, self-excited dynamic tripedal, active spoke-wheel - are currently under development. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and models have been developed for heavy vehicles, the feasibility of extrapolating them to the analysis of light vehicles is still under analysis. wheeled all-terrain vehicle and a lightweight autonomous tracked vehicle have been tested for effects of sand gradation, vehicle speed, and vehicle payload on measures of pressure and sinkage in the contact patch, and preliminary analysis is presented on the sinkage of the wheeled all-terrain vehicle. These three segments - development of the comparison matrix and indexing function, modeling and development of novel forms of locomotion, and physical experimentation of lightweight tracked and wheeled vehicles on varying terrain types for terramechanic model validation - combine to give an overall picture of mobility that spans across different forms of locomotion.

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.

Monitoring fetal maturation—objectives, techniques and indices of autonomic function*

PubMed Central

Hoyer, Dirk; Żebrowski, Jan; Cysarz, Dirk; Gonçalves, Hernâni; Pytlik, Adelina; Amorim-Costa, Célia; Bernardes, João; Ayres-de-Campos, Diogo; Witte, Otto W; Schleußner, Ekkehard; Stroux, Lisa; Redman, Christopher; Georgieva, Antoniya; Payne, Stephen; Clifford, Gari; Signorini, Maria G; Magenes, Giovanni; Andreotti, Fernando; Malberg, Hagen; Zaunseder, Sebastian; Lakhno, Igor; Schneider, Uwe

2017-01-01

Objective Monitoring the fetal behavior does not only have implications for acute care but also for identifying developmental disturbances that burden the entire later life. The concept, of ‘fetal programming’, also known as ‘developmental origins of adult disease hypothesis’, e.g. applies for cardiovascular, metabolic, hyperkinetic, cognitive disorders. Since the autonomic nervous system is involved in all of those systems, cardiac autonomic control may provide relevant functional diagnostic and prognostic information. Approach The fetal heart rate patterns (HRP) are one of the few functional signals in the prenatal period that relate to autonomic control and, therefore, is key to fetal autonomic assessment. The development of sensitive markers of fetal maturation and its disturbances requires the consideration of physiological fundamentals, recording technology and HRP parameters of autonomic control. Main Results Based on the ESGCO2016 special session on monitoring the fetal maturation we herein report the most recent results on: (i) functional fetal autonomic brain age score (fABAS), Recurrence Quantitative Analysis and Binary Symbolic Dynamics of complex HRP resolve specific maturation periods, (ii) magnetocardiography (MCG) based fABAS was validated for cardiotocography (CTG), (iii) 30 min recordings are sufficient for obtaining episodes of high variability, important for intrauterine growth restriction (IUGR) detection in handheld Doppler, (iv) novel parameters from PRSA to identify Intra IUGR fetuses, (v) evaluation of fetal electrocardiographic (ECG) recordings, (vi) correlation between maternal and fetal HRV is disturbed in pre-eclampsia. Significance The reported novel developments significantly extend the possibilities for the established CTG methodology. Novel HRP indices improve the accuracy of assessment due to their more appropriate consideration of complex autonomic processes across the recording technologies (CTG, handheld Doppler, MCG, ECG). The ultimate objective is their dissemination into routine practice and studies of fetal developmental disturbances with implications for programming of adult diseases. PMID:28186000

An Application of Overset Grids to Payload/Fairing Three-Dimensional Internal Flow CFD Analysis

NASA Technical Reports Server (NTRS)

Kandula, Max; Nallasamy, R.; Schallhorn, P.; Duncil, L.

2007-01-01

The application of overset grids to the computational fluid dynamics analysis of three-dimensional internal flow in the payload/fairing of an expendable launch vehicle is described. In conjunction with the overset grid system, the flowfield in the payload/fairing configuration is obtained with the aid of OVERFLOW Navier-Stokes code. The solution exhibits a highly three dimensional complex flowfield with swirl, separation, and vortices. Some of the computed flow features are compared with the measured Laser-Doppler Velocimetry (LDV) data on a 1/5th scale model of the payload/fairing configuration. The counter-rotating vortex structures and the location of the saddle point predicted by the CFD analysis are in general agreement with the LDV data. Comparisons of the computed (CFD) velocity profiles on horizontal and vertical lines in the LDV measurement plane in the faring nose region show reasonable agreement with the LDV data.

Challenges of Developing New Classes of NASA Self-Managing Mission

NASA Technical Reports Server (NTRS)

Hinchey, M. G.; Rash, J. I.; Truszkowski, W. F.; Rouff, C. A.; Sterritt, R.

2005-01-01

NASA is proposing increasingly complex missions that will require a high degree of autonomy and autonomicity. These missions pose hereto unforeseen problems and raise issues that have not been well-addressed by the community. Assuring success of such missions will require new software development techniques and tools. This paper discusses some of the challenges that NASA and the rest of the software development community are facing in developing these ever-increasingly complex systems. We give an overview of a proposed NASA mission as well as techniques and tools that are being developed to address autonomic management and the complexity issues inherent in these missions.

KSC01kodi079

NASA Image and Video Library

2001-09-05

KODIAK ISLAND, ALASKA - A transporter moves the encapsulated Kodiak Star spacecraft into position in the Launch Service Structure, Kodiak Launch Complex (KLC), for final stacking for launch. The first launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC01kodi075

NASA Image and Video Library

2001-09-04

KODIAK ISLAND, ALASKA - In the Launch Service Structure, Kodiak Launch Complex (KLC), the Kodiak Star spacecraft is ready for encapsulation in the fairing seen at right, above. The first launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC-01pp1547

NASA Image and Video Library

2001-09-04

KODIAK ISLAND, Alaska -- In the Launch Service Structure, Kodiak Launch Complex (KLC), workers check the fairing that is to be placed around the Kodiak Star spacecraft in preparation for launch. The first orbital launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC-01pp1548

NASA Image and Video Library

2001-09-04

KODIAK ISLAND, Alaska -- Inside the Launch Service Structure, Kodiak Launch Complex (KLC), workers watch as the fairing (background) is lifted before encapsulating the Kodiak Star spacecraft in preparation for launch. The first orbital launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC01kodi076

NASA Image and Video Library

2001-09-04

KODIAK ISLAND, ALASKA - In the Launch Service Structure, Kodiak Launch Complex (KLC), the fairing is lowered over the Kodiak Star spacecraft in preparation for launch. The first launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC01kodi074

NASA Image and Video Library

2001-09-04

KODIAK ISLAND, ALASKA - In the Launch Service Structure, Kodiak Launch Complex (KLC), the Kodiak Star spacecraft is ready for encapsulation in the fairing, as preparation for launch. The first launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC-2013-3863

NASA Image and Video Library

2013-11-06

CAPE CANAVERAL, Fla. – Engineers and technicians get ready to move NASA's MAVEN spacecraft, inside payload fairing inside the Payload Hazardous Servicing Facility, or PHSF, into the airlock for mounting to a trailer for transport to Space Launch Complex 41 where it will be hoisted atop a United Launch Alliance Atlas V rocket that will lift it into space and on to Mars. MAVEN is short for Mars Atmosphere and Volatile Evolution. Photo credit: NASA/Kim Shiflett

Sensor deployment on unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Witus, Gary

2007-10-01

TARDEC has been developing payloads for small robots as part of its unmanned ground vehicle (UGV) development programs. These platforms typically weigh less than 100 lbs and are used for various physical security and force protection applications. This paper will address a number of technical issues including platform mobility, payload positioning, sensor configuration and operational tradeoffs. TARDEC has developed a number of robots with different mobility mechanisms including track, wheel and hybrid track/wheel running gear configurations. An extensive discussion will focus upon omni-directional vehicle (ODV) platforms with enhanced intrinsic mobility for positioning sensor payloads. This paper also discusses tradeoffs between intrinsic platform mobility and articulated arm complexity for end point positioning of modular sensor packages.

KSC-02pd1507

NASA Image and Video Library

2002-10-10

KENNEDY SPACE CENTER, FLA. -- At Launch Complex 39A, technicians in the Payload Changout Room supervise the opening of the payload canister doors for transfer of the P1 truss. The P1 truss is the primary payload for Mission STS-113 to the International Space Station. It is the first port truss segment which will be attached to the Station’s central truss segment, S0. Once delivered, the P1 truss will remain stowed until flight 12A.1. The mission will also deliver the Expedition 6 crew to the Station and return Expedition 5 to Earth. Space Shuttle Endeavour is scheduled to launch no earlier than Nov. 10 on the 11-day mission.

Inflight alignment of payload inertial reference from Shuttle navigation system

NASA Astrophysics Data System (ADS)

Treder, A. J.; Norris, R. E.; Ruprecht, R.

Two methods for payload attitude initialization from the STS Orbiter have been proposed: body axis maneuvers (BAM) and star line maneuvers (SLM). The first achieves alignment directly through the Shuttle star tracker, while the second, indirectly through the stellar-updated Shuttle inertial platform. The Inertial Upper Stage (IUS) with its strapdown navigation system is used to demonstrate in-flight alignment techniques. Significant accuracy can be obtained with minimal impact on Orbiter operations, with payload inertial reference potentially approaching the accuracy of the Shuttle star tracker. STS-6 flight performance parameters, including alignment stability, are discussed and compared with operational complexity. Results indicate overall alignment stability of .06 deg, 3 sigma per axis.

FASTSAT a Mini-Satellite Mission...A Way Ahead

NASA Technical Reports Server (NTRS)

Boudreaux, Mark; Pearson, Steve; Casas, Joseph

2012-01-01

The Fast Affordable Science and Technology Spacecraft (FASTSAT) is a mini-satellite weighing less than 150 kg. FASTSAT was developed as government-industry collaborative research and development flight project targeting rapid access to space to provide an alternative, low cost platform for a variety of scientific, research, and technology payloads. The initial spacecraft was designed to carry six instruments and launch as a secondary rideshare payload. This design approach greatly reduced overall mission costs while maximizing the on-board payload accommodations. FASTSAT was designed from the ground up to meet a challenging short schedule using modular components with a flexible, configurable layout to enable a broad range of payloads at a lower cost and shorter timeline than scaling down a more complex spacecraft. The integrated spacecraft along with its payloads were readied for launch 15 months from authority to proceed. As an ESPA-class spacecraft, FASTSAT is compatible with many different launch vehicles, including Minotaur I, Minotaur IV, Delta IV, Atlas V, Pegasus, Falcon 1/1e, and Falcon 9. These vehicles offer an array of options for launch sites and provide for a variety of rideshare possibilities.

Design for an 8 Meter Monolithic UV/OIR Space Telescope

NASA Technical Reports Server (NTRS)

Stahl, H. Philip; Postman, Marc; Hornsby, Linda; Hopkins, Randall; Mosier, Gary E.; Pasquale, Bert A.; Arnold, William R.

2009-01-01

ATLAST-8 is an 8-meter monolithic UV/optical/NIR space observatory to be placed in orbit at Sun-Earth L2 by NASA's planned Ares V cargo launch vehicle. The ATLAST-8 will yield fundamental astronomical breakthroughs. The mission concept utilizes two enabling technologies: planned Ares-V launch vehicle (scheduled for 2019) and autonomous rendezvous and docking (AR&D). The unprecedented Ares-V payload and mass capacity enables the use of a massive, monolithic, thin-meniscus primary mirror - similar to a VLT or Subaru. Furthermore, it enables simple robust design rules to mitigate cost, schedule and performance risk. AR&D enables on-orbit servicing, extending mission life and enhancing science return.

SPARTAN-201-3 spacecraft prior to being re-captured

NASA Image and Video Library

1995-09-10

STS069-703-00H (10 September 1995) --- Prior to being re-captured by Space Shuttle Endeavour’s Remote Manipulator System (RMS), the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN-201) spacecraft was recorded on film, backdropped against the darkness of space over a heavily cloud-covered Earth. Endeavour, with a five-member crew, launched on September 7, 1995, from the Kennedy Space Center (KSC) and ended its mission there on September 18, 1995, with a successful landing on Runway 33. The multifaceted mission carried a crew of astronauts David M. Walker, mission commander; Kenneth D. Cockrell, pilot; and James S. Voss (payload commander), James H. Newman and Michael L. Gernhardt, all mission specialists.

The "Biologically-Inspired Computing" Column

NASA Technical Reports Server (NTRS)

Hinchey, Mike

2007-01-01

Self-managing systems, whether viewed from the perspective of Autonomic Computing, or from that of another initiative, offers a holistic vision for the development and evolution of biologically-inspired computer-based systems. It aims to bring new levels of automation and dependability to systems, while simultaneously hiding their complexity and reducing costs. A case can certainly be made that all computer-based systems should exhibit autonomic properties [6], and we envisage greater interest in, and uptake of, autonomic principles in future system development.

Autonomic Correlates of Speech Versus Nonspeech Tasks in Children and Adults

PubMed Central

Arnold, Hayley S.; MacPherson, Megan K.; Smith, Anne

2015-01-01

Purpose To assess autonomic arousal associated with speech and nonspeech tasks in school-age children and young adults. Method Measures of autonomic arousal (electrodermal level, electrodermal response amplitude, blood pulse volume, and heart rate) were recorded prior to, during, and after the performance of speech and nonspeech tasks by twenty 7- to 9-year-old children and twenty 18- to 22-year-old adults. Results Across age groups, autonomic arousal was higher for speech tasks compared with nonspeech tasks, based on peak electrodermal response amplitude and blood pulse volume. Children demonstrated greater relative arousal, based on heart rate and blood pulse volume, for nonspeech oral motor tasks than adults but showed similar mean arousal levels for speech tasks as adults. Children demonstrated sex differences in autonomic arousal; specifically, autonomic arousal remained high for school-age boys but not girls in a more complex open-ended narrative task that followed a simple sentence production task. Conclusions Speech tasks elicit greater autonomic arousal than nonspeech tasks, and children demonstrate greater autonomic arousal for nonspeech oral motor tasks than adults. Sex differences in autonomic arousal associated with speech tasks in school-age children are discussed relative to speech-language differences between boys and girls. PMID:24686989

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.

Autonomous robot software development using simple software components

NASA Astrophysics Data System (ADS)

Burke, Thomas M.; Chung, Chan-Jin

2004-10-01

Developing software to control a sophisticated lane-following, obstacle-avoiding, autonomous robot can be demanding and beyond the capabilities of novice programmers - but it doesn"t have to be. A creative software design utilizing only basic image processing and a little algebra, has been employed to control the LTU-AISSIG autonomous robot - a contestant in the 2004 Intelligent Ground Vehicle Competition (IGVC). This paper presents a software design equivalent to that used during the IGVC, but with much of the complexity removed. The result is an autonomous robot software design, that is robust, reliable, and can be implemented by programmers with a limited understanding of image processing. This design provides a solid basis for further work in autonomous robot software, as well as an interesting and achievable robotics project for students.

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.

A Model-Driven Architecture Approach for Modeling, Specifying and Deploying Policies in Autonomous and Autonomic Systems

NASA Technical Reports Server (NTRS)

Pena, Joaquin; Hinchey, Michael G.; Sterritt, Roy; Ruiz-Cortes, Antonio; Resinas, Manuel

2006-01-01

Autonomic Computing (AC), self-management based on high level guidance from humans, is increasingly gaining momentum as the way forward in designing reliable systems that hide complexity and conquer IT management costs. Effectively, AC may be viewed as Policy-Based Self-Management. The Model Driven Architecture (MDA) approach focuses on building models that can be transformed into code in an automatic manner. In this paper, we look at ways to implement Policy-Based Self-Management by means of models that can be converted to code using transformations that follow the MDA philosophy. We propose a set of UML-based models to specify autonomic and autonomous features along with the necessary procedures, based on modification and composition of models, to deploy a policy as an executing system.

The Spartan 1 mission

NASA Technical Reports Server (NTRS)

Cruddace, R. G.; Brandenstein, D. C.; Creighton, J. O.; Gutschewski, G.; Lucid, S. W.; Nagel, S. R.; Fabian, J. M.; Fenimore, E. E.; Shrewsberry, D. J.; Zimmermann, D.

1990-01-01

The first Spartan mission is documented. The Spartan program, an outgrowth of a joint Naval Research Laboratory (NRL)/National Aeronautics and Space Administration (NASA)-Goddard Space Flight Center (GSFC) development effort, was instituted by NASA for launching autonomous, recoverable payloads from the Space Shuttle. These payloads have a precise pointing system and are intended to support a wide range of space-science observations and experiments. The first Spartan, carrying an NRL X-ray astronomy instrument, was launched by the orbiter Discovery (STS51G) on June 20, 1985 and recovered successfully 45 h later, on June 22. During this period, Spartan 1 conducted a preprogrammed series of observations of two X-ray sources: the Perseus cluster of galaxies and the center of our galaxy. The mission was successful from both on engineering and a scientific viewpoint. Only one problem was encountered, the attitude control system (ACS) shut down earlier than planned because of high attitude control system gas consumption. A preplanned emergency mode then placed Spartan 1 into a stable, safe condition and allowed a safe recovery. The events are described of the mission and presents X-ray maps of the two observed sources, which were produced from the flight data.

Defective pulmonary innervation and autonomic imbalance in congenital diaphragmatic hernia

PubMed Central

Lath, Nikesh R.; Galambos, Csaba; Rocha, Alejandro Best; Malek, Marcus; Gittes, George K.

2012-01-01

Congenital diaphragmatic hernia (CDH) is associated with significant mortality due to lung hypoplasia and pulmonary hypertension. The role of embryonic pulmonary innervation in normal lung development and lung maldevelopment in CDH has not been defined. We hypothesize that developmental defects of intrapulmonary innervation, in particular autonomic innervation, occur in CDH. This abnormal embryonic pulmonary innervation may contribute to lung developmental defects and postnatal physiological derangement in CDH. To define patterns of pulmonary innervation in CDH, human CDH and control lung autopsy specimens were stained with the pan-neural marker S-100. To further characterize patterns of overall and autonomic pulmonary innervation during lung development in CDH, the murine nitrofen model of CDH was utilized. Immunostaining for protein gene product 9.5 (a pan-neuronal marker), tyrosine hydroxylase (a sympathetic marker), vesicular acetylcholine transporter (a parasympathetic marker), or VIP (a parasympathetic marker) was performed on lung whole mounts and analyzed via confocal microscopy and three-dimensional reconstruction. Peribronchial and perivascular neuronal staining pattern is less complex in human CDH than control lung. In mice, protein gene product 9.5 staining reveals less complex neuronal branching and decreased neural tissue in nitrofen-treated lungs from embryonic day 12.5 to 16.5 compared with controls. Furthermore, nitrofen-treated embryonic lungs exhibited altered autonomic innervation, with a relative increase in sympathetic nerve staining and a decrease in parasympathetic nerve staining compared with controls. These results suggest a primary defect in pulmonary neural developmental in CDH, resulting in less complex neural innervation and autonomic imbalance. Defective embryonic pulmonary innervation may contribute to lung developmental defects and postnatal physiological derangement in CDH. PMID:22114150

Quantitative bioanalysis of antibody-conjugated payload in monkey plasma using a hybrid immuno-capture LC-MS/MS approach: Assay development, validation, and a case study.

PubMed

Liu, Ang; Kozhich, Alexander; Passmore, David; Gu, Huidong; Wong, Richard; Zambito, Frank; Rangan, Vangipuram S; Myler, Heather; Aubry, Anne-Françoise; Arnold, Mark E; Wang, Jian

2015-10-01

Antibody drug conjugates (ADCs) are complex molecules composed of two pharmacologically distinct components, the cytotoxic payload and the antibody. The measurement of the payload molecules that are attached to the antibody in vivo is important for the evaluation of the safety and efficacy of ADCs, and can also provide distinct information compared to the antibody-related analytes. However, analyzing the antibody-conjugated payload is challenging and in some cases may not be feasible. The in vivo change in drug antibody ratio (DAR), due to deconjugation, biotransformation or other clearance phenomena, generates unique and additional challenges for ADC analysis in biological samples. Here, we report a novel hybrid approach with immuno-capture of the ADC, payload cleavage by specific enzyme, and LC-MS/MS of the cleaved payload to quantitatively measure the concentration of payload molecules still attached to the antibody via linker in plasma. The ADC reference material used for the calibration curve is not likely to be identical to the ADC measured in study samples due to the change in DAR distribution over the PK time course. The assay clearly demonstrated that there was no bias in the measurement of antibody-conjugated payload for ADC with varying DAR, which thus allowed accurate quantification even when the DAR distribution dynamically changes in vivo. This hybrid assay was fully validated based on a combination of requirements for both chromatographic and ligand binding methods, and was successfully applied to support a GLP safety study in monkeys. Copyright © 2015 Elsevier B.V. All rights reserved.

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.

OA-7 Post-Encapsulation

NASA Image and Video Library

2017-03-10

The Orbital ATK Cygnus spacecraft was encapsulted in its payload fairings inside the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center in Florida. The Orbital ATK CRS-7 commercial resupply services mission to the International Space Station is scheduled to launch atop a United Launch Alliance Atlas V rocket from Space Launch Complex 41 at Cape Canaveral Air Force Station on March 24, 2017. CYGNUS will deliver 7,600 of pounds of supplies, equipment and scientific research materials to the space station.

KSC-2015-1070

NASA Image and Video Library

2015-01-12

Workers conduct a solar array illumination test on the upper stack of the Magnetospheric Multiscale spacecraft, or MMS, in the Astrotech payload processing facility in Titusville, Florida, near Kennedy Space Center. Illumination testing of the lower instrumentation payload stack was completed in December. Launch aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 on Cape Canaveral Air Force Station is targeted for March 12. To learn more about MMS, visit http://www.nasa.gov/mms. Photo credit: NASA/Kim Shiflett

KSC-2015-1073

NASA Image and Video Library

2015-01-12

Workers conduct a solar array illumination test on the upper stack of the Magnetospheric Multiscale spacecraft, or MMS, in the Astrotech payload processing facility in Titusville, Florida, near Kennedy Space Center. Illumination testing of the lower instrumentation payload stack was completed in December. Launch aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 on Cape Canaveral Air Force Station is targeted for March 12. To learn more about MMS, visit http://www.nasa.gov/mms. Photo credit: NASA/Kim Shiflett

KSC-2015-1068

NASA Image and Video Library

2015-01-12

A solar array illumination test is performed on the upper stack of the Magnetospheric Multiscale spacecraft, or MMS, in the Astrotech payload processing facility in Titusville, Florida, near Kennedy Space Center. Illumination testing of the lower instrumentation payload stack was completed in December. Launch aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 on Cape Canaveral Air Force Station is targeted for March 12. To learn more about MMS, visit http://www.nasa.gov/mms. Photo credit: NASA/Kim Shiflett

KSC-2015-1072

NASA Image and Video Library

2015-01-12

A solar array illumination test is performed on the upper stack of the Magnetospheric Multiscale spacecraft, or MMS, in the Astrotech payload processing facility in Titusville, Florida, near Kennedy Space Center. Illumination testing of the lower instrumentation payload stack was completed in December. Launch aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 on Cape Canaveral Air Force Station is targeted for March 12. To learn more about MMS, visit http://www.nasa.gov/mms. Photo credit: NASA/Kim Shiflett

Potential interactions among linguistic, autonomic, and motor factors in speech.

PubMed

Kleinow, Jennifer; Smith, Anne

2006-05-01

Though anecdotal reports link certain speech disorders to increases in autonomic arousal, few studies have described the relationship between arousal and speech processes. Additionally, it is unclear how increases in arousal may interact with other cognitive-linguistic processes to affect speech motor control. In this experiment we examine potential interactions between autonomic arousal, linguistic processing, and speech motor coordination in adults and children. Autonomic responses (heart rate, finger pulse volume, tonic skin conductance, and phasic skin conductance) were recorded simultaneously with upper and lower lip movements during speech. The lip aperture variability (LA variability index) across multiple repetitions of sentences that varied in length and syntactic complexity was calculated under low- and high-arousal conditions. High arousal conditions were elicited by performance of the Stroop color word task. Children had significantly higher lip aperture variability index values across all speaking tasks, indicating more variable speech motor coordination. Increases in syntactic complexity and utterance length were associated with increases in speech motor coordination variability in both speaker groups. There was a significant effect of Stroop task, which produced increases in autonomic arousal and increased speech motor variability in both adults and children. These results provide novel evidence that high arousal levels can influence speech motor control in both adults and children. (c) 2006 Wiley Periodicals, Inc.

A modular design for rapid-response telecoms and navigation missions

NASA Astrophysics Data System (ADS)

Davies, P.; Liddle, D.; Buckley, John; Sweeting, M.; Roussel-Dupre, Diane; Caffrey, Michael

2004-11-01

Surrey Satellite Technology Ltd and Los Alamos National Laboratory are together building the Cibola Flight Experiment (CFESat), a mission with the aim of flight-proving a reconfigurable processor payload intended for a Low Earth Orbit system. The mission will survey portions of the VHF and UHF radio spectra. The satellite will be launched by the Space Test Program in September 2006 on the USAF Evolved Expendable Launch Vehicle (EELV) using the EELV's Secondary Payload Adapter (ESPA) that allows up to six small satellites to be launched as "piggyback" passengers with larger spacecraft. The payload is based on networks of reprogrammable, Field Programmable Gate Arrays (FPGAs) to process the received signals for ionospheric and lightning studies. The objective is to validate the on-orbit use of commercial, reconfigurable FPGA technology utilizing several different single-event upset mitigation schemes. It will also detect and measure impulsive events that occur in a complex background. SSTL's satellite platform is based on a new, ESPA- compatible, structure housing subsystems and equipments with proven flight heritage from SSTL's disaster monitoring constellation (DMC) and the Topsat mission satellite due for launch in 2005. The structure is mechanically quite complex for a microsatellite having both deployed solar panels and a pair of long booms as part of the payload. The satellite design is highly constrained by the mass and volume requirements of the EELV/EPSA.

Enhanced pain and autonomic responses to ambiguous visual stimuli in chronic Complex Regional Pain Syndrome (CRPS) type I.

PubMed

Cohen, H E; Hall, J; Harris, N; McCabe, C S; Blake, D R; Jänig, W

2012-02-01

Cortical reorganisation of sensory, motor and autonomic systems can lead to dysfunctional central integrative control. This may contribute to signs and symptoms of Complex Regional Pain Syndrome (CRPS), including pain. It has been hypothesised that central neuroplastic changes may cause afferent sensory feedback conflicts and produce pain. We investigated autonomic responses produced by ambiguous visual stimuli (AVS) in CRPS, and their relationship to pain. Thirty CRPS patients with upper limb involvement and 30 age and sex matched healthy controls had sympathetic autonomic function assessed using laser Doppler flowmetry of the finger pulp at baseline and while viewing a control figure or AVS. Compared to controls, there were diminished vasoconstrictor responses and a significant difference in the ratio of response between affected and unaffected limbs (symmetry ratio) to a deep breath and viewing AVS. While viewing visual stimuli, 33.5% of patients had asymmetric vasomotor responses and all healthy controls had a homologous symmetric pattern of response. Nineteen (61%) CRPS patients had enhanced pain within seconds of viewing the AVS. All the asymmetric vasomotor responses were in this group, and were not predictable from baseline autonomic function. Ten patients had accompanying dystonic reactions in their affected limb: 50% were in the asymmetric sub-group. In conclusion, there is a group of CRPS patients that demonstrate abnormal pain networks interacting with central somatomotor and autonomic integrational pathways. © 2011 European Federation of International Association for the Study of Pain Chapters.

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.

Trust and Influence

DTIC Science & Technology

2012-03-05

DISTRIBUTION A: Approved for public release; distribution is unlimited. Program Trends •Trust in Autonomous Systems • Cross - cultural Trust...Trust & trustworthiness are independent (Mayer et al, 1995) •Trust is relational •Humans in cross - cultural interactions •Complex human-machine...Interpersonal Trustworthiness •Ability •Benevolence •Integrity Trust Metrics Cross - Cultural Trust Issues Human-Machine Interactions Autonomous

Wrist ambulatory monitoring system and smart glove for real time emotional, sensorial and physiological analysis.

PubMed

Axisa, F; Gehin, C; Delhomme, G; Collet, C; Robin, O; Dittmar, A

2004-01-01

Improvement of the quality and efficiency of the quality of health in medicine, at home and in hospital becomes more and more important Designed to be user-friendly, smart clothes and gloves fit well for such a citizen use and health monitoring. Analysis of the autonomic nervous system using non-invasive sensors provides information for the emotional, sensorial, cognitive and physiological analysis. MARSIAN (modular autonomous recorder system for the measurement of autonomic nervous system) is a wrist ambulatory monitoring and recording system with a smart glove with sensors for the detection of the activity of the autonomic nervous system. It is composed of a "smart tee shirt", a "smart glove", a wrist device and PC which records data. The smart glove is one of the key point of MARSIAN. Complex movements, complex geometry, sensation make smart glove designing a challenge. MARSIAN has a large field of applications and researches (vigilance, behaviour, sensorial analysis, thermal environment for human, cognition science, sport, etc...) in various fields like neurophysiology, affective computing and health monitoring.

USMC Ground Surveillance Robot (GSR): Lessons Learned

NASA Astrophysics Data System (ADS)

Harmon, S. Y.

1987-02-01

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

A Benchmark Problem for Development of Autonomous Structural Modal Identification

NASA Technical Reports Server (NTRS)

Pappa, Richard S.; Woodard, Stanley E.; Juang, Jer-Nan

1996-01-01

This paper summarizes modal identification results obtained using an autonomous version of the Eigensystem Realization Algorithm on a dynamically complex, laboratory structure. The benchmark problem uses 48 of 768 free-decay responses measured in a complete modal survey test. The true modal parameters of the structure are well known from two previous, independent investigations. Without user involvement, the autonomous data analysis identified 24 to 33 structural modes with good to excellent accuracy in 62 seconds of CPU time (on a DEC Alpha 4000 computer). The modal identification technique described in the paper is the baseline algorithm for NASA's Autonomous Dynamics Determination (ADD) experiment scheduled to fly on International Space Station assembly flights in 1997-1999.

KSC01kodi078

NASA Image and Video Library

2001-09-05

KODIAK ISLAND, ALASKA - Inside the Launch Service Structure, Kodiak Launch Complex (KLC), the final stage of the Athena I launch vehicle, with the Kodiak Star spacecraft, is maneuvered into place. The first launch to take place from KLC, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

Neuronal autoantibodies in epilepsy patients with peri-ictal autonomic findings.

PubMed

Baysal-Kirac, Leyla; Tuzun, Erdem; Erdag, Ece; Ulusoy, Canan; Vanli-Yavuz, Ebru Nur; Ekizoglu, Esme; Peach, Sian; Sezgin, Mine; Bebek, Nerses; Gurses, Candan; Gokyigit, Aysen; Vincent, Angela; Baykan, Betul

2016-03-01

Autonomic dysfunction has frequently been reported in autoimmune encephalitis associated with seizures and there is growing evidence that epilepsy patients may display neuronal autoantibodies (NAAb). The aim of this study was to investigate the frequency of NAAb in epilepsy patients with peri-ictal autonomic findings. Fifty-eight patients (37 women/21 men; average age of 34.2 ± 9.9 years and epilepsy duration of 19.1 ± 9.6 years) who had at least one video-EEG recorded focal or secondary generalized seizure with clear-cut documented peri-ictal autonomic findings, or consistently reported seizures with autonomic semiology, were included. NAAb were tested by RIA or cell based assays. NAAb were present in 17 of 58 (29.3%) patients. Among seropositive patients, antibodies were directed against N-methyl-D-aspartate receptor (NMDAR) in 5 (29%), contactin-associated protein-like 2 (CASPR2) in 5 (29%), uncharacterized voltage gated potassium channel (VGKC)-complex antigens in 3 (18%), glutamic acid decarboxylase (GAD) in 2 (12%), glycine receptor (GLYR) in one (6%) and type A gamma aminobutyric acid receptor (GABAAR) in one patient (6%). Peri-ictal gastrointestinal manifestations, piloerection, ictal fever, urinary urge, and cough occurred more commonly in the seropositive group. The prevalences of psychotic attacks and status epilepticus were significantly increased in the seropositive group. Seropositivity prevalence in our patient group with peri-ictal autonomic findings is higher than other previously reported epilepsy cohorts. In our study, ictal fever-VGKC-complex antibody and pilomotor seizure-GABAAR antibody associations were documented for the first time. Chronic epilepsy patients with peri-ictal autonomic semiology, history of status epilepticus and psychotic disorder may benefit from autoantibody screening.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. Technicians confirm that the spacecraft is secured onto a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. Technicians prepare the spacecraft for its move to a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. Technicians help secure the spacecraft onto a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. The spacecraft is being prepared for its move to a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

Adaptive tracking for complex systems using reduced-order models

NASA Technical Reports Server (NTRS)

Carnigan, Craig R.

1990-01-01

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track a payload trajectory using a four-parameter model instead of the full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.

Adaptive tracking for complex systems using reduced-order models

NASA Technical Reports Server (NTRS)

Carignan, Craig R.

1990-01-01

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track the desired position trajectory of a payload using a four-parameter model instead of a full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. Technicians assist as a crane lowers the spacecraft toward a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

KSC-2015-1067

NASA Image and Video Library

2015-01-12

Preparations are underway for illumination testing of the solar panels on the upper stack of the Magnetospheric Multiscale spacecraft, or MMS, in the Astrotech payload processing facility in Titusville, Florida, near Kennedy Space Center. Illumination testing of the lower instrumentation payload stack was completed in December. Launch aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 on Cape Canaveral Air Force Station is targeted for March 12. To learn more about MMS, visit http://www.nasa.gov/mms. Photo credit: NASA/Kim Shiflett

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.

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.

Project Morpheus: Lean Development of a Terrestrial Flight Testbed for Maturing NASA Lander Technologies

NASA Technical Reports Server (NTRS)

Devolites, Jennifer L.; Olansen, Jon B.

2015-01-01

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing that is designed to serve as a testbed for advanced spacecraft technologies. The lander vehicle, propelled by a Liquid Oxygen (LOX)/Methane engine and sized to carry a 500kg payload to the lunar surface, provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. In 2012, Morpheus began integrating the Autonomous Landing and Hazard Avoidance Technology (ALHAT) sensors and software onto the vehicle in order to demonstrate safe, autonomous landing and hazard avoidance. From the beginning, one of goals for the Morpheus Project was to streamline agency processes and practices. The Morpheus project accepted a challenge to tailor the traditional NASA systems engineering approach in a way that would be appropriate for a lower cost, rapid prototype engineering effort, but retain the essence of the guiding principles. This paper describes the tailored project life cycle and systems engineering approach for the Morpheus project, including the processes, tools, and amount of rigor employed over the project's multiple lifecycles since the project began in fiscal year (FY) 2011.

Rapid Application of Space Effects for the Small Satellites Systems and Services Symposium

NASA Technical Reports Server (NTRS)

Tsairides, Demosthenes; Finley, Charles; Moretti, George

2016-01-01

NASA Ames Research Center (ARC) has engaged Military Branches, the Department of Defense, and other Government Agencies in successful partnerships to design, develop, deliver and support various space effects capabilities and space vehicles on timeline of need. Contracts with Industry are in place to execute operational and enabler missions using physical and informational infrastructures including Responsive Manufacturing capabilities and Digital Assurance. The intent is to establish a secure, web-enabled "store front" for ordering and delivering any capabilities required as defined by the users and directed by NASA ARC and Partner Organizations. The capabilities are envisioned to cover a broad range and include 6U CubeSats, 50-100 kg Space Vehicles, Modular Space Vehicle architecture variations, as well as rapid payload integration on various Bus options. The paper will discuss the efforts underway to demonstrate autonomous manufacturing of low-volume, high-value assets, to validate the ability of autonomous digital techniques to provide Mission Assurance, and to demonstrate cost savings through the identification, characterization, and utilization of Responsive Space components. The culmination of this effort will be the integration of several 6U satellites and their launch in 2016.

KSC-2012-4172

NASA Image and Video Library

2012-08-01

CAPE CANAVERAL, Fla. - At the Autonomous Landing and Hazard Avoidance Technology, or ALHAT, field at the north end of the Shuttle Landing Facility, or SLF, at NASA’s Kennedy Space Center in Florida, members of the media view the hazard field and speak with Morpheus managers. At left, in the blue shirt is Gregory Gaddis, Kennedy Project Morpheus/ALHAT site manager. Testing of the prototype lander had been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free-flight test at Kennedy Space Center. The SLF will provide the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus utilizes an autonomous landing and hazard avoidance technology, or ALHAT, payload that will allow it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Kim Shiflett

Autonomous Aerobraking Using Thermal Response Surface Analysis

NASA Technical Reports Server (NTRS)

Prince, Jill L.; Dec, John A.; Tolson, Robert H.

2007-01-01

Aerobraking is a proven method of significantly increasing the science payload that can be placed into low Mars orbits when compared to an all propulsive capture. However, the aerobraking phase is long and has mission cost and risk implications. The main cost benefit is that aerobraking permits the use of a smaller and cheaper launch vehicle, but additional operational costs are incurred during the long aerobraking phase. Risk is increased due to the repeated thermal loading of spacecraft components and the multiple attitude and propulsive maneuvers required for successful aerobraking. Both the cost and risk burdens can be significantly reduced by automating the aerobraking operations phase. All of the previous Mars orbiter missions that have utilized aerobraking have increasingly relied on onboard calculations during aerobraking. Even though the temperature of spacecraft components has been the limiting factor, operational methods have relied on using a surrogate variable for mission control. This paper describes several methods, based directly on spacecraft component maximum temperature, for autonomously predicting the subsequent aerobraking orbits and prescribing apoapsis propulsive maneuvers to maintain the spacecraft within specified temperature limits. Specifically, this paper describes the use of thermal response surface analysis in predicting the temperature of the spacecraft components and the corresponding uncertainty in this temperature prediction.

Unmanned ground vehicles for integrated force protection

NASA Astrophysics Data System (ADS)

Carroll, Daniel M.; Mikell, Kenneth; Denewiler, Thomas

2004-09-01

The combination of Command and Control (C2) systems with Unmanned Ground Vehicles (UGVs) provides Integrated Force Protection from the Robotic Operation Command Center. Autonomous UGVs are directed as Force Projection units. UGV payloads and fixed sensors provide situational awareness while unattended munitions provide a less-than-lethal response capability. Remote resources serve as automated interfaces to legacy physical devices such as manned response vehicles, barrier gates, fence openings, garage doors, and remote power on/off capability for unmanned systems. The Robotic Operations Command Center executes the Multiple Resource Host Architecture (MRHA) to simultaneously control heterogeneous unmanned systems. The MRHA graphically displays video, map, and status for each resource using wireless digital communications for integrated data, video, and audio. Events are prioritized and the user is prompted with audio alerts and text instructions for alarms and warnings. A control hierarchy of missions and duty rosters support autonomous operations. This paper provides an overview of the key technology enablers for Integrated Force Protection with details on a force-on-force scenario to test and demonstrate concept of operations using Unmanned Ground Vehicles. Special attention is given to development and applications for the Remote Detection Challenge and Response (REDCAR) initiative for Integrated Base Defense.

Modular AUV System with Integrated Real-Time Water Quality Analysis.

PubMed

Eichhorn, Mike; Ament, Christoph; Jacobi, Marco; Pfuetzenreuter, Torsten; Karimanzira, Divas; Bley, Kornelia; Boer, Michael; Wehde, Henning

2018-06-05

This paper describes the concept, the technical implementation and the practical application of a miniaturized sensor system integrated into an autonomous underwater vehicle (AUV) for real-time acquisition of water quality parameters. The main application field of the presented system is the analysis of the discharge of nitrates into Norwegian fjords near aqua farms. The presented system was developed within the research project SALMON (Sea Water Quality Monitoring and Management) over a three-year period. The development of the sensor system for water quality parameters represented a significant challenge for the research group, as it was to be integrated in the payload unit of the autonomous underwater vehicle in compliance with the underwater environmental conditions. The German company -4H- JENA engineering GmbH (4HJE), with experience in optical in situ-detection of nutrients, designed and built the measurement system. As a carrier platform, the remotely operated vehicle (ROV) "CWolf" from Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung - Institutsteil Angewandte Systemtechnik (IOSB-AST) modified to an AUV was deployed. The concept presented illustrates how the measurement system can be integrated easily into the vehicle with a minimum of hard- and software technical interfaces.

Upper Ocean Profiles Measurements with ASIP

NASA Astrophysics Data System (ADS)

Ward, B.; Callaghan, A. H.; Fristedt, T.; Vialard, J.; Cuypers, Y.; Weller, R. A.; Grosch, C. E.

2009-04-01

This presentation describes results from the Air-Sea Interaction Profiler (ASIP), an autonomous profiling instrument for upper ocean measurements. The measurements from ASIP are well suited to enhancing research on air-sea interfacial and near surface processes. Autonomous profiling is accomplished with a thruster, which submerges ASIP to a programmed depth. Once this depth is reached the positively buoyant instrument will ascend to the surface acquiring data. ASIP can profile from a maximum depth of 100 m to the surface, allowing both mixed layer and near-surface measurements to be conducted. The sensor payload on ASIP include microstructure sensors (two shear probes and a thermistor); a slow response accurate thermometer; a pair of conductivity sensors; pressure for a record of depth; PAR for measurements of light absorption in the water column. Other non-environmental sensors are acceleration, rate, and heading for determination of vehicle motion. Power is provided with rechargable lithium-ion batteries, supplying 1000 Whr, allowing approximately 300 profiles. ASIP also contains an iridium/GPS system, which allows realtime reporting of its position. ASIP was deployed extensively during the Cirene Indian Ocean campaign and our results focus on the data from the temperature, salinity, light, and shear sensors.

The development of a lightweight modular compliant surface bio-inspired robot

NASA Astrophysics Data System (ADS)

Stone, David L.; Cranney, John

2004-09-01

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morphable robot for military forces in the field and for other industrial uses. The USTLAB effort builds on proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. In Phase I, basic open plant stability was proven for climbing over obstacles of ~18 inches high and traversing ~75 degree inclines (up, down, or sideways) in a platform of approximately 15 kilograms. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved changes which currently enable future work in active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), and we have reduced platform weight by one third. Currently the vehicle weighs 10 kilograms and will grow marginally as additional actuation, MEMS based organic sensing, payload, and autonomous processing is added. The CSR vehicle"s modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process and the vehicle characteristics will be discussed.

A Design Principle for an Autonomous Post-translational Pattern Formation.

PubMed

Sugai, Shuhei S; Ode, Koji L; Ueda, Hiroki R

2017-04-25

Previous autonomous pattern-formation models often assumed complex molecular and cellular networks. This theoretical study, however, shows that a system composed of one substrate with multisite phosphorylation and a pair of kinase and phosphatase can generate autonomous spatial information, including complex stripe patterns. All (de-)phosphorylation reactions are described with a generic Michaelis-Menten scheme, and all species freely diffuse without pre-existing gradients. Computational simulation upon >23,000,000 randomly generated parameter sets revealed the design motifs of cyclic reaction and enzyme sequestration by slow-diffusing substrates. These motifs constitute short-range positive and long-range negative feedback loops to induce Turing instability. The width and height of spatial patterns can be controlled independently by distinct reaction-diffusion processes. Therefore, multisite reversible post-translational modification can be a ubiquitous source for various patterns without requiring other complex regulations such as autocatalytic regulation of enzymes and is applicable to molecular mechanisms for inducing subcellular localization of proteins driven by post-translational modifications. Copyright © 2017 The Author(s). Published by Elsevier Inc. All rights reserved.

Nuclear Thermal Rocket/Vehicle Characteristics And Sensitivity Trades For NASA's Mars Design Reference Architecture (DRA) 5.0 Study

NASA Technical Reports Server (NTRS)

Borowski, Stanley K.; McCurdy, David R.; Packard, Thomas W.

2009-01-01

This paper summarizes Phase I and II analysis results from NASA's recent Mars DRA 5.0 study which re-examined mission, payload and transportation system requirements for a human Mars landing mission in the post-2030 timeframe. Nuclear thermal rocket (NTR) propulsion was again identified as the preferred in-space transportation system over chemical/aerobrake because of its higher specific impulse (I(sub sp)) capability, increased tolerance to payload mass growth and architecture changes, and lower total initial mass in low Earth orbit (IMLEO) which is important for reducing the number of Ares-V heavy lift launches and overall mission cost. DRA 5.0 features a long surface stay (approximately 500 days) split mission using separate cargo and crewed Mars transfer vehicles (MTVs). All vehicles utilize a common core propulsion stage with three 25 klbf composite fuel NERVA-derived NTR engines (T(sub ex) approximately 2650 - 2700 K, p(sub ch) approximately 1000 psia, epsilon approximately 300:1, I(sub sp) approximately 900 - 910 s, engine thrust-toweight ratio approximately 3.43) to perform all primary mission maneuvers. Two cargo flights, utilizing 1-way minimum energy trajectories, pre-deploy a cargo lander to the surface and a habitat lander into a 24-hour elliptical Mars parking orbit where it remains until the arrival of the crewed MTV during the next mission opportunity (approximately 26 months later). The cargo payload elements aerocapture (AC) into Mars orbit and are enclosed within a large triconicshaped aeroshell which functions as payload shroud during launch, then as an aerobrake and thermal protection system during Mars orbit capture and subsequent entry, descent and landing (EDL) on Mars. The all propulsive crewed MTV is a 0-gE vehicle design that utilizes a fast conjunction trajectory that allows approximately 6-7 month 1-way transit times to and from Mars. Four 12.5 kW(sub e) per 125 square meter rectangular photovoltaic arrays provide the crewed MTV with approximately 50 kW(sub e) of electrical power in Mars orbit for crew life support and spacecraft subsystem needs. Vehicle assembly involves autonomous Earth orbit rendezvous and docking between the propulsion stages, in-line propellant tanks and payload elements. Nine Ares-V launches -- five for the two cargo MTVs and four for the crewed MTV -- deliver the key components for the three MTVs. Details on mission, payload, engine and vehicle characteristics and requirements are presented and the results of key trade studies are discussed.

KSC-08pd2447

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians check the sensors on the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, after mating of the SCM to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2433

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, is being prepared for transfer to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2443

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians check the connections on the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, being mated to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2446

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians check the sensors on the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, after mating of the SCM to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2439

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, an overhead crane lowers the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, toward the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2434

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians prepare the Flight Support System, or FSS, carrier to receive the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

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.

In-situ Chemical Exploration and Mapping using an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Camilli, R.; Bingham, B. S.; Jakuba, M.; Whelan, J.; Singh, H.; Whiticar, M.

2004-12-01

Recent advances in in-situ chemical sensing have emphasized several issues associated with making reliable chemical measurements in the ocean. Such measurements are often aliased temporally and or spatially, and may suffer from instrumentation artifacts, such as slow response time, limited dynamic range, hysteresis, and environmental sensitivities (eg., temperature and pressure). We focus on the in-situ measurement of light hydrocarbons. Specifically we examine data collected using a number of methods including: a vertical profiler, autonomous underwater vehicles (AUV) surveys, and adaptive spatio-temporal survey techniques. We present data collected using a commercial METS sensor on a vertical profiler to identify and map structures associated with ocean bottom methane sources in the Saanich inlet off Vancouver, Canada. This sensor was deployed in parallel with a submersible mass spectrometer and a shipboard equilibrator-gas chromatograph. Our results illustrate that spatial offsets as small as centimeters can produce significant differences in measured concentration. In addition, differences in response times between instruments can also alias the measurements. The results of this preliminary experiment underscore the challenges of quantifying ocean chemical processes with small-scale spatial variability and temporal variability that is often faster than the response times of many available instruments. We explore the capabilities and current limitations of autonomous underwater vehicles for extending the spatial coverage of new in-situ sensor technologies. We present data collected from deployments of Seabed, a passively stable, hover capable AUV, at large-scale gas blowout features located along the U.S. Atlantic margin. Although these deployments successfully revealed previously unobservable oceanographic processes, temporal aliasing caused by sensor response as well as tidal variability manifests itself, illustrating the possibilities for misinterpretation of localized periodic anomalies. Finally we present results of recent experimental chemical plume mapping surveys that were conducted off the coast of Massachusetts using adaptive behaviors that allow the AUV to optimize its mission plan to autonomously search for chemical anomalies. This adaptive operation is based on coupling the chemical sensor payload within a closed-loop architecture with the vehicle's navigation control system for real-time autonomous data assimilation and decision making processes. This allows the vehicle to autonomously refine the search strategy, thereby improving feature localization capabilities and enabling surveys at an appropriate temporal and spatial resolution.

Advances in Robotic, Human, and Autonomous Systems for Missions of Space Exploration

NASA Technical Reports Server (NTRS)

Gross, Anthony R.; Briggs, Geoffrey A.; Glass, Brian J.; Pedersen, Liam; Kortenkamp, David M.; Wettergreen, David S.; Nourbakhsh, I.; Clancy, Daniel J.; Zornetzer, Steven (Technical Monitor)

2002-01-01

Space exploration missions are evolving toward more complex architectures involving more capable robotic systems, new levels of human and robotic interaction, and increasingly autonomous systems. How this evolving mix of advanced capabilities will be utilized in the design of new missions is a subject of much current interest. Cost and risk constraints also play a key role in the development of new missions, resulting in a complex interplay of a broad range of factors in the mission development and planning of new missions. This paper will discuss how human, robotic, and autonomous systems could be used in advanced space exploration missions. In particular, a recently completed survey of the state of the art and the potential future of robotic systems, as well as new experiments utilizing human and robotic approaches will be described. Finally, there will be a discussion of how best to utilize these various approaches for meeting space exploration goals.

Designing an autonomous environment for mission critical operation of the EUVE satellite

NASA Technical Reports Server (NTRS)

Abedini, Annadiana; Malina, Roger F.

1994-01-01

Since the launch of NASA's Extreme Ultraviolet Explorer (EUVE) satellite in 1992, there has only been a handful of occurrences that have warranted manual intervention in the EUVE Science Operations Center (ESOC). So, in an effort to reduce costs, the current environment is being redesigned to utilize a combination of off-the-shelf packages and recently developed artificial intelligence (AI) software to automate the monitoring of the science payload and ground systems. The successful implementation of systemic automation would allow the ESOC to evolve from a seven day/week, three shift operation, to a seven day/week one shift operation. First, it was necessary to identify all areas considered mission critical. These were defined as follows: (1) The telemetry stream must be monitored autonomously and anomalies identified. (2) Duty personnel must be automatically paged and informed of the occurrence of an anomaly. (3) The 'basic' state of the ground system must be assessed. (4) Monitors should check that the systems and processes needed to continue in a 'healthy' operational mode are working at all times. (5) Network loads should be monitored to ensure that they stay within established limits. (6) Connectivity to Goddard Space Flight Center (GSFC) systems should be monitored as well, not just for connectivity of the network itself but also for the ability to transfer files. (7) All necessary peripheral devices should be monitored. This would include the disks, routers, tape drives, printers, tape carousel, and power supplies. (8) System daemons such as the archival daemon, the Sybase server, the payload monitoring software, and any other necessary processes should be monitored to ensure that they are operational. (9) The monitoring system needs to be redundant so that the failure of a single machine will not paralyze the monitors. (10) Notification should be done by means of looking though a table of the pager numbers for current 'on call' personnel. The software should be capable of dialing out to notify, sending email, and producing error logs. (11) The system should have knowledge of when real-time passes and tape recorder dumps will occur and should know that these passes and data transmissions are successful. Once the design criteria were established, the design team split into two groups: one that addressed the tracking, commanding, and health and safety of the science payload and another group that addressed the ground systems and communications aspects of the overall system.

Recent Developments in Balloon Support Instrumentation at TIFR Balloon Facility, Hyderabad.

NASA Astrophysics Data System (ADS)

Vasudevan, Rajagopalan

2012-07-01

The Balloon Facility of Tata Institute of Fundamental Research has been conducting stratospheric balloon flights regularly for various experiments in Space Astronomy and Atmospheric Sciences. A continuous improvement in Balloon flight Support instrumentation by the Control Instrumentation Group to keep in space with the growing complexities of the scientific payloads have contributed to the total success of balloon flights conducted recently. Recent improvements in display of Balloon position during balloon flight by showing on real time the balloon GPS position against Google TM maps is of immense help in selecting the right spot for payload landing and safe recovery . For further speeding up the payload recovery process, a new GPS-GSM payload system has been developed which gives SMS of the payload position information to the recovery team on their cell phones. On parallel footing, a new GPS- VHF system has been developed using GPS and Radio Modems for Balloon Tracking and also for obtaining the payload impact point. On the Telecommand side, a single board Telecommand/ Timer weighing less than 2 Kg has been specially developed for use in the mesosphere balloon test flight. The interference on the existing Short Range Telemetry System has been eliminated by introducing a Band Pass Filter and LNA in the Receiving system of the modules, thereby enhancing its reliability. In this paper , we present the details of the above mentioned developments.

Optimizing communication satellites payload configuration with exact approaches

NASA Astrophysics Data System (ADS)

Stathakis, Apostolos; Danoy, Grégoire; Bouvry, Pascal; Talbi, El-Ghazali; Morelli, Gianluigi

2015-12-01

The satellite communications market is competitive and rapidly evolving. The payload, which is in charge of applying frequency conversion and amplification to the signals received from Earth before their retransmission, is made of various components. These include reconfigurable switches that permit the re-routing of signals based on market demand or because of some hardware failure. In order to meet modern requirements, the size and the complexity of current communication payloads are increasing significantly. Consequently, the optimal payload configuration, which was previously done manually by the engineers with the use of computerized schematics, is now becoming a difficult and time consuming task. Efficient optimization techniques are therefore required to find the optimal set(s) of switch positions to optimize some operational objective(s). In order to tackle this challenging problem for the satellite industry, this work proposes two Integer Linear Programming (ILP) models. The first one is single-objective and focuses on the minimization of the length of the longest channel path, while the second one is bi-objective and additionally aims at minimizing the number of switch changes in the payload switch matrix. Experiments are conducted on a large set of instances of realistic payload sizes using the CPLEX® solver and two well-known exact multi-objective algorithms. Numerical results demonstrate the efficiency and limitations of the ILP approach on this real-world problem.

Autonomous Scheduling Requirements for Agile Cubesat Constellations in Earth Observation

NASA Astrophysics Data System (ADS)

Nag, S.; Li, A. S. X.; Kumar, S.

2017-12-01

Distributed Space Missions such as formation flight and constellations, are being recognized as important Earth Observation solutions to increase measurement samples over space and time. Cubesats are increasing in size (27U, 40 kg) with increasing capabilities to host imager payloads. Given the precise attitude control systems emerging commercially, Cubesats now have the ability to slew and capture images within short notice. Prior literature has demonstrated a modular framework that combines orbital mechanics, attitude control and scheduling optimization to plan the time-varying orientation of agile Cubesats in a constellation such that they maximize the number of observed images, within the constraints of hardware specs. Schedule optimization is performed on the ground autonomously, using dynamic programming with two levels of heuristics, verified and improved upon using mixed integer linear programming. Our algorithm-in-the-loop simulation applied to Landsat's use case, captured up to 161% more Landsat images than nadir-pointing sensors with the same field of view, on a 2-satellite constellation over a 12-hour simulation. In this paper, we will derive the requirements for the above algorithm to run onboard small satellites such that the constellation can make time-sensitive decisions to slew and capture images autonomously, without ground support. We will apply the above autonomous algorithm to a time critical use case - monitoring of precipitation and subsequent effects on floods, landslides and soil moisture, as quantified by the NASA Unified Weather Research and Forecasting Model. Since the latency between these event occurrences is quite low, they make a strong case for autonomous decisions among satellites in a constellation. The algorithm can be implemented in the Plan Execution Interchange Language - NASA's open source technology for automation, used to operate the International Space Station and LADEE's in flight software - enabling a controller-in-the-loop demonstration. The autonomy software can then be integrated with NASA's open source Core Flight Software, ported onto a Raspberry Pi 3.0 for a software-in-the-loop demonstration. Future use cases can be time critical events such as cloud movement, storms or other disasters, and in conjunction with other platforms in a Sensor Web.

Leadership within Emergent Events in Complex Systems: Micro-Enactments and the Mechanisms of Organisational Learning and Change

ERIC Educational Resources Information Center

Hazy, James K.; Silberstang, Joyce

2009-01-01

One tradition within the complexity paradigm considers organisations as complex adaptive systems in which autonomous individuals interact, often in complex ways with difficult to predict, non-linear outcomes. Building upon this tradition, and more specifically following the complex systems leadership theory approach, we describe the ways in which…

EDEN: a payload dedicated to neurovestibular research for Neurolab

NASA Technical Reports Server (NTRS)

Bellossi, F.; Clement, G.; Cohen, B.; Cork, M.

1998-01-01

The European Space Agency contributes to the Neurolab mission through the delivery of the ESA Developed Elements for Neurolab (EDEN). Those elements include one set supporting the Autonomic Nervous System experiment and one set supporting the Neurovestibular (so-called ATLAS) experiment. This second set is called the Visual and Vestibular Investigation System (VVIS). This paper describes the main characteristics of the VVIS and its various subsystems. The scientific objectives and operational constraints of the ATLAS experiment to be carried out with this equipment during Neurolab are presented to underline the correspondence between the VVIS design and the scientific requirements. Further scientific and technical perspectives for the VVIS, particularly within the scope of the International Space station, are also proposed.

HyspIRI Intelligent Payload Module(IPM) and Benchmarking Algorithms for Upload

NASA Technical Reports Server (NTRS)

Mandl, Daniel

2010-01-01

Features: Hardware: a) Xilinx Virtex-5 (GSFC Space Cube 2); b) 2 x 400MHz PPC; c) 100MHz Bus; d) 2 x 512MB SDRAM; e) Dual Gigabit Ethernet. Support Linux kernel 2.6.31 (gcc version 4.2.2). Support software running in stand alone mode for better performance. Can stream raw data up to 800 Mbps. Ready for operations. Software Application Examples: Band-stripping Algiotrhmsl:cloud, sulfur, flood, thermal, SWIL, NDVI, NDWI, SIWI, oil spills, algae blooms, etc. Corrections: geometric, radiometric, atmospheric. Core Flight System/dynamic software bus. CCSDS File Delivery Protocol. Delay Tolerant Network. CASPER /onboard planning. Fault monitoring/recovery software. S/C command and telemetry software. Data compression. Sensor Web for Autonomous Mission Operations.

CMMAD Usability Case Study in Support of Countermine and Hazard Sensing

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

Victor G. Walker; David I. Gertman

2010-04-01

During field trials, operator usability data were collected in support of lane clearing missions and hazard sensing for two robot platforms with Robot Intelligence Kernel (RIK) software and sensor scanning payloads onboard. The tests featured autonomous and shared robot autonomy levels where tasking of the robot used a graphical interface featuring mine location and sensor readings. The goal of this work was to provide insights that could be used to further technology development. The efficacy of countermine systems in terms of mobility, search, path planning, detection, and localization were assessed. Findings from objective and subjective operator interaction measures are reviewedmore » along with commentary from soldiers having taken part in the study who strongly endorse the system.« less

Nonlinear Landing Control for Quadrotor UAVs

NASA Astrophysics Data System (ADS)

Voos, Holger

Quadrotor UAVs are one of the most preferred type of small unmanned aerial vehicles because of the very simple mechanical construction and propulsion principle. However, the nonlinear dynamic behavior requires a more advanced stabilizing control and guidance of these vehicles. In addition, the small payload reduces the amount of batteries that can be carried and thus also limits the operating range of the UAV. One possible solution for a range extension is the application of a mobile base station for recharging purpose even during operation. However, landing on a moving base station requires autonomous tracking and landing control of the UAV. In this paper, a nonlinear autopilot for quadrotor UAVs is extended with a tracking and landing controller to fulfill the required task.

Bayesian networks for satellite payload testing

NASA Astrophysics Data System (ADS)

Przytula, Krzysztof W.; Hagen, Frank; Yung, Kar

1999-11-01

Satellite payloads are fast increasing in complexity, resulting in commensurate growth in cost of manufacturing and operation. A need exists for a software tool, which would assist engineers in production and operation of satellite systems. We have designed and implemented a software tool, which performs part of this task. The tool aids a test engineer in debugging satellite payloads during system testing. At this stage of satellite integration and testing both the tested payload and the testing equipment represent complicated systems consisting of a very large number of components and devices. When an error is detected during execution of a test procedure, the tool presents to the engineer a ranked list of potential sources of the error and a list of recommended further tests. The engineer decides this on this basis if to perform some of the recommended additional test or replace the suspect component. The tool has been installed in payload testing facility. The tool is based on Bayesian networks, a graphical method of representing uncertainty in terms of probabilistic influences. The Bayesian network was configured using detailed flow diagrams of testing procedures and block diagrams of the payload and testing hardware. The conditional and prior probability values were initially obtained from experts and refined in later stages of design. The Bayesian network provided a very informative model of the payload and testing equipment and inspired many new ideas regarding the future test procedures and testing equipment configurations. The tool is the first step in developing a family of tools for various phases of satellite integration and operation.

Fluid Phase Separation (FPS) experiment for flight on the shuttle in a Get Away Special (GAS) canister: Design and fabrication

NASA Technical Reports Server (NTRS)

1990-01-01

The separation of fluid phases in microgravity environments is of importance to environmental control and life support systems (ECLSS) and materials processing in space. A successful fluid phase separation experiment will demonstrate a proof of concept for the separation technique and add to the knowledge base of material behavior. The phase separation experiment will contain a premixed fluid that will be exposed to a microgravity environment. After the phase separation of the compound has occurred, small samples of each of the species will be taken for analysis on Earth. By correlating the time of separation and the temperature history of the fluid, it will be possible to characterize the process. The phase separation experiment is totally self-contained, with three levels of containment on all fluids, and provides all necessary electrical power and control. The controller regulates the temperature of the fluid and controls data logging and sampling. An astronaut-activated switch will initiate the experiment and an unmaskable interrupt is provided for shutdown. The experiment has been integrated into space available on a manifested Get Away Special (GAS) experiment, CONCAP 2, part of the Consortium for Materials Complex Autonomous Payload (CAP) Program, scheduled for STS 42 in April 1991. Presented here are the design and the production of a fluid phase separation experiment for rapid implementation at low cost.

On the hitchhiker Robot Operated Materials Processing System: Experiment data system

NASA Technical Reports Server (NTRS)

Kizhner, Semion; Jenstrom, Del

1995-01-01

The Space Shuttle Discovery STS-64 mission carried the first American autonomous robot into space, the Robot Operated Materials Processing System (ROMPS). On this mission ROMPS was the only Hitchhiker experiment and had a unique opportunity to utilize all Hitchhiker space carrier capabilities. ROMPS conducted rapid thermal processing of the one hundred semiconductor material samples to study how micro gravity affects the resulting material properties. The experiment was designed, built and operated by a small GSFC team in cooperation with industry and university based principal investigators who provided the material samples and data interpretation. ROMPS' success presents some valuable lessons in such cooperation, as well as in the utilization of the Hitchhiker carrier for complex applications. The motivation of this paper is to share these lessons with the scientific community interested in attached payload experiments. ROMPS has a versatile and intelligent material processing control data system. This paper uses the ROMPS data system as the guiding thread to present the ROMPS mission experience. It presents an overview of the ROMPS experiment followed by considerations of the flight and ground data subsystems and their architecture, data products generation during mission operations, and post mission data utilization. It then presents the lessons learned from the development and operation of the ROMPS data system as well as those learned during post-flight data processing.

Agent Based Software for the Autonomous Control of Formation Flying Spacecraft

NASA Technical Reports Server (NTRS)

How, Jonathan P.; Campbell, Mark; Dennehy, Neil (Technical Monitor)

2003-01-01

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

[A role of the autonomic nervous system in cerebro-cardiac disorders].

PubMed

Basantsova, N Yu; Tibekina, L M; Shishkin, A N

The authors consider anatomical/physiological characteristics and a role of different autonomic CNS regions, including insula cortex, amygdala complex, anterior cingulate cortex, ventral medial prefrontal cortex, hypothalamus and epiphysis, involved in the regulation of cardiovascular activity. The damage of these structures, e.g., due to the acute disturbance of cerebral blood circulation, led to arrhythmia, including fatal arrhythmia, in previously intact myocardium; systolic and diastolic dysfunction, ischemic changes considered in the frames of cerebro-cardial syndrome. On the cellular level, the disturbance of autonomic regulation resulted in catechol amine excitotoxicity, oxidative stress and free radical myocardium injury.

Automated Recognition of Geologically Significant Shapes in MER PANCAM and MI Images

NASA Technical Reports Server (NTRS)

Morris, Robert; Shipman, Mark; Roush, Ted L.

2004-01-01

Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.

[Nonspecific symptoms of pain syndromes of cervicobrachial localization and their dynamics under the influence of non - pharmacological treatment].

PubMed

Ярошевський, Олександр Анатолійович

2016-01-01

The relevance of this study is caused by the wide spread of musculoskeletal pain, particularly among young people of working age and lack of effectiveness of drug treatment. To study the capability of non-pharmacological treatment in patients with myofascial pain syndrome of cervicobrachial localization considering the influence to nonspecific symptoms of myofascial pain syndrome (autonomic dysfunctions and emotional disorders). We studied 115 patients aged from 18 to 44 years with myofascial pain syndrome of cervicobrachial localization. We used neurological, vertebral- neurological, neuropsychological examination. The severity of pain was assessed by the Visual analog scale for pain (VAS pain). Patients were divided into two groups. The first group of patients (59 individuals) received the complex of manual therapy. The second group of patients (56 individuals) received the complex of manual therapy combined with acupuncture. Non-pharmacological treatment was effective in patients with myofascial pain syndrome of cervicobrachial localization. Application of manual therapy methods in the treatment of myofascial pain syndrome of cervicobrachial localization leading to the reduction of severity of pain, emotional disorders and autonomic dysfunctions. The combination of manual therapy with acupuncture increases the effectiveness of treatment of myofascial pain syndrome of cervicobrachial localization by reducing the emotional disorders and autonomic dysfunctions. Patients with myofascial pain syndrome of cervicobrachial localization need the complex of manual therapy combined with acupuncture. The manual therapy corrects abnormal biomechanical pattern while acupuncture corrects autonomic dysfunctions and emotional disorders.

A translational in vivo model of trigeminal autonomic cephalalgias: therapeutic characterization.

PubMed

Akerman, Simon; Holland, Philip R; Summ, Oliver; Lasalandra, Michele P; Goadsby, Peter J

2012-12-01

Trigeminal autonomic cephalalgias are highly disabling primary headache disorders, characterized by severe unilateral head pain and associated ipsilateral cranial autonomic features. There is limited understanding of their pathophysiology and how and where treatments act to reduce symptoms; this is significantly hindered by a lack of animal models. We have developed the first animal model to explore trigeminal autonomic cephalalgias, using stimulation within the brainstem, at the level of the superior salivatory nucleus, to activate the trigeminal autonomic reflex arc. Using electrophysiological recording of neurons of the trigeminocervical complex and laser Doppler blood flow changes around the ipsilateral lacrimal duct, superior salivatory nucleus stimulation exhibited both neuronal trigeminovascular and cranial autonomic manifestations. These responses were specifically inhibited by the autonomic ganglion blocker hexamethonium bromide. These data demonstrate that brainstem activation may be the driver of both sensory and autonomic symptoms in these disorders, and part of this activation may be via the parasympathetic outflow to the cranial vasculature. Additionally, both sensory and autonomic manifestations were significantly inhibited by highly effective treatments for trigeminal autonomic cephalalgias, such as oxygen, indomethacin and triptans, and some part of their therapeutic action appears to be specifically on the parasympathetic outflow to the cranial vasculature. Treatments more used to migraine, such as naproxen and a calcitonin gene-related peptide receptor inhibitor, olcegepant, were less effective in this model. This is the first model to represent the phenotype of trigeminal autonomic cephalalgias and their response to therapies, and indicates the parasympathetic pathway may be uniquely involved in their pathophysiology and targeted to relieve symptoms.

An Autonomous, Low Cost Platform for Seafloor Geodetic Observations

NASA Astrophysics Data System (ADS)

Ericksen, T.; Foster, J. H.; Bingham, B. S.; Oshiro, J.

2014-12-01

The Pacific GPS Facility and the Field Robotics Laboratory at the University of Hawaii have developed an approach to significantly reduce costs below ship based methods of accurately measuring short-term vertical motions of the seafloor and maintaining a continuous long-term record of seafloor pressure. Our goal has been to reduce the primary barrier preventing us from acquiring the observations we need to understand geodetic processes, and the hazards they present, at subduction zones, submarine volcanoes, and subsea landslides. To this end, we have designed a payload package for one of the University of Hawaii Wave Gliders which incorporates an acoustic telemetry package, a dual frequency geodetic-grade Global Positioning System (GPS) receiver, meteorological sensors, processing computer, and cellular communications. The Wave Glider will interrogate high accuracy pressure sensors on the seafloor to maintain a near-continuous stream of pressure and temperature data. The seafloor geodetic monument seats a sensor capable of recording pressure, temperature, and sound velocity for a deployment duration of over 5 years with an acoustic modem for communications, and an integral acoustic release for recovery and replacement of batteries. The design of the geodetic monument allows for precise repositioning of the sensor to extend the pressure record beyond a single 5+ year deployment, and includes the capability to install a mobile pressure recorder for calibration of the linear drift of the continuous pressure sensor. We will present the design of the Wave Glider payload and seafloor geodetic monument, as well as a discussion of nearshore and offshore field tests and operational procedures. An assessment of our ability to determine cm-scale vertical seafloor motions will be made by integrating the seafloor pressure measurements recovered during field testing with independent measurements of sea surface pressure and sea surface height made by the sea surface payload.

A hazard control system for robot manipulators

NASA Technical Reports Server (NTRS)

Carter, Ruth Chiang; Rad, Adrian

1991-01-01

A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

Parametric Study for Increasing On-Station Duration via Unconventional Aircraft Launch Approach

NASA Technical Reports Server (NTRS)

Kuhl, Christopher A.; Moses, Robert W.; Croom, Mark A.; Sandford, Stephen P.

2004-01-01

The need for better atmospheric predictions is causing the atmospheric science community to look for new ways to obtain longer, higher-resolution measurements over several diurnal cycles. The high resolution, in-situ measurements required to study many atmospheric phenomena can be achieved by an Autonomous Aerial Observation System (AAOS); however, meeting the long on-station time requirements with an aerial platform poses many challenges. Inspired by the half-scale drop test of the deployable Aerial Regional-scale Environmental Survey (ARES) Mars airplane, a study was conducted at the NASA Langley Research Center to examine the possibility of increasing on-station time by launching an airplane directly at the desired altitude. The ARES Mars airplane concept was used as a baseline for Earth atmospheric flight, and parametric analyses of fundamental configuration elements were performed to study their impact on achieving desired on-station time with this class of airplane. The concept involved lifting the aircraft from the ground to the target altitude by means of an air balloon, thereby unburdening the airplane of ascent requirements. The parameters varied in the study were aircraft wingspan, payload, fuel quantity, and propulsion system. The results show promising trends for further research into aircraft-payload design using this unconventional balloon-based launch approach.

Radioastron flight operations

NASA Technical Reports Server (NTRS)

Altunin, V. I.; Sukhanov, K. G.; Altunin, K. R.

1993-01-01

Radioastron is a space-based very-long-baseline interferometry (VLBI) mission to be operational in the mid-90's. The spacecraft and space radio telescope (SRT) will be designed, manufactured, and launched by the Russians. The United States is constructing a DSN subnet to be used in conjunction with a Russian subnet for Radioastron SRT science data acquisition, phase link, and spacecraft and science payload health monitoring. Command and control will be performed from a Russian tracking facility. In addition to the flight element, the network of ground radio telescopes which will be performing co-observations with the space telescope are essential to the mission. Observatories in 39 locations around the world are expected to participate in the mission. Some aspects of the mission that have helped shaped the flight operations concept are: separate radio channels will be provided for spacecraft operations and for phase link and science data acquisition; 80-90 percent of the spacecraft operational time will be spent in an autonomous mode; and, mission scheduling must take into account not only spacecraft and science payload constraints, but tracking station and ground observatory availability as well. This paper will describe the flight operations system design for translating the Radioastron science program into spacecraft executed events. Planning for in-orbit checkout and contingency response will also be discussed.

ISS External Contamination Environment for Space Science Utilization

NASA Technical Reports Server (NTRS)

Soares, Carlos; Mikatarian, Ron; Steagall, Courtney; Huang, Alvin; Koontz, Steven; Worthy, Erica

2014-01-01

(1) The International Space Station is the largest and most complex on-orbit platform for space science utilization in low Earth orbit, (2) Multiple sites for external payloads, with exposure to the associated natural and induced environments, are available to support a variety of space science utilization objectives, (3) Contamination is one of the induced environments that can impact performance, mission success and science utilization on the vehicle, and (4)The ISS has been designed, built and integrated with strict contamination requirements to provide low levels of induced contamination on external payload assets.

Systems engineering and integration of control centers in support of multiple programs. [ground control for STS payloads and unmanned vehicles

NASA Technical Reports Server (NTRS)

Miller, David N.

1989-01-01

The NASA Johnson Space Center's new Multiprogram Control Center (MPCC) addresses the control requirements of complex STS payloads as well as unmanned vehicles. An account is given of the relationship of the MPCC to the STS Mission Control Center, with a view to significant difficulties that may be encountered and solutions thus far devised for generic problems. Examples of MPCC workstation applications encompass telemetry decommutation, engineering unit conversion, data-base management, trajectory processing, and flight design.

NASA/ESA CV-990 spacelab simulation

NASA Technical Reports Server (NTRS)

Reller, J. O., Jr.

1976-01-01

Simplified techniques were applied to conduct an extensive spacelab simulation using the airborne laboratory. The scientific payload was selected to perform studies in upper atmospheric physics and infrared astronomy. The mission was successful and provided extensive data relevant to spacelab objectives on overall management of a complex international payload; experiment preparation, testing, and integration; training for proxy operation in space; data handling; multiexperimenter use of common experimenter facilities (telescopes); multiexperiment operation by experiment operators; selection criteria for spacelab experiment operators; and schedule requirements to prepare for such a spacelab mission.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. Technicians assist as a crane lifts the spacecraft up for its move to a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. A crane is attached to the spacecraft to prepare for its move to a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

JPSS-1 Spacecraft Mate to Payload Attach Fittings

NASA Image and Video Library

2017-10-19

NOAA's Joint Polar Satellite System-1, or JPSS-1, remains wrapped in a protective covering after removal from its shipping container at the Astrotech Processing Facility at Vandenberg Air Force Base in California. Technicians assist as a crane lifts and moves the spacecraft to a payload attach fitting. JPSS-1 will liftoff aboard a United Launch Alliance Delta II rocket from Vandenberg's Space Launch Complex-2. JPSS-1 is the first in a series of four next-generation environmental satellites in a collaborative program between NOAA and NASA.

OA-7 Cargo Module Installation onto KAMAG

NASA Image and Video Library

2017-03-15

Inside the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center in Florida, technicians use a crane to lift the Orbital ATK Cygnus pressurized cargo module, enclosed in its payload fairing, for transfer to a KAMAG transporter. The Orbital ATK CRS-7 commercial resupply services mission to the International Space Station is scheduled to launch atop a United Launch Alliance Atlas V rocket from Space Launch Complex 41 at Cape Canaveral Air Force Station. Cygnus will deliver 7,600 pounds of supplies, equipment and scientific research materials to the space station.

KSC01kodi071

NASA Image and Video Library

2001-08-08

KODIAK ISLAND, Alaska -- Technicians transport the Sapphire payload at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program.

OA-7 Lift and Mate to Booster

NASA Image and Video Library

2017-03-17

The payload fairing containing the Orbital ATK Cygnus pressurized cargo module is lifted by crane at the United Launch Alliance (ULA) Vertical Integration Facility at Space Launch Complex 41 at Cape Canaveral Air Force Station in Florida. The payload will be hoisted up and mated to the ULA Atlas V rocket. The Orbital ATK CRS-7 commercial resupply services mission to the International Space Station is scheduled to launch atop the Atlas V from pad 41. Cygnus will deliver 7,600 pounds of supplies, equipment and scientific research materials to the space station.

Atlas_V_OA-7_Payload_Mate_to_Booster

NASA Image and Video Library

2017-03-17

The payload fairing containing the Orbital ATK Cygnus pressurized cargo module is lifted and mated onto the Centaur upper stage, or second stage, of the United Launch Alliance (ULA) rocket in the Vertical Integration Facility at Space Launch Complex 41 at Cape Canaveral Air Force Station in Florida. The Orbital ATK CRS-7 commercial resupply services mission to the International Space Station is scheduled to launch atop the Atlas V from pad 41. Cygnus will deliver 7,600 pounds of supplies, equipment and scientific research materials to the space station.

OA-7 Lift and Mate to Booster

NASA Image and Video Library

2017-03-17

The payload fairing containing the Orbital ATK Cygnus pressurized cargo module is hoisted up by crane at the United Launch Alliance (ULA) Vertical Integration Facility at Space Launch Complex 41 at Cape Canaveral Air Force Station in Florida. The payload will be mated to the ULA Atlas V rocket. The Orbital ATK CRS-7 commercial resupply services mission to the International Space Station is scheduled to launch atop the Atlas V from pad 41. Cygnus will deliver 7,600 pounds of supplies, equipment and scientific research materials to the space station.

KSC-2015-1065

NASA Image and Video Library

2015-01-12

The protective covers are removed from around the solar panels on the upper stack of the Magnetospheric Multiscale spacecraft, or MMS, in the Astrotech payload processing facility in Titusville, Florida, near Kennedy Space Center. Preparations are underway for illumination testing of the spacecraft's upper stack. Illumination testing of the lower instrumentation payload stack was completed in December. Launch aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 on Cape Canaveral Air Force Station is targeted for March 12. To learn more about MMS, visit http://www.nasa.gov/mms. Photo credit: NASA/Kim Shiflett

KSC-2015-1066

NASA Image and Video Library

2015-01-12

The protective covers are removed from around the solar panels on the upper stack of the Magnetospheric Multiscale spacecraft, or MMS, in the Astrotech payload processing facility in Titusville, Florida, near Kennedy Space Center. Preparations are underway for illumination testing of the spacecraft's upper stack. Illumination testing of the lower instrumentation payload stack was completed in December. Launch aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 on Cape Canaveral Air Force Station is targeted for March 12. To learn more about MMS, visit http://www.nasa.gov/mms. Photo credit: NASA/Kim Shiflett

A light-driven artificial flytrap

PubMed Central

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

2017-01-01

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

Architecture of autonomous systems

NASA Technical Reports Server (NTRS)

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

1986-01-01

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Architecture of autonomous systems

NASA Technical Reports Server (NTRS)

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

1989-01-01

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Juno at the Vertical Integration Facility

NASA Image and Video Library

2011-08-03

At Space Launch Complex 41, the Juno spacecraft, enclosed in an Atlas payload fairing, was transferred into the Vertical Integration Facility where it was positioned on top of the Atlas rocket stacked inside.

KSC-97PC879

NASA Image and Video Library

1997-06-04

While KSC workers in the Launch Complex 39 Area watch, The Space Shuttle Orbiter Columbia rolls over to the Vehicle Assembly Building (VAB) June 4 from Orbiter Processing Facility (OPF)1 atop its transporter in preparation for the STS-94 mission. Once inside the VAB, Columbia will be hoisted to be mated with its solid rocket boosters and external tank. Columbia was moved to the OPF April 8 after the completion of the STS-83 mission. KSC payloads processing employees then began work to reservice the Microgravity Science Laboratory-1 (MSL-1) Spacelab module in the orbiter’s payload bay for the STS-94 mission. This was the first time that this type of payload was reserviced without removing it from the payload bay. This new procedure pioneers processing efforts for possible quick relaunch turnaround times for future payloads. The MSL-1 module will fly again with the full complement of STS-83 experiments after that mission was cut short due to indications of a faulty fuel cell. During the scheduled 16-day STS-94 mission, the experiments will be used to test some of the hardware, facilities and procedures that are planned for use on the International Space Station while the flight crew conducts combustion, protein crystal growth and materials processing experiments

Prognostics Methodology for Complex Systems

NASA Technical Reports Server (NTRS)

Gulati, Sandeep; Mackey, Ryan

2003-01-01

An automatic method to schedule maintenance and repair of complex systems is produced based on a computational structure called the Informed Maintenance Grid (IMG). This method provides solutions to the two fundamental problems in autonomic logistics: (1) unambiguous detection of deterioration or impending loss of function and (2) determination of the time remaining to perform maintenance or other corrective action based upon information from the system. The IMG provides a health determination over the medium-to-longterm operation of the system, from one or more days to years of study. The IMG is especially applicable to spacecraft and both piloted and autonomous aircraft, or industrial control processes.

On the night shift: advanced nurse practice in emergency medicine.

PubMed

Jenkins, Jennifer

2016-05-01

Advanced nurse practitioners in the author's emergency department (ED) work autonomously and as part of a team to assess, diagnose and treat patients with unexplained and undiagnosed illnesses and injuries over a 24-hour cycle of care. The complexity of the role in EDs is often not fully understood, and expectations can vary between trusts and between different clinical areas within trusts. This article describes one night shift in the author's ED to explain the complexity of advanced nurse practitioners' roles in this environment. The article focuses on autonomous decision-making skills and the use of advanced clinical skills in the context of evidence-based practice.

A fuzzy logic control in adjustable autonomy of a multi-agent system for an automated elderly movement monitoring application.

PubMed

Mostafa, Salama A; Mustapha, Aida; Mohammed, Mazin Abed; Ahmad, Mohd Sharifuddin; Mahmoud, Moamin A

2018-04-01

Autonomous agents are being widely used in many systems, such as ambient assisted-living systems, to perform tasks on behalf of humans. However, these systems usually operate in complex environments that entail uncertain, highly dynamic, or irregular workload. In such environments, autonomous agents tend to make decisions that lead to undesirable outcomes. In this paper, we propose a fuzzy-logic-based adjustable autonomy (FLAA) model to manage the autonomy of multi-agent systems that are operating in complex environments. This model aims to facilitate the autonomy management of agents and help them make competent autonomous decisions. The FLAA model employs fuzzy logic to quantitatively measure and distribute autonomy among several agents based on their performance. We implement and test this model in the Automated Elderly Movements Monitoring (AEMM-Care) system, which uses agents to monitor the daily movement activities of elderly users and perform fall detection and prevention tasks in a complex environment. The test results show that the FLAA model improves the accuracy and performance of these agents in detecting and preventing falls. Copyright © 2018 Elsevier B.V. All rights reserved.

Modular cell-internalizing aptamer nanostructure enables targeted delivery of large functional RNAs in cancer cell lines.

PubMed

Porciani, David; Cardwell, Leah N; Tawiah, Kwaku D; Alam, Khalid K; Lange, Margaret J; Daniels, Mark A; Burke, Donald H

2018-06-11

Large RNAs and ribonucleoprotein complexes have powerful therapeutic potential, but effective cell-targeted delivery tools are limited. Aptamers that internalize into target cells can deliver siRNAs (<15 kDa, 19-21 nt/strand). We demonstrate a modular nanostructure for cellular delivery of large, functional RNA payloads (50-80 kDa, 175-250 nt) by aptamers that recognize multiple human B cell cancer lines and transferrin receptor-expressing cells. Fluorogenic RNA reporter payloads enable accelerated testing of platform designs and rapid evaluation of assembly and internalization. Modularity is demonstrated by swapping in different targeting and payload aptamers. Both modules internalize into leukemic B cell lines and remained colocalized within endosomes. Fluorescence from internalized RNA persists for ≥2 h, suggesting a sizable window for aptamer payloads to exert influence upon targeted cells. This demonstration of aptamer-mediated, cell-internalizing delivery of large RNAs with retention of functional structure raises the possibility of manipulating endosomes and cells by delivering large aptamers and regulatory RNAs.

KSC-08pd2436

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, a technician signals to begin lifting the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS. The SCM will be transferred to the stand holding the Flight Support System, or FSS, carrier where the SCM will be mated to the FSS. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2437

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, moves above the floor toward the stand holding the Flight Support System, or FSS, carrier where the SCM will be mated to the FSS. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

TESS SpaceX Payload Fairing Move to PHSF

NASA Image and Video Library

2018-04-03

The payload fairing for NASA's Transiting Exoplanet Survey Satellite (TESS) is moved to the entrance of the Payload Hazardous Servicing Facility at the agency's Kennedy Space Center in Florida. Inside the facility, TESS will be encapsulated in the payload fairing. The satellite is scheduled to launch atop a SpaceX Falcon 9 rocket from Space Launch Complex 40 at Cape Canaveral Air Force Station on April 16. The satellite is the next step in NASA's search for planets outside our solar system, known as exoplanets. TESS is a NASA Astrophysics Explorer mission led and operated by MIT in Cambridge, Massachusetts, and managed by NASA’s Goddard Space Flight Center in Greenbelt, Maryland. Dr. George Ricker of MIT’s Kavli Institute for Astrophysics and Space Research serves as principal investigator for the mission. Additional partners include Orbital ATK, NASA’s Ames Research Center, the Harvard-Smithsonian Center for Astrophysics and the Space Telescope Science Institute. More than a dozen universities, research institutes and observatories worldwide are participants in the mission. NASA’s Launch Services Program is responsible for launch management.

ISS-CREAM Thermal and Fluid System Design and Analysis

NASA Technical Reports Server (NTRS)

Thorpe, Rosemary S.

2015-01-01

Thermal and Fluids Analysis Workshop (TFAWS), Silver Spring MD NCTS 21070-15. The ISS-CREAM (Cosmic Ray Energetics And Mass for the International Space Station) payload is being developed by an international team and will provide significant cosmic ray characterization over a long time frame. Cold fluid provided by the ISS Exposed Facility (EF) is the primary means of cooling for 5 science instruments and over 7 electronics boxes. Thermal fluid integrated design and analysis was performed for CREAM using a Thermal Desktop model. This presentation will provide some specific design and modeling examples from the fluid cooling system, complex SCD (Silicon Charge Detector) and calorimeter hardware, and integrated payload and ISS level modeling. Features of Thermal Desktop such as CAD simplification, meshing of complex hardware, External References (Xrefs), and FloCAD modeling will be discussed.

KSC-2012-4333

NASA Image and Video Library

2012-08-09

TITUSVILLE, Fla. - Inside the Astrotech payload processing facility in Titusville, Fla. near NASA’s Kennedy Space Center, technicians prepare the payload faring containing the two Radiation Belt Storm Probes, or RBSP, spacecraft for lifting on to a transporter to be moved to the launch complex. NASA’s RBSP mission will help us understand the sun’s influence on Earth and near-Earth space by studying the Earth’s radiation belts on various scales of space and time. RBSP will begin its mission of exploration of Earth’s Van Allen radiation belts and the extremes of space weather after its liftoff aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 at Cape Canaveral Air Force Station, Fla. Liftoff is targeted for Aug. 23, 2012. For more information, visit http://www.nasa.gov/rbsp Photo credit: NASA/ Kim Shiflett

KSC-2012-4340

NASA Image and Video Library

2012-08-09

TITUSVILLE, Fla. - Inside the Astrotech payload processing facility in Titusville, Fla. near NASA’s Kennedy Space Center, technicians use a crane to lower the payload faring containing the two Radiation Belt Storm Probes, or RBSP, spacecraft on to a transporter to be moved to the launch complex. NASA’s RBSP mission will help us understand the sun’s influence on Earth and near-Earth space by studying the Earth’s radiation belts on various scales of space and time. RBSP will begin its mission of exploration of Earth’s Van Allen radiation belts and the extremes of space weather after its liftoff aboard a United Launch Alliance Atlas V rocket from Space Launch Complex 41 at Cape Canaveral Air Force Station, Fla. Liftoff is targeted for Aug. 23, 2012. For more information, visit http://www.nasa.gov/rbsp Photo credit: NASA/ Kim Shiflett

Acoustic Noise Prediction of the Amine Swingbed ISS ExPRESS Rack Payload

NASA Technical Reports Server (NTRS)

Welsh, David; Smith, Holly; Wang, Shuo

2010-01-01

Acoustics plays a vital role in maintaining the health, safety, and comfort of crew members aboard the International Space Station (ISS). In order to maintain this livable and workable environment, acoustic requirements have been established to ensure that ISS hardware and payload developers account for the acoustic emissions of their equipment and develop acoustic mitigations as necessary. These requirements are verified by an acoustic emissions test of the integrated hardware. The Amine Swingbed ExPRESS (Expedite the PRocessing of ExperimentS to Space) rack payload creates a unique challenge to the developers in that the payload hardware is transported to the ISS in phases, making an acoustic emissions test on the integrated flight hardware impossible. In addition, the payload incorporates a high back pressure fan and a diaphragm vacuum pump, which are recognized as significant and complex noise sources. In order to accurately predict the acoustic emissions of the integrated payload, the individual acoustic noise sources and paths are first characterized. These characterizations are conducted though a series of acoustic emissions tests on the individual payload components. Secondly, the individual acoustic noise sources and paths are incorporated into a virtual model of the integrated hardware. The virtual model is constructed with the use of hybrid method utilizing the Finite Element Acoustic (FEA) and Statistical Energy Analysis (SEA) techniques, which predict the overall acoustic emissions. Finally, the acoustic model is validated though an acoustic characterization test performed on an acoustically similar mock-up of the flight unit. The results of the validated acoustic model are then used to assess the acoustic emissions of the flight unit and define further acoustic mitigation efforts.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted up the outside of the launch tower. Visible on another side is the Delta II rocket that will carry the payload into space. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted up the outside of the launch tower. Visible on another side is the Delta II rocket that will carry the payload into space. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

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.

Parametric Design within an Atomic Design Process (ADP) applied to Spacecraft Design

NASA Astrophysics Data System (ADS)

Ramos Alarcon, Rafael

This thesis describes research investigating the development of a model for the initial design of complex systems, with application to spacecraft design. The design model is called an atomic design process (ADP) and contains four fundamental stages (specifications, configurations, trade studies and drivers) that constitute the minimum steps of an iterative process that helps designers find a feasible solution. Representative design models from the aerospace industry are reviewed and are compared with the proposed model. The design model's relevance, adaptability and scalability features are evaluated through a focused design task exercise with two undergraduate teams and a long-term design exercise performed by a spacecraft payload team. The implementation of the design model is explained in the context in which the model has been researched. This context includes the organization (a student-run research laboratory at the University of Michigan), its culture (academically oriented), members that have used the design model and the description of the information technology elements meant to provide support while using the model. This support includes a custom-built information management system that consolidates relevant information that is currently being used in the organization. The information is divided in three domains: personnel development history, technical knowledge base and laboratory operations. The focused study with teams making use of the design model to complete an engineering design exercise consists of the conceptual design of an autonomous system, including a carrier and a deployable lander that form the payload of a rocket with an altitude range of over 1000 meters. Detailed results from each of the stages of the design process while implementing the model are presented, and an increase in awareness of good design practices in the teams while using the model are explained. A long-term investigation using the design model consisting of the successful characterization of an imaging system for a spacecraft is presented. The spacecraft is designed to take digital color images from low Earth orbit. The dominant drivers from each stage of the design process are indicated as they were identified, with the accompanying hardware development leading to the final configuration that comprises the flight spacecraft.

System Engineering of Autonomous Space Vehicles

NASA Technical Reports Server (NTRS)

Watson, Michael D.; Johnson, Stephen B.; Trevino, Luis

2014-01-01

Human exploration of the solar system requires fully autonomous systems when travelling more than 5 light minutes from Earth. This autonomy is necessary to manage a large, complex spacecraft with limited crew members and skills available. The communication latency requires the vehicle to deal with events with only limited crew interaction in most cases. The engineering of these systems requires an extensive knowledge of the spacecraft systems, information theory, and autonomous algorithm characteristics. The characteristics of the spacecraft systems must be matched with the autonomous algorithm characteristics to reliably monitor and control the system. This presents a large system engineering problem. Recent work on product-focused, elegant system engineering will be applied to this application, looking at the full autonomy stack, the matching of autonomous systems to spacecraft systems, and the integration of different types of algorithms. Each of these areas will be outlined and a general approach defined for system engineering to provide the optimal solution to the given application context.

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.

Current challenges in autonomous vehicle development

NASA Astrophysics Data System (ADS)

Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

2006-05-01

The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

On-Line, Self-Learning, Predictive Tool for Determining Payload Thermal Response

NASA Technical Reports Server (NTRS)

Jen, Chian-Li; Tilwick, Leon

2000-01-01

This paper will present the results of a joint ManTech / Goddard R&D effort, currently under way, to develop and test a computer based, on-line, predictive simulation model for use by facility operators to predict the thermal response of a payload during thermal vacuum testing. Thermal response was identified as an area that could benefit from the algorithms developed by Dr. Jeri for complex computer simulations. Most thermal vacuum test setups are unique since no two payloads have the same thermal properties. This requires that the operators depend on their past experiences to conduct the test which requires time for them to learn how the payload responds while at the same time limiting any risk of exceeding hot or cold temperature limits. The predictive tool being developed is intended to be used with the new Thermal Vacuum Data System (TVDS) developed at Goddard for the Thermal Vacuum Test Operations group. This model can learn the thermal response of the payload by reading a few data points from the TVDS, accepting the payload's current temperature as the initial condition for prediction. The model can then be used as a predictive tool to estimate the future payload temperatures according to a predetermined shroud temperature profile. If the error of prediction is too big, the model can be asked to re-learn the new situation on-line in real-time and give a new prediction. Based on some preliminary tests, we feel this predictive model can forecast the payload temperature of the entire test cycle within 5 degrees Celsius after it has learned 3 times during the beginning of the test. The tool will allow the operator to play "what-if' experiments to decide what is his best shroud temperature set-point control strategy. This tool will save money by minimizing guess work and optimizing transitions as well as making the testing process safer and easier to conduct.

An automated miniature robotic vehicle inspection system

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

Dobie, Gordon; Summan, Rahul; MacLeod, Charles

2014-02-18

A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3Dmore » model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.« less

Tumbleweed: A New Paradigm for Surveying the Surface of Mars for In-Situ Resources

NASA Technical Reports Server (NTRS)

Kuhlman, K. R.; Behar, A. E.; Jones, J. A.; Carsey, F.; Hajos, G. A.; Flick, J. J.; Antol, J.

2004-01-01

Inflatable and rigid Tumbleweeds are wind-propelled long-range vehicles based on well-developed and field tested technology. Different Tumbleweed configurations can provide the capability to operate in varying terrains and accommodate a wide range of instrument packages making them suitable for autonomous surveys for in-situ natural resources. Tumbleweeds are lightweight and relatively inexpensive, making them very attractive for multiple deployments or piggy-backing on larger missions. Modeling and testing have shown that a 6 meter diameter Tumbleweed is capable of climbing 25 degree hills, traveling over 1 meter diameter boulders, and ranging over a thousand kilometers. Tumble-weeds have a potential payload capability of about 10 kg with approximately 10-20 Watts of power. Stopping for measurements can be accomplished using partial deflation or other braking mechanisms.

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

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Atmospheric anthropic impacts tracked by the French atmospheric mobile observatory

NASA Astrophysics Data System (ADS)

Cuesta, J.; Chazette, P.; Flamant, P. H.

2009-04-01

A new ATmospheric Mobile ObServatory, so called "ATMOS", has been developed by the LiMAG "Lidar, Meteorology and Geophysics" team of the Institut Pierre Simon Laplace (IPSL) in France, in order to contribute to international field campaigns for studying atmospheric physico-chemistry, air quality and climate (i.e. aerosols, clouds, trace gazes, atmospheric dynamics and energy budget) and the ground-based validation of satellite observations. ATMOS has been deployed in the framework of i) LISAIR, for monitoring air quality in Paris in 2005, ii) AMMA "African Monsoon Multidisciplinary Analysis", in Tamanrasset and in Niamey for observing the aerosols and the atmospheric boundary layer in the Sahara and in the Sahel in 2006, iii) COPS "Convectively and Orographycally driven Precipitation Study" in the Rhin Valley in 2007 and iv) the validation of the spatial mission CALIPSO, launched in April 2006. In the coming years, ATMOS will be deployed i) in the Paris Megacity, in the framework of MEGAPOLI (2009-2010), ii) in southern France (near Marseille) for the Chemistry-Aerosol Mediterranean Experiment CHARMEX (2011-2012) and iii) the validation of ADM-Aeolus in 2010-2011 and Earth-Care in 2012. ATMOS payload is modular, accounting for the different platforms, instruments and measuring techniques. The deployment of ATMOS is an essential contribution to field campaigns, complementing the fixed sites, and a potential alternative of airborne platforms, heavier and more expensive. ATMOS mobile payload comprises both the remote sensing platform MOBILIS ("Moyens mOBIles de téLédetection de l'IPSL") and the in-situ physico-chemical station SAMMO ("Station Aérosols et chiMie MObile"). MOBILIS is an autonomous and high-performance system constituted by a full set of active and passive remote sensing instrumentation (i.e. Lidars and radiometers), whose payload may be adapted for either i) long term fixed monitoring in a maritime container or a shelter, ii) ground-based transect observation onboard small car and ii) an airborne deployment in an ultra-light airplane (ULA). SAMMO is a fully equipped in-situ sensor payload, oriented to pollution monitoring (i.e. particles and trace gazes), onboard a truck.

Microbiological sampling of the atmosphere using a latex sounding balloon

NASA Astrophysics Data System (ADS)

Adkins, W. P.; Bryan, N.; Christner, B. C.; Guzik, T. G.; Stewart, M. F.; Giammanco, J. R.

2010-12-01

The occurrence of microbes in the atmosphere has been the subject of scientific inquiry since Louis Pasteur’s time; however, data on the nature and diversity of microbial life in the upper troposphere and stratosphere is very limited. To experimentally address this, we have designed, constructed, and field-tested a lightweight, autonomous system that can sample at high altitudes using a latex sounding balloon. An important aspect of our sampling protocol is the ability to decontaminate and assess the level of background contamination during laboratory and field handling. Our approach involves the parallel decontamination and monitoring of 3 identical payloads: (i) one that remains in the laboratory, (ii) a control on the flight string, and (iii) a payload that opens and samples airborne particles in the atmosphere. Comparative analysis of various sterilization methods indicated that ethylene oxide was most effective at decreasing the concentration of DNA-containing cells, decreasing background cellular contamination by 94%. In conjunction, germicidal ultraviolet light, sodium hypochlorite, and 70% ethanol were used to decrease the concentration of microbes associated with payload surfaces. Bioaerosol collection is achieved by impact sampling on a 3.5 mm^2 retention surface covered with a thin layer of sterile silicone grease as the payload travels through the atmosphere. Initial flights have been successful in recovering viable microorganisms present in parcels of air at altitudes of 3 km to 9 km. Microscopic analysis on the collected cell assemblages implied that ~70% of the cells were potentially viable, and aerobic heterotrophic bacteria were cultured and isolated from liquid and agar-solidified culture media. Future plans include increasing the sampling altitude up to ~30 km in a series of discrete steps, maintaining our background controls and connection to lower altitude measurements. The pressure, temperature, and radiation levels in Earth’s stratosphere are similar to those on the surface of Mars. Thus, investigating life at altitudes of 30 km may indicate whether life could exist on extraterrestrial surfaces and provide the experimental technology and rationale to sample the atmospheres of other planets and moons in the solar system.

User evaluation of a GUI for controlling an autonomous persistent surveillance team

NASA Astrophysics Data System (ADS)

Scerri, Paul; Owens, Sean; Sycara, Katia; Lewis, Michael

2010-04-01

In future military missions, there will be many sensor assets collecting much important information about the environment. User control over surveillance assets is important to ensure that the specific data collected is appropriate for the current mission. Unfortunately, previous work has shown that individual users cannot effectively control more than about four assets, even if the assets have significant autonomy. In the ACCAST project, we hypothesized that by including autonomous teamwork between the assets and allowing users to interact by describing what the team as a whole and specific sub-teams should do, we could dramatically scale up the number of assets an individual user could effectively control. In this paper, we present the results of an experiment where users controlled up to 30 autonomous assets performing a complex mission. The assets autonomously worked together using sophisticated teamwork and the user could tell sub-teams to execute team oriented plans which described the steps required to achieve a team objective without describing exactly which asset performed which role and without having to specify how the team should handle routine information sharing, communications and failure circumstances. The users, soldiers from Fort Benning, were surprisingly good at managing the assets and were all able to complete the complex mission with extremely low friendly and civilian casualties.

Concepts for autonomous flight control for a balloon on Mars

NASA Technical Reports Server (NTRS)

Heinsheimer, Thomas F.; Friend, Robyn C.; Siegel, Neil G.

1988-01-01

Balloons operating as airborne rovers have been suggested as ideal candidates for early exploration of the Martian surface. An international study team composed of scientists from the U.S.S.R., France, and the U.S.A. is planning the launching in 1994 of a balloon system to fly on Mars. The current likely design is a dual thermal/gas balloon that consists of a gas balloon suspended above a solar-heated thermal balloon. At night, the thermal balloon provides no lift, and the balloon system drifts just above the Martian surface; the lift of the gas balloon is just sufficient to prevent the science payload from hitting the ground. During the day, the balloon system flies at an altitude of 4 to 5 kilometers, rising due to the added lift provided by the thermal balloon. Over the course of a single Martian day, there may be winds in several directions, and in fact it can be expected that there will be winds simultaneously in different directions at different altitudes. Therefore, a balloon system capable of controlling its own altitude, via an autonomous flight control system, can take advantage of these different winds to control its direction, thereby greatly increasing both its mission utility and its longevity.

KSC-2012-4170

NASA Image and Video Library

2012-08-01

CAPE CANAVERAL, Fla. - At the Autonomous Landing and Hazard Avoidance Technology, or ALHAT, field at the north end of the Shuttle Landing Facility, or SLF, at NASA’s Kennedy Space Center in Florida, members of the media view the hazard field and speak with Morpheus managers. At far left, in the white shirt is Jon Olansen, Johnson Space Center Project Morpheus Manager. At left, in the blue shirt is Chirold Epp, JSC project manager for ALHAT. Testing of the prototype lander had been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free-flight test at Kennedy Space Center. The SLF will provide the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus utilizes an autonomous landing and hazard avoidance technology, or ALHAT, payload that will allow it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Kim Shiflett

KSC-2012-4171

NASA Image and Video Library

2012-08-01

CAPE CANAVERAL, Fla. - At the Autonomous Landing and Hazard Avoidance Technology, or ALHAT, field at the north end of the Shuttle Landing Facility, or SLF, at NASA’s Kennedy Space Center in Florida, members of the media view the hazard field and speak with Morpheus managers. In the white shirt is Jon Olansen, Johnson Space Center Project Morpheus Manager. Behind Olansen is Gregory Gaddis, Kennedy Project Morpheus/ALHAT site manager. Testing of the prototype lander had been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free-flight test at Kennedy Space Center. The SLF will provide the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus utilizes an autonomous landing and hazard avoidance technology, or ALHAT, payload that will allow it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Kim Shiflett

Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots

NASA Astrophysics Data System (ADS)

Borenstein, Johann

1993-05-01

Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom are difficult to control because of their overconstrained nature. These difficulties translate into severe wheel slippage or jerky motion under certain driving conditions. In the past, these problems limited the use of MDOF vehicles to applications where the vehicle would follow a guide-wire, which would correct wheel slippage and control errors. By contrast, autonomous or semi-autonomous mobile robots usually rely on dead-reckoning between periodic absolute position updates and their performance is diminished by excessive wheel slippage. This paper introduces a new concept in the kinematic design of MDOF vehicles. This concept is based on the provision of a compliant linkage between drive wheels or drive axles. Simulation results indicate that compliant linkage allows to overcome the control problems found in conventional MDOF vehicles and reduces the amount of wheel slippage to the same level (or less) than the amount of slippage found on a comparable 2-DOF vehicle.

Senator Doug Jones (D-AL) Tour of MSFC Facilities

NASA Image and Video Library

2018-02-22

Senator Doug Jones (D-Al.) and wife Louise tour the Payload Crew Training Complex (PCTC) at Marshall Space Flight Center. The PCTC simulates International Space Station habitat modules and is interactive for different activities.

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.

Diminished autonomic neurocardiac function in patients with generalized anxiety disorder.

PubMed

Kim, Kyungwook; Lee, Seul; Kim, Jong-Hoon

2016-01-01

Generalized anxiety disorder (GAD) is a chronic and highly prevalent disorder that is characterized by a number of autonomic nervous system symptoms. The purpose of this study was to investigate the linear and nonlinear complexity measures of heart rate variability (HRV), measuring autonomic regulation, and to evaluate the relationship between HRV parameters and the severity of anxiety, in medication-free patients with GAD. Assessments of linear and nonlinear complexity measures of HRV were performed in 42 medication-free patients with GAD and 50 healthy control subjects. In addition, the severity of anxiety symptoms was assessed using the State-Trait Anxiety Inventory and Beck Anxiety Inventory. The values of the HRV measures of the groups were compared, and the correlations between the HRV measures and the severity of anxiety symptoms were assessed. The GAD group showed significantly lower standard deviation of RR intervals and the square root of the mean squared differences of successive normal sinus intervals values compared to the control group ( P <0.01). The approximate entropy value, which is a nonlinear complexity indicator, was also significantly lower in the patient group than in the control group ( P <0.01). In correlation analysis, there were no significant correlations between HRV parameters and the severity of anxiety symptoms. The present study indicates that GAD is significantly associated with reduced HRV, suggesting that autonomic neurocardiac integrity is substantially impaired in patients with GAD. Future prospective studies are required to investigate the effects of pharmacological or non-pharmacological treatment on neuroautonomic modulation in patients with GAD.

Maximizing Launch Vehicle and Payload Design Via Early Communications

NASA Technical Reports Server (NTRS)

Morris, Bruce

2010-01-01

The United States? current fleet of launch vehicles is largely derived from decades-old designs originally made for payloads that no longer exist. They were built primarily for national security or human exploration missions. Today that fleet can be divided roughly into small-, medium-, and large-payload classes based on mass and volume capability. But no vehicle in the U.S. fleet is designed to accommodate modern payloads. It is usually the payloads that must accommodate the capabilities of the launch vehicles. This is perhaps most true of science payloads. It was this paradigm that the organizers of two weekend workshops in 2008 at NASA's Ames Research Center sought to alter. The workshops brought together designers of NASA's Ares V cargo launch vehicle (CLV) with scientists and payload designers in the astronomy and planetary sciences communities. Ares V was still in a pre-concept development phase as part of NASA?s Constellation Program for exploration beyond low Earth orbit (LEO). The space science community was early in a Decadal Survey that would determine future priorities for research areas, observations, and notional missions to make those observations. The primary purpose of the meetings in April and August of 2008, including the novel format, was to bring vehicle designers together with space scientists to discuss the feasibility of using a heavy lift capability to launch large observatories and explore the Solar System. A key question put to the science community was whether this heavy lift capability enabled or enhanced breakthrough science. The meetings also raised the question of whether some trade-off between mass/volume and technical complexity existed that could reduce technical and programmatic risk. By engaging the scientific community early in the vehicle design process, vehicle engineers sought to better understand potential limitations and requirements that could be added to the Ares V from the mission planning community. From the vehicle standpoint, while the human exploration mission could not be compromised to accommodate other payloads, the design might otherwise be tailored to not exclude other payload requirements. This paper summarizes the findings of the workshops and discusses the benefits of bringing together the vehicle design and science communities early in their concept phases

OA-7 Rollout from PHSF to VIF

NASA Image and Video Library

2017-03-17

The Orbital ATK Cygnus pressurized cargo module, enclosed in its payload fairing and secured on a KAMAG transporter, is transported from the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center in Florida to the Space Launch Complex 41 at Cape Canaveral Air Force Station, for mating to the United Launch Alliance (ULA) Atlas V rocket. The Orbital ATK CRS-7 commercial resupply services mission to the International Space Station is scheduled to launch atop the Atlas V from pad 41. Cygnus will deliver 7,600 pounds of supplies, equipment and scientific research materials to the space station.

Application of superconducting technology to earth-to-orbit electromagnetic launch systems

NASA Technical Reports Server (NTRS)

Hull, J. R.; Carney, L. M.

1988-01-01

Benefits may occur by incorporating superconductors, both existing and those currently under development, in one or more parts of a large-scale electromagnetic launch (EML) system that is capable of delivering payloads from the surface of the Earth to space. The use of superconductors for many of the EML components results in lower system losses; consequently, reductions in the size and number of energy storage devices are possible. Applied high-temperature superconductivity may eventually enable novel design concepts for energy distribution and switching. All of these technical improvements have the potential to reduce system complexity and lower payload launch costs.

Benefits of advanced space suits for supporting routine extravehicular activity

NASA Technical Reports Server (NTRS)

Alton, L. R.; Bauer, E. H.; Patrick, J. W.

1975-01-01

Technology is available to produce space suits providing a quick-reaction, safe, much more mobile extravehicular activity (EVA) capability than before. Such a capability may be needed during the shuttle era because the great variety of missions and payloads complicates the development of totally automated methods of conducting operations and maintenance and resolving contingencies. Routine EVA now promises to become a cost-effective tool as less complex, serviceable, lower-cost payload designs utilizing this capability become feasible. Adoption of certain advanced space suit technologies is encouraged for reasons of economics as well as performance.

KSC01kodi066

NASA Image and Video Library

2001-08-09

KODIAK ISLAND, Alaska -- The PICSat and Starshine 3 (back) payloads wait for their launch aboard the Athena 1 launch vehicle at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program.

KSC01kodi063

NASA Image and Video Library

2001-08-09

KODIAK ISLAND, Alaska -- The PCSat payload waits for its launch aboard the Athena 1 launch vehicle at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program.

KSC01kodi059

NASA Image and Video Library

2001-07-31

KODIAK ISLAND, Alaska -- Technicians prepare the Starshine 3 payload for its launch aboard the Athena 1 launch vehicle at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5:00 to 7:00 p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program.

KSC01kodi064

NASA Image and Video Library

2001-08-09

KODIAK ISLAND, Alaska -- Technicians prepare the PICSat payload for its launch aboard the Athena 1 launch vehicle at Kodiak Island, Alaska, as preparations to launch Kodiak Star proceed. The first orbital launch to take place from Alaska's Kodiak Launch Complex, Kodiak Star is scheduled to lift off on a Lockheed Martin Athena I launch vehicle on Sept. 17 during a two-hour window that extends from 5 p.m. to 7 p.m. p.m. ADT. The payloads aboard include the Starshine 3, sponsored by NASA, and the PICOSat, PCSat and Sapphire, sponsored by the Department of Defense (DoD) Space Test Program.

KSC-2011-1095

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- At Vandenberg Air Force Base in California, the protective payload fairing that will surround NASA's Glory spacecraft arrives at the Astrotech payload processing facility. Once encapsulated, the spacecraft will be transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1096

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- At Vandenberg Air Force Base in California, the protective payload fairing that will surround NASA's Glory spacecraft arrives at the Astrotech payload processing facility. Once encapsulated, the spacecraft will be transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1094

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- At Vandenberg Air Force Base in California, the protective payload fairing that will surround NASA's Glory spacecraft arrives at the Astrotech payload processing facility. Once encapsulated, the spacecraft will be transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

An approach to knowledge engineering to support knowledge-based simulation of payload ground processing at the Kennedy Space Center

NASA Technical Reports Server (NTRS)

Mcmanus, Shawn; Mcdaniel, Michael

1989-01-01

Planning for processing payloads was always difficult and time-consuming. With the advent of Space Station Freedom and its capability to support a myriad of complex payloads, the planning to support this ground processing maze involves thousands of man-hours of often tedious data manipulation. To provide the capability to analyze various processing schedules, an object oriented knowledge-based simulation environment called the Advanced Generic Accomodations Planning Environment (AGAPE) is being developed. Having nearly completed the baseline system, the emphasis in this paper is directed toward rule definition and its relation to model development and simulation. The focus is specifically on the methodologies implemented during knowledge acquisition, analysis, and representation within the AGAPE rule structure. A model is provided to illustrate the concepts presented. The approach demonstrates a framework for AGAPE rule development to assist expert system development.

Modal identification of structures from the responses and random decrement signatures

NASA Technical Reports Server (NTRS)

Brahim, S. R.; Goglia, G. L.

1977-01-01

The theory and application of a method which utilizes the free response of a structure to determine its vibration parameters is described. The time-domain free response is digitized and used in a digital computer program to determine the number of modes excited, the natural frequencies, the damping factors, and the modal vectors. The technique is applied to a complex generalized payload model previously tested using sine sweep method and analyzed by NASTRAN. Ten modes of the payload model are identified. In case free decay response is not readily available, an algorithm is developed to obtain the free responses of a structure from its random responses, due to some unknown or known random input or inputs, using the random decrement technique without changing time correlation between signals. The algorithm is tested using random responses from a generalized payload model and from the space shuttle model.

STS-85 Mission Specialist Robinson prepares to enter Discovery

NASA Technical Reports Server (NTRS)

1997-01-01

STS-85 Mission Specialist Stephen K. Robinson prepares to enter the Space Shuttle orbiter Discovery at Launch Complex 39A just prior to launch, scheduled for 10:41 a.m. EDT. The primary payload on this mission is the Cryogenic Infrared Spectrometers and Telescopes for the Atmosphere-Shuttle Pallet Satellite-2 (CRISTA-SPAS-2) free-flyer. The CRISTA-SPAS-2 will be deployed on flight day 1 to study trace gases in the Earths atmosphere as a part of NASAs Mission to Planet Earth program. Also aboard the free-flying research platform will be the Middle Atmosphere High Resolution Spectrograph Instrument (MAHRSI). Other payloads on the 11-day mission include the Manipulator Flight Demonstration (MFD), a Japanese Space Agency-sponsored experiment. Also in Discoverys payload bay are the Technology Applications and Science-1 (TAS-1) and International Extreme Ultraviolet Hitchhiker-2 (IEH-2) experiments.

CVT/PCS phase 1 integrated testing

NASA Technical Reports Server (NTRS)

Mcbrayer, R. O.; Steadman, J. D.

1973-01-01

Five breadboard experiments representing three Sortie Lab experiment disciplines were installed in a payload carrier simulator. A description of the experiments and the payload carrier simulator was provided. An assessment of the experiment interface with the simulator and an assessment of the simulator experiment support systems were presented. The results indicate that a hardware integrator for each experiment is essential; a crew chief, or mission specialist, for systems management and experimenter liaison is a vital function; a payload specialist is a practical concept for experiment integration and operation; an integration fixture for a complex experiment is required to efficiently integrate the experiment and carrier; simultaneous experiment utilization of simulator systems caused unexpected problems in meeting individual experiment requirements; experimenter traffic inside the dual-floor simulator did not hamper experiment operations; and the requirement for zero-g operation will provide a significant design challenge for some experiments.

Application of geologic-mathematical 3D modeling for complex structure deposits by the example of Lower- Cretaceous period depositions in Western Ust - Balykh oil field (Khanty-Mansiysk Autonomous District)

NASA Astrophysics Data System (ADS)

Perevertailo, T.; Nedolivko, N.; Prisyazhnyuk, O.; Dolgaya, T.

2015-11-01

The complex structure of the Lower-Cretaceous formation by the example of the reservoir BC101 in Western Ust - Balykh Oil Field (Khanty-Mansiysk Autonomous District) has been studied. Reservoir range relationships have been identified. 3D geologic- mathematical modeling technique considering the heterogeneity and variability of a natural reservoir structure has been suggested. To improve the deposit geological structure integrity methods of mathematical statistics were applied, which, in its turn, made it possible to obtain equal probability models with similar input data and to consider the formation conditions of reservoir rocks and cap rocks.

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.

The VOrtex Ring Transit EXperiment (VORTEX) GAS project

NASA Technical Reports Server (NTRS)

Bilen, Sven G.; Langenderfer, Lynn S.; Jardon, Rebecca D.; Cutlip, Hansford H.; Kazerooni, Alexander C.; Thweatt, Amber L.; Lester, Joseph L.; Bernal, Luis P.

1995-01-01

Get Away Special (GAS) payload G-093, also called VORTEX (VOrtex Ring Transit EXperiment), is an investigation of the propagation of a vortex ring through a liquid-gas interface in microgravity. This process results in the formation of one or more liquid droplets similar to earth based liquid atomization systems. In the absence of gravity, surface tension effects dominate the drop formation process. The Shuttle's microgravity environment allows the study of the same fluid atomization processes as using a larger drop size than is possible on Earth. This enables detailed experimental studies of the complex flow processes encountered in liquid atomization systems. With VORTEX, deformations in both the vortex ring and the fluid surface will be measured closely for the first time in a parameters range that accurately resembles liquid atomization. The experimental apparatus will record images of the interactions for analysis after the payload has been returned to earth. The current design of the VORTEX payload consists of a fluid test cell with a vortex ring generator, digital imaging system, laser illumination system, computer based controller, batteries for payload power, and an array of housekeeping and payload monitoring sensors. It is a self-contained experiment and will be flown on board the Space Shuttle in a 5 cubic feet GAS canister. The VORTEX Project is entirely run by students at the University of Michigan but is overseen by a faculty advisor acting as the payload customer and the contact person with NASA. This paper summarizes both the technical and programmatic aspects of the VORTEX Project.

Common aero vehicle autonomous reentry trajectory optimization satisfying waypoint and no-fly zone constraints

NASA Astrophysics Data System (ADS)

Jorris, Timothy R.

2007-12-01

To support the Air Force's Global Reach concept, a Common Aero Vehicle is being designed to support the Global Strike mission. "Waypoints" are specified for reconnaissance or multiple payload deployments and "no-fly zones" are specified for geopolitical restrictions or threat avoidance. Due to time critical targets and multiple scenario analysis, an autonomous solution is preferred over a time-intensive, manually iterative one. Thus, a real-time or near real-time autonomous trajectory optimization technique is presented to minimize the flight time, satisfy terminal and intermediate constraints, and remain within the specified vehicle heating and control limitations. This research uses the Hypersonic Cruise Vehicle (HCV) as a simplified two-dimensional platform to compare multiple solution techniques. The solution techniques include a unique geometric approach developed herein, a derived analytical dynamic optimization technique, and a rapidly emerging collocation numerical approach. This up-and-coming numerical technique is a direct solution method involving discretization then dualization, with pseudospectral methods and nonlinear programming used to converge to the optimal solution. This numerical approach is applied to the Common Aero Vehicle (CAV) as the test platform for the full three-dimensional reentry trajectory optimization problem. The culmination of this research is the verification of the optimality of this proposed numerical technique, as shown for both the two-dimensional and three-dimensional models. Additionally, user implementation strategies are presented to improve accuracy and enhance solution convergence. Thus, the contributions of this research are the geometric approach, the user implementation strategies, and the determination and verification of a numerical solution technique for the optimal reentry trajectory problem that minimizes time to target while satisfying vehicle dynamics and control limitation, and heating, waypoint, and no-fly zone constraints.

Scheduling Software for Complex Scenarios

NASA Technical Reports Server (NTRS)

2006-01-01

Preparing a vehicle and its payload for a single launch is a complex process that involves thousands of operations. Because the equipment and facilities required to carry out these operations are extremely expensive and limited in number, optimal assignment and efficient use are critically important. Overlapping missions that compete for the same resources, ground rules, safety requirements, and the unique needs of processing vehicles and payloads destined for space impose numerous constraints that, when combined, require advanced scheduling. Traditional scheduling systems use simple algorithms and criteria when selecting activities and assigning resources and times to each activity. Schedules generated by these simple decision rules are, however, frequently far from optimal. To resolve mission-critical scheduling issues and predict possible problem areas, NASA historically relied upon expert human schedulers who used their judgment and experience to determine where things should happen, whether they will happen on time, and whether the requested resources are truly necessary.

TDRS-L Spacecraft Fairing Encapsulation

NASA Image and Video Library

2014-01-08

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville, United Launch Alliance engineers and technicians encapsulate the Tracking and Data Relay Satellite, or TDRS-L, spacecraft in its payload fairing. TDRS-L will then be transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

TDRS-L Spacecraft Fairing Encapsulation

NASA Image and Video Library

2014-01-08

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville NASA's Tracking and Data Relay Satellite, or TDRS-L, spacecraft is being encapsulated in its payload fairing prior to being transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

TDRS-L Spacecraft Fairing Encapsulation

NASA Image and Video Library

2014-01-08

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville, the Tracking and Data Relay Satellite, or TDRS-L, spacecraft is being encapsulated in its payload fairing in preparation for begin transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

TDRS-L Spacecraft Fairing Encapsulation

NASA Image and Video Library

2014-01-08

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville, NASA's Tracking and Data Relay Satellite, or TDRS-L, spacecraft has been encapsulated in its payload fairing. TDRS-L will then be transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

TDRS-L Spacecraft is Lifted Onto Transporter

NASA Image and Video Library

2014-01-10

TITUSVILLE, Fla. – Encapsulated in its payload fairing, NASA's Tracking and Data Relay Satellite, or TDRS-L, spacecraft is being mounted on a transporter for its trip from the Astrotech payload processing facility in Titusville to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html Photo credit: NASA/Kim Shiflett

TDRS-L Spacecraft Transported from Astrotech to SLC

NASA Image and Video Library

2014-01-13

TITUSVILLE, Fla. – Encapsulated in its payload fairing, NASA's Tracking and Data Relay Satellite, or TDRS-L, spacecraft begins it trip from the Astrotech payload processing facility in Titusville to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html Photo credit: NASA/Dimitri Gerondidakis

TDRS-L Spacecraft Fairing Encapsulation

NASA Image and Video Library

2014-01-08

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville, United Launch Alliance engineers and technicians ensure precision as the Tracking and Data Relay Satellite, or TDRS-L, spacecraft is being encapsulated in its payload fairing in preparation for begin transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

TDRS-L Spacecraft is Lifted Onto Transporter

NASA Image and Video Library

2014-01-10

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville, NASA's Tracking and Data Relay Satellite, or TDRS-L, spacecraft has been encapsulated in its payload fairing in preparation for begin transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html Photo credit: NASA/Kim Shiflett

TDRS-L Spacecraft Fairing Encapsulation

NASA Image and Video Library

2014-01-08

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville, the Tracking and Data Relay Satellite, or TDRS-L, spacecraft is being encapsulated in its payload fairing in preparation for being transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

TDRS-L Spacecraft Fairing Encapsulation

NASA Image and Video Library

2014-01-08

TITUSVILLE, Fla. – Inside the Astrotech payload processing facility in Titusville, NASA's Tracking and Data Relay Satellite, or TDRS-L, spacecraft is being encapsulated in its payload fairing in preparation for begin transported to Launch Complex 41 at Cape Canaveral Air Force Station. The TDRS-L satellite will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop a United Launch Alliance Atlas V rocket on January 23, 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

NASA's Space Launch System (SLS) Program: Mars Program Utilization

NASA Technical Reports Server (NTRS)

May, Todd A.; Creech, Stephen D.

2012-01-01

NASA's Space Launch System is being designed for safe, affordable, and sustainable human and scientific exploration missions beyond Earth's orbit (BEO), as directed by the NASA Authorization Act of 2010 and NASA's 2011 Strategic Plan. This paper describes how the SLS can dramatically change the Mars program's science and human exploration capabilities and objectives. Specifically, through its high-velocity change (delta V) and payload capabilities, SLS enables Mars science missions of unprecedented size and scope. By providing direct trajectories to Mars, SLS eliminates the need for complicated gravity-assist missions around other bodies in the solar system, reducing mission time, complexity, and cost. SLS's large payload capacity also allows for larger, more capable spacecraft or landers with more instruments, which can eliminate the need for complex packaging or "folding" mechanisms. By offering this capability, SLS can enable more science to be done more quickly than would be possible through other delivery mechanisms using longer mission times.

Performance and technical feasibility comparison of reusable launch systems: A synthesis of the ESA winged launcher studies

NASA Astrophysics Data System (ADS)

Berry, W.; Grallert, H.

1996-02-01

The paper presents a synthesis of the performance and technical feasibility assessment of 7 reusable launcher types, comprising 13 different vehicles, studied by European Industry for ESA in the ESA Winged Launcher Study in the period January 1988 to May 1994. The vehicles comprised single-stage-to-orbit (SSTO) and two-stage-to-orbit (TSTO) vehicles, propelled by either air-breathing/rocket propulsion or entirely by rocket propulsion. The results showed that an SSTO vehicle of the HOTOL-type, propelled by subsonic combustion air-breathing/rocket engines could barely deliver the specified payload mass and was aerodynamically unstable; that a TSTO vehicle of the Saenger type, employing subsonic combustion airbreathing propulsion in its first stage and rocket propulsion in its second stage, could readily deliver the specified payload mass and was found to be technically feasible and versatile; that an SSTO vehicle of the NASP type, propelled by supersonic combustion airbreathing/rocket propulsion was able to deliver a reduced payload mass, was very complex and required very advanced technologies; that an air-launched rocket propelled vehicle of the Interim HOTOL type, although technically feasible, could deliver only a reduced payload mass, being constrained by the lifting capability of the carrier airplane; that three different, entirely rocket-propelled vehicles could deliver the specified payload mass, were technically feasible but required relatively advanced technologies.

Development and Testing of a Laser-Powered Cryobot for Outer Planet Icy Moon Exploration

NASA Astrophysics Data System (ADS)

Siegel, V.; Stone, W.; Hogan, B.; Lelievre, S.; Flesher, C.

2013-12-01

Project VALKYRIE (Very-deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer) is a NASA-funded effort to develop the first laser powered cryobot - a self-contained intelligent ice penetrator capable of delivering science payloads through ice caps of the outer planet icy moons. The long range objective is to enable a full-scale Europa lander mission in which an autonomous life-searching underwater vehicle is transported by the cryobot and launched into the sub-surface Europan ocean. Mission readiness testing will involve an Antarctic sub-glacial lake cryobot sample return through kilometers of ice cap thickness. A key element of VALKYRIE's design is the use of a high energy laser as the primary power source. 1070 nm laser light is transmitted at a power level of 5 kW from a surface-based laser and injected into a custom-designed optical waveguide that is spooled out from the descending cryobot. Light exits the downstream end of the fiber, travels through diverging optics, and strikes a beam dump, which channels thermal power to hot water jets that melt the descent hole. Some beam energy is converted, via photovoltaic cells, to electricity for running onboard electronics and jet pumps. Since the vehicle can be sterilized prior to deployment and the melt path freezes behind it, preventing forward contamination, expansions on VALKYRIE concepts may enable cleaner and faster access to sub-glacial Antarctic lakes. Testing at Stone Aerospace between 2010 and 2013 has already demonstrated high power optical energy transfer over relevant (kilometer scale) distances as well as the feasibility of a vehicle-deployed optical waveguide (through which the power is transferred). The test vehicle is equipped with a forward-looking synthetic aperture radar (SAR) that can detect obstacles out to 1 kilometer from the vehicle. The initial ASTEP test vehicle will carry a science payload consisting of a DUV flow cytometer and a water sampling sub-system that will be triggered based on real-time analysis of the cytometer data. Results of laboratory test data and details of planned field campaigns will be discussed.

The SPEX-airborne multi-angle spectropolarimeter on NASA's ER-2 research aircraft: capabilities, data processing and data products

NASA Astrophysics Data System (ADS)

Rietjens, J.; Smit, M.; Hasekamp, O. P.; Grim, M.; Eggens, M.; Eigenraam, A.; Keizer, G.; van Loon, D.; Talsma, J.; van der Vlugt, J.; Wolfs, R.; van Harten, G.; Rheingans, B. E.; Snik, F.; Keller, C. U.; Smit, H.

2016-12-01

A multi-angle spectropolarimeter payload, "SPEX-airborne" has been developed for observing and characterizing aerosols from NASA's high-altitude research aircraft ER-2. SPEX-airborne provides autonomously multi-angle snapshot measurements of spectral radiance and degree of linear polarization over a 7 degree swath in the visible part of the optical spectrum. The instrument is unique in the sense that it combines 30 highly accurate polarimetric measurements with hyperspectral radiance measurements at 2.5 nm resolution simultaneously at nine fixed viewing angles and that it offers the possibility to include polarimetric measurements in absorption bands at lower accuracy. This combination of measurements holds great potential for present and new retrieval algorithms to derive aerosol microphysical properties during airborne campaigns. The opto-mechanical subsystem of SPEX-airborne is based on the Spectropolarimeter for Planetary EXploration (SPEX) prototype, which has been developed over recent years by a consortium of Dutch institutes and industry. The polarimetry technique used is spectral polarization modulation, which has been proven to enable high accuracy polarimetric measurements. In laboratory conditions, the SPEX prototype has a demonstrated polarimetric accuracy of 0.002 in the degree of linear polarization. The SPEX prototype has been made fit for autonomous operation on NASA's ER-2 high altitude platform. In this presentation we will present the design and main subsystems of the payload, and address the operational modes. An outline of the data processing chain including calibration data will be given and the foreseen capability and performance will be discussed. We will discuss the quality of the polarimetric measurement in the lab and as recorded during the maiden flight in 2016 when SPEX-airborne was flying together with JPL's AirMSPI imaging polarimeter. Finally, we will give an outlook on the processing of the data of land and ocean scenes, and on the possibilities for aerosol retrieval algorithms that the SPEX-airborne instrument offers, most notably the flexibility in number and center of the wavelength bands, and the incorporation of (polarimetric) O2A-band measurements.

Autonomic Symptoms at Baseline and Following Infectious Mononucleosis in a Prospective Cohort of Adolescents

PubMed Central

Katz, Ben Z.; Stewart, Julian M.; Shiraishi, Yukiko; Mears, Cynthia J.; Taylor, Renee

2014-01-01

Chronic fatigue syndrome (CFS) is a complex condition involving fatigue and musculoskeletal and cognitive symptoms. Six, 12, and 24 months following monospot-positive acute infectious mononucleosis (IM), 13%, 7%, and 4%, respectively, of adolescents met criteria for CFS.1 As part of their evaluation at baseline and 6, 12, and 24 months following IM, adolescents diagnosed with CFS and recovered controls completed questionnaires regarding autonomic symptoms. PMID:21810640

One new species of Amphinemura and description of the female of A. ancistroidea Li & Yang (Plecoptera: Nemouridae) from Guangxi Zhuang Autonomous Region of southern China.

PubMed

Mo, Raorao; Yang, Ding; Wang, Guoquan; Li, Weihai

2017-06-11

A new nemourid species, Amphinemura yao sp. nov. is described from the Daoyao Mountains of Guangxi Zhuang Autonomous Region of southern China. Amphinemura ancistroidea Li & Yang, 2007 is newly recorded from Guangxi and the female is described for the first time including the internal vaginal complex. The new species is compared with related taxa.

Development of an Autonomous Face Recognition Machine.

DTIC Science & Technology

1986-12-08

This approach, like Baron’s, would be a very time consuming task. The problem of locating a face in Bromley’s work was the least complex of the three...top level design and the development and design decisions that were made in developing the Autonomous Face Recognition Machine (AFRM). The chapter is...images within a digital image. The second sectio examines the algorithm used in performing face recognition. The decision to divide the development

An Innovative Unmanned System for Advanced Environmental Monitoring: Design and Development

NASA Astrophysics Data System (ADS)

Marsella, Ennio; Giordano, Laura; Evangelista, Lorenza; Iengo, Antonio; di Filippo, Alessandro; Coppola, Aniello

2015-04-01

The paper summarizes the design and development of a new technology and tools for real-time coordination and control of unmanned vehicles for advanced environmental monitoring. A new Unmanned System has been developed at Institute for Coastal Marine Environmental - National Research Council (Italy), in the framework of two National Operational Programs (PON): Technological Platform for Geophysical and Environmental Marine Survey-PITAM and Integrated Systems and Technologies for Geophysical and Environmental Monitoring in coastal-marine areas-STIGEAC. In particular, the system includes one Unmanned Aerial Vehicle (UAV) and two Unmanned Marine Vehicles (UMV). Major innovations concern the implementation of a new architecture to control each drone and/or to allow the cooperation between heterogeneous vehicles, the integration of distributed sensing techniques and real-time image processing capabilities. Part of the research in these projects involves, therefore, an architecture, where the ground operator can communicate with the Unmanned Vehicles at various levels of abstraction using pointing devices and video viewing. In detail, a Ground Control Station (GCS) has been design and developed to allow the government in security of the drones within a distance up to twenty kilometers for air explorations and within ten nautical miles for marine activities. The Ground Control Station has the following features: 1. hardware / software system for the definition of the mission profiles; 3. autonomous and semi-autonomous control system by remote control (joystick or other) for the UAV and UMVs; 4. integrated control system with comprehensive visualization capabilities, monitoring and archiving of real-time data acquired from scientific payload; 5. open structure to future additions of systems, sensors and / or additional vehicles. In detail, the UAV architecture is a dual-rotor, with an endurance ranging from 55 to 200 minutes, depending on payload weight (maximum 26 kg) and wind conditions, and a capability to survey an area of up to 5x5 square kilometers. The UAV payload consists of three different types of sensors: a laser scanner, a thermal-camera and an integrated camera reflex with gimbal. The laser scanner has 10 mm survey-grade accuracy and a field of view up to 330°. The thermal-camera has a resolution 640x480 pixels and a thermal sensitivity <20 mK (at 30 °C), while the reflex is a 22.3 Megapixel full-frame sensor. In addition to the common applications, such as generating mapping, charting, and geodesy products, the system allows performing real-time survey and monitoring of different natural risk under dangerous condition. The system is, also, address to environmental risk monitoring and prevention, industrial activity and emergency interventions related to environmental crises (i.e. oil spills).

Systems, methods and apparatus for modeling, specifying and deploying policies in autonomous and autonomic systems using agent-oriented software engineering

NASA Technical Reports Server (NTRS)

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

2011-01-01

Systems, methods and apparatus are provided through which in some embodiments, an agent-oriented specification modeled with MaCMAS, is analyzed, flaws in the agent-oriented specification modeled with MaCMAS are corrected, and an implementation is derived from the corrected agent-oriented specification. Described herein are systems, method and apparatus that produce fully (mathematically) tractable development of agent-oriented specification(s) modeled with methodology fragment for analyzing complex multiagent systems (MaCMAS) and policies for autonomic systems from requirements through to code generation. The systems, method and apparatus described herein are illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming systems, method and apparatus described herein may provide faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.

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.

Materials learning from life: concepts for active, adaptive and autonomous molecular systems.

PubMed

Merindol, Rémi; Walther, Andreas

2017-09-18

Bioinspired out-of-equilibrium systems will set the scene for the next generation of molecular materials with active, adaptive, autonomous, emergent and intelligent behavior. Indeed life provides the best demonstrations of complex and functional out-of-equilibrium systems: cells keep track of time, communicate, move, adapt, evolve and replicate continuously. Stirred by the understanding of biological principles, artificial out-of-equilibrium systems are emerging in many fields of soft matter science. Here we put in perspective the molecular mechanisms driving biological functions with the ones driving synthetic molecular systems. Focusing on principles that enable new levels of functionalities (temporal control, autonomous structures, motion and work generation, information processing) rather than on specific material classes, we outline key cross-disciplinary concepts that emerge in this challenging field. Ultimately, the goal is to inspire and support new generations of autonomous and adaptive molecular devices fueled by self-regulating chemistry.

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.

Music and Autonomic Nervous System (Dys)function

PubMed Central

Ellis, Robert J.; Thayer, Julian F.

2010-01-01

Despite a wealth of evidence for the involvement of the autonomic nervous system (ANS) in health and disease and the ability of music to affect ANS activity, few studies have systematically explored the therapeutic effects of music on ANS dysfunction. Furthermore, when ANS activity is quantified and analyzed, it is usually from a point of convenience rather than from an understanding of its physiological basis. After a review of the experimental and therapeutic literatures exploring music and the ANS, a “Neurovisceral Integration” perspective on the interplay between the central and autonomic nervous systems is introduced, and the associated implications for physiological, emotional, and cognitive health are explored. The construct of heart rate variability is discussed both as an example of this complex interplay and as a useful metric for exploring the sometimes subtle effect of music on autonomic response. Suggestions for future investigations using musical interventions are offered based on this integrative account. PMID:21197136

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.

Autonomic responses to exercise: where is central command?

PubMed

Williamson, J W

2015-03-01

A central command is thought to involve a signal arising in a central area of the brain eliciting a parallel activation of the autonomic nervous system and skeletal muscle contraction during exercise. Although much of the neural circuitry involved in autonomic control has been identified, defining the specific higher brain region(s) serving in a central command capacity has proven more challenging. Investigators have been faced with redundancies in regulatory systems, feedback mechanisms and the complexities ofhuman neural connectivity. Several studies have attempted to address these issues and provide more definitive neuroanatomical information. However, none have clearly answered the question, "where is central command?" Copyright © 2014 Elsevier B.V. All rights reserved.

Application of autonomous robotized systems for the collection of nearshore topographic changing and hydrodynamic measurements

NASA Astrophysics Data System (ADS)

Belyakov, Vladimir; Makarov, Vladimir; Zezyulin, Denis; Kurkin, Andrey; Pelinovsky, Efim

2015-04-01

Hazardous phenomena in the coastal zone lead to the topographic changing which are difficulty inspected by traditional methods. It is why those autonomous robots are used for collection of nearshore topographic and hydrodynamic measurements. The robot RTS-Hanna is well-known (Wubbold, F., Hentschel, M., Vousdoukas, M., and Wagner, B. Application of an autonomous robot for the collection of nearshore topographic and hydrodynamic measurements. Coastal Engineering Proceedings, 2012, vol. 33, Paper 53). We describe here several constructions of mobile systems developed in Laboratory "Transported Machines and Transported Complexes", Nizhny Novgorod State Technical University. They can be used in the field surveys and monitoring of wave regimes nearshore.

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.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the cylindrical payload canister is lowered around Mars Exploration Rover 1 (MER-B). Once secure inside the canister, the rover will be transported to Launch Complex 17-B, Cape Canaveral Air Force Station, for mating with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Pad 17-B June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-13

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the cylindrical payload canister is lowered around Mars Exploration Rover 1 (MER-B). Once secure inside the canister, the rover will be transported to Launch Complex 17-B, Cape Canaveral Air Force Station, for mating with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Pad 17-B June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

Experimental Results from the Thermal Energy Storage-2 (TES-2) Flight Experiment

NASA Technical Reports Server (NTRS)

Tolbert, Carol

2000-01-01

Thermal Energy Storage-2 (TES-2) is a flight experiment that flew on the Space Shuttle Endeavour (STS-72), in January 1996. TES-2 originally flew with TES-1 as part of the OAST-2 Hitchhiker payload on the Space Shuttle Columbia (STS-62) in early 1994. The two experiments, TES-1 and TES-2 were identical except for the fluoride salts to be characterized. TES-1 provided data on lithium fluoride (LiF), TES-2 provided data on a fluoride eutectic (LiF/CaF2). Each experiment was a complex autonomous payload in a Get-Away-Special payload canister. TES-1 operated flawlessly for 22 hr. Results were reported in a paper entitled, Effect of Microgravity on Materials Undergoing Melting and Freezing-The TES Experiment, by David Namkoong et al. A software failure in TES-2 caused its shutdown after 4 sec of operation. TES-1 and 2 were the first experiments in a four experiment suite designed to provide data for understanding the long duration microgravity behavior of thermal energy storage salts that undergo repeated melting and freezing. Such data have never been obtained before and have direct application for the development of space-based solar dynamic (SD) power systems. These power systems will store energy in a thermal energy salt such as lithium fluoride or a eutectic of lithium fluoride/calcium difluoride. The stored energy is extracted during the shade portion of the orbit. This enables the solar dynamic power system to provide constant electrical power over the entire orbit. Analytical computer codes were developed for predicting performance of a space-based solar dynamic power system. Experimental verification of the analytical predictions were needed prior to using the analytical results for future space power design applications. The four TES flight experiments were to be used to obtain the needed experimental data. This paper will address the flight results from the first and second experiments, TES-1 and 2, in comparison to the predicted results from the Thermal Energy Storage Simulation (TESSIM) analytical computer code. An analysis of the TES-2 data was conducted by Cleveland State University Professor, Mounir Ibrahim. TESSIM validation was based on two types of results; temperature history of various points on the containment vessel and TES material distribution within the vessel upon return from flight. The TESSIM prediction showed close comparison with the flight data. Distribution of the TES material within the vessel was obtained by a tomography imaging process. The frozen TES material was concentrated toward the colder end of the canister. The TESSIM prediction indicated a similar pattern. With agreement between TESSIM and the flight data, a computerized representation was produced to show the movement and behavior of the void during the entire melting and freezing cycles.

Highly Reusable Space Transportation System Concept Evaluation (The Argus Launch Vehicle)

NASA Technical Reports Server (NTRS)

Olds, John R.; Bellini, Peter X.

1998-01-01

This paper summarizes the results of a conceptual design study that was performed in support of NASA's recent Highly Reusable Space Transportation study. The Argus concept uses a Maglifter magnetic-levitation sled launch assist system to accelerate it to a takeoff ground speed of 800 fps on its way to delivering a payload of 20,000 lb. to low earth orbit. Main propulsion is provided by two supercharged ejector rocket engines. The vehicle is autonomous and is fully reusable. A conceptual design exercise determined the vehicle gross weight to be approximately 597,250 lb. and the dry weight to be 75,500 lb. Aggressive weight and operations cost assumptions were used throughout the design process consistent with a second-generation reusable system that might be deployed in 10-15 years. Drawings, geometry, and weight of the concept are included. Preliminary development, production, and operations costs along with a business scenario assuming a price-elastic payload market are also included. A fleet of three Argus launch vehicles flying a total of 149 flights per year is shown to have a financial internal rate of return of 28%. At $169/lb., the recurring cost of Argus is shown to meet the study goal of $100/lb.-$200/lb., but optimum market price results in only a factor of two to five reduction compared to today's launch systems.

Phillips Laboratory small satellite initiatives

NASA Astrophysics Data System (ADS)

Lutey, Mark K.; Imler, Thomas A.; Davis, Robert J.

1993-09-01

The Phillips Laboratory Space Experiments Directorate in conjunction with the Air Force Space Test Program (AF STP), Defense Advanced Research and Projects Agency (DARPA) and Strategic Defense Initiative Organization (SDIO), are managing five small satellite program initiatives: Lightweight Exo-Atmospheric Projectile (LEAP) sponsored by SDIO, Miniature Sensor Technology Integration (MSTI) sponsored by SDIO, Technology for Autonomous Operational Survivability (TAOS) sponsored by Phillips Laboratory, TechSat sponsored by SDIO, and the Advanced Technology Standard Satellite Bus (ATSSB) sponsored by DARPA. Each of these spacecraft fulfills a unique set of program requirements. These program requirements range from a short-lived `one-of-a-kind' mission to the robust multi- mission role. Because of these diverging requirements, each program is driven to use a different design philosophy. But regardless of their design, there is the underlying fact that small satellites do not always equate to small missions. These spacecraft with their use of or ability to insert new technologies provide more capabilities and services for their respective payloads which allows the expansion of their mission role. These varying program efforts culminate in an ATSSB spacecraft bus approach that will support moderate size payloads, up to 500 pounds, in a large set of orbits while satisfying the `cheaper, faster, better' method of doing business. This technical paper provides an overview of each of the five spacecraft, focusing on the objectives, payoffs, technologies demonstrated, and program status.

Feasibility Study for an Autonomous UAV -Magnetometer System -- Final Report on SERDP SEED 1509:2206

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

Roelof Versteeg; Mark McKay; Matt Anderson

2007-09-01

Large areas across the United States are potentially contaminated with UXO, with some ranges encompassing tens to hundreds of thousands of acres. Technologies are needed which will allow for cost effective wide area scanning with 1) near 100 % coverage and 2) near 100 % detection of subsurface ordnance or features indicative of subsurface ordnance. The current approach to wide area scanning is a multi-level one, in which medium altitude fixed wing optical imaging is used for an initial site assessment. This assessment is followed with low altitude manned helicopter based magnetometry followed by surface investigations using either towed geophysicalmore » sensor arrays or man portable sensors. In order to be effective for small UXO detection, the sensing altitude for magnetic site investigations needs to be on the order of 1 – 3 meters. These altitude requirements means that manned helicopter surveys will generally only be feasible in large, open and relatively flat terrains. While such surveys are effective in mapping large areas relatively fast there are substantial mobilization/demobilization, staffing and equipment costs associated with these surveys (resulting in costs of approximately $100-$150/acre). Surface towed arrays provide high resolution maps but have other limitations, e.g. in their ability to navigate rough terrain effectively. Thus, other systems are needed allowing for effective data collection. An UAV (Unmanned Aerial Vehicle) magnetometer platform is an obvious alternative. The motivation behind such a system is that it would be safer for the operators, cheaper in initial and O&M costs, and more effective in terms of site characterization. However, while UAV data acquisition from fixed wing platforms for large (> 200 feet) stand off distances is relatively straight forward, a host of challenges exist for low stand-off distance (~ 6 feet) UAV geophysical data acquisition. The objective of SERDP SEED 1509:2006 was to identify the primary challenges associated with a low stand off distance autonomous UAV magnetometer platform and to investigate whether these challenges can be resolved successfully such that a successful UAV magnetometer platform can be constructed. The primary challenges which were identified and investigated include: 1. The feasibility of assembling a payload package which integrates magnetometers, accurate positioning systems (DGPS, height above ground measurement), obstacle avoidance systems, power infrastructure, communications and data storage as well as auxiliary flight controls 2. The availability of commercial UAV platforms with autonomous flight capability which can accommodate this payload package 3. The feasibility of integrating obstacle avoidance controls in UAV platform control 4. The feasibility of collecting high quality magnetic data in the vicinity of an UAV.« less

Autonomy, Automation, and Systems

NASA Astrophysics Data System (ADS)

Turner, Philip R.

1987-02-01

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

Autonomous replication of nucleic acids by polymerization/nicking enzyme/DNAzyme cascades for the amplified detection of DNA and the aptamer-cocaine complex.

PubMed

Wang, Fuan; Freage, Lina; Orbach, Ron; Willner, Itamar

2013-09-03

The progressive development of amplified DNA sensors and aptasensors using replication/nicking enzymes/DNAzyme machineries is described. The sensing platforms are based on the tailoring of a DNA template on which the recognition of the target DNA or the formation of the aptamer-substrate complex trigger on the autonomous isothermal replication/nicking processes and the displacement of a Mg(2+)-dependent DNAzyme that catalyzes the generation of a fluorophore-labeled nucleic acid acting as readout signal for the analyses. Three different DNA sensing configurations are described, where in the ultimate configuration the target sequence is incorporated into a nucleic acid blocker structure associated with the sensing template. The target-triggered isothermal autonomous replication/nicking process on the modified template results in the formation of the Mg(2+)-dependent DNAzyme tethered to a free strand consisting of the target sequence. This activates additional template units for the nucleic acid self-replication process, resulting in the ultrasensitive detection of the target DNA (detection limit 1 aM). Similarly, amplified aptamer-based sensing platforms for cocaine are developed along these concepts. The modification of the cocaine-detection template by the addition of a nucleic acid sequence that enables the autonomous secondary coupled activation of a polymerization/nicking machinery and DNAzyme generation path leads to an improved analysis of cocaine (detection limit 10 nM).

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Validation of Centrifugation as a Countermeasure for Otolith Deconditioning During Spaceflight

NASA Technical Reports Server (NTRS)

Moore, Steven T.

2004-01-01

In contrast to previous studies, post-flight measures of both otolith-ocular function and orthostatic tolerance were unimpaired in four payload crewmembers exposed to artificial gravity generated by in-flight centrifugation during the Neurolab (STS-90) mission. The aim of the current proposal is to obtain control measures of otolith and orthostatic function following short duration missions, utilizing the centrifugation and autonomic testing techniques developed for the Neurolab mission, from astronauts who have not been exposed to in-flight centrifugation. This will enable a direct comparison with data obtained from the Neurolab crew. Deficits in otolith-ocular reflexes would support the hypothesis that intermittent exposure to in-flight centripetal acceleration is a countermeasure for otolith deconditioning. Furthermore, a correlation between post-flight otolith deconditioning and orthostatic intolerance would establish an otolithic basis for this condition.

NIITEK-NVESD AMDS program and interim field-ready system

NASA Astrophysics Data System (ADS)

Hibbard, Mark W.; Etebari, Ali

2010-04-01

NIITEK (Non-Intrusive Inspection Technology, Inc) develops and fields vehicle-mounted mine and buried threat detection systems. Since 2003, the NIITEK has developed and tested a remote robot-mounted mine detection system for use in the NVESD AMDS program. This paper will discuss the road map of development since the outset of the program, including transition from a data collection platform towards a militarized field-ready system for immediate use as a remote countermine and buried threat detection solution with real-time autonomous threat classification. The detection system payload has been integrated on both the iRobot Packbot and the Foster-Miller Talon robot. This brief will discuss the requirements for a successful near-term system, the progressive development of the system, our current real-time capabilities, and our planned upgrades for moving into and supporting field testing, evaluation, and ongoing operation.

Localization from Visual Landmarks on a Free-Flying Robot

NASA Technical Reports Server (NTRS)

Coltin, Brian; Fusco, Jesse; Moratto, Zack; Alexandrov, Oleg; Nakamura, Robert

2016-01-01

We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of fixed ultrasonic beacons for localization limits them to work in a 2 meter cube. Astrobee localizes with monocular vision and an IMU, without any environmental modifications. Visual features detected on a pre-built map, optical flow information, and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise, and extensively evaluate the localization algorithm.

Evolving a Method to Capture Science Stakeholder Inputs to Optimize Instrument, Payload, and Program Design

NASA Astrophysics Data System (ADS)

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

2012-03-01

We are developing Frontier, a highly adaptable, stably reconfigurable, web-accessible intelligent decision engine capable of optimizing design as well as the simulating operation of complex systems in response to evolving needs and environment.

KSC-08pd3204

NASA Image and Video Library

2008-10-15

CAPE CANAVERAL, Fla. – In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, workers begin closing the hatch on the Multi-Purpose Logistics Module Leonardo before it is transferred to a payload canister. Leonardo is the payload for space shuttle Endeavour's STS-126 mission to the International Space Station. The 15-day mission will deliver equipment and supplies to the space station in preparation for expansion from a three- to six-person resident crew aboard the complex. Leonardo holds supplies and equipment, including additional crew quarters, equipment for the regenerative life support system and spare hardware. Endeavour is targeted for launch Nov. 14. Photo credit: NASA/Troy Cryder

KSC-08pd3206

NASA Image and Video Library

2008-10-15

CAPE CANAVERAL, Fla. – In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, workers close the hatch on the Multi-Purpose Logistics Module Leonardo before it is transferred to a payload canister. Leonardo is the payload for space shuttle Endeavour's STS-126 mission to the International Space Station. The 15-day mission will deliver equipment and supplies to the space station in preparation for expansion from a three- to six-person resident crew aboard the complex. Leonardo holds supplies and equipment, including additional crew quarters, equipment for the regenerative life support system and spare hardware. Endeavour is targeted for launch Nov. 14. Photo credit: NASA/Troy Cryder

KSC-08pd3203

NASA Image and Video Library

2008-10-15

CAPE CANAVERAL, Fla. – In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, workers begin closing the hatch on the Multi-Purpose Logistics Module Leonardo before it is transferred to a payload canister. Leonardo is the payload for space shuttle Endeavour's STS-126 mission to the International Space Station. The 15-day mission will deliver equipment and supplies to the space station in preparation for expansion from a three- to six-person resident crew aboard the complex. Leonardo holds supplies and equipment, including additional crew quarters, equipment for the regenerative life support system and spare hardware. Endeavour is targeted for launch Nov. 14. Photo credit: NASA/Troy Cryder

KSC-08pd3205

NASA Image and Video Library

2008-10-15

CAPE CANAVERAL, Fla. – In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, workers are closing the hatch on the Multi-Purpose Logistics Module Leonardo before it is transferred to a payload canister. Leonardo is the payload for space shuttle Endeavour's STS-126 mission to the International Space Station. The 15-day mission will deliver equipment and supplies to the space station in preparation for expansion from a three- to six-person resident crew aboard the complex. Leonardo holds supplies and equipment, including additional crew quarters, equipment for the regenerative life support system and spare hardware. Endeavour is targeted for launch Nov. 14. Photo credit: NASA/Troy Cryder

KSC-08pd3197

NASA Image and Video Library

2008-10-15

CAPE CANAVERAL, Fla. – In the Space Station Processing Facility at NASA's Kennedy Space Center in Florida, the Multi-Purpose Logistics Module Leonardo is being prepared for hatch closure before it is transferred to a payload canister. Leonardo is the payload for space shuttle Endeavour's STS-126 mission to the International Space Station. The 15-day mission will deliver equipment and supplies to the space station in preparation for expansion from a three- to six-person resident crew aboard the complex. Leonardo holds supplies and equipment, including additional crew quarters, equipment for the regenerative life support system and spare hardware. Endeavour is targeted for launch Nov. 14. Photo credit: NASA/Jim Grossmann

KSC-2011-1093

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, technicians removed most of the protective covering surrounding NASA's Glory spacecraft. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1091

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, technicians removed most of the protective covering surrounding NASA's Glory spacecraft. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1085

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, NASA's Glory spacecraft will be removed from its protective covering. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1087

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, technicians begin to remove the protective covering surrounding NASA's Glory spacecraft. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1088

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, technicians removed most of the protective covering surrounding NASA's Glory spacecraft. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1084

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, NASA's Glory spacecraft will be removed from its protective covering. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1089

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, technicians removed most of the protective covering surrounding NASA's Glory spacecraft. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

KSC-2011-1086

NASA Image and Video Library

2011-01-13

VANDENBERG AIR FORCE BASE, Calif. -- Inside the Astrotech payload processing facility at Vandenberg Air Force Base in California, a technician begins to remove the protective covering surrounding NASA's Glory spacecraft. Next, the spacecraft will be encapsulated in its protective payload fairing before it is transported to Space Launch Complex 576-E and joined with the Taurus XL rocket's third stage. Once Glory reaches orbit, it will collect data on the properties of aerosols and black carbon. It also will help scientists understand how the sun's irradiance affects Earth's climate. Launch is scheduled for 5:09 a.m. EST Feb. 23. For information, visit www.nasa.gov/glory. Photo credit: NASA/Ed Henry, VAFB

Robotics EP Payloads

NASA Image and Video Library

2009-09-24

ISS020-E-041981 (24 Sept. 2009) --- The exterior of the Japanese Kibo complex of the International Space Station and the station's Canadarm2 (bottom) are featured in this image photographed by an Expedition 20 crew member on the station. European Space Agency astronaut Frank De Winne and NASA astronaut Nicole Stott, both Expedition 20 flight engineers, used the controls of the Japanese Experiment Module Robotic Manipulator System (JEM-RMS) in Kibo to grapple and transfer two Japanese payloads from the Exposed Pallet to their Exposed Facility locations -- first HICO/Hyperspectral Imager for the Coastal Ocean & RAIDS/Remote Atmospheric and Ionospheric Detection System (HREP), then Superconducting Submillimeter-wave Limb-emission Sounder (SMILES).

Metrics of a Paradigm for Intelligent Control

NASA Technical Reports Server (NTRS)

Hexmoor, Henry

1999-01-01

We present metrics for quantifying organizational structures of complex control systems intended for controlling long-lived robotic or other autonomous applications commonly found in space applications. Such advanced control systems are often called integration platforms or agent architectures. Reported metrics span concerns about time, resources, software engineering, and complexities in the world.

Shuttle-Derived Launch Vehicles' Capablities: An Overview

NASA Technical Reports Server (NTRS)

Rothschild, William J.; Bailey, Debra A.; Henderson, Edward M.; Crumbly, Chris

2005-01-01

Shuttle-Derived Launch Vehicle (SDLV) concepts have been developed by a collaborative team comprising the Johnson Space Center, Marshall Space Flight Center, Kennedy Space Center, ATK-Thiokol, Lockheed Martin Space Systems Company, The Boeing Company, and United Space Alliance. The purpose of this study was to provide timely information on a full spectrum of low-risk, cost-effective options for STS-Derived Launch Vehicle concepts to support the definition of crew and cargo launch requirements for the Space Exploration Vision. Since the SDLV options use high-reliability hardware, existing facilities, and proven processes, they can provide relatively low-risk capabilities to launch extremely large payloads to low Earth orbit. This capability to reliably lift very large, high-dollar-value payloads could reduce mission operational risks by minimizing the number of complex on-orbit operations compared to architectures based on multiple smaller launchers. The SDLV options also offer several logical spiral development paths for larger exploration payloads. All of these development paths make practical and cost-effective use of existing Space Shuttle Program (SSP) hardware, infrastructure, and launch and flight operations systems. By utilizing these existing assets, the SDLV project could support the safe and orderly transition of the current SSP through the planned end of life in 2010. The SDLV concept definition work during 2004 focused on three main configuration alternatives: a side-mount heavy lifter (approximately 77 MT payload), an in-line medium lifter (approximately 22 MT Crew Exploration Vehicle payload), and an in-line heavy lifter (greater than 100 MT payload). This paper provides an overview of the configuration, performance capabilities, reliability estimates, concept of operations, and development plans for each of the various SDLV alternatives. While development, production, and operations costs have been estimated for each of the SDLV configuration alternatives, these proprietary data have not been included in this paper.

Circulatory response and autonomic nervous activity during gum chewing.

PubMed

Hasegawa, Yoko; Sakagami, Joe; Ono, Takahiro; Hori, Kazuhiro; Zhang, Min; Maeda, Yoshinobu

2009-08-01

Mastication has been proven to enhance the systemic circulation, with circulatory responses seeming to be largely regulated by autonomic nervous activity via a more complex regulatory system than those of other activities. However, few studies have examined the relationships between changes in autonomic nervous activity and the systemic circulation that are induced by masticatory movement. We investigated changes in the systemic circulation and autonomic nervous activity during gum chewing to clarify the influence of mastication. Electrocardiograms, arterial blood pressure, and masseter electromyograms were taken while chewing gum continuously as indicators of systemic circulation in 10 healthy subjects with normal dentition. Cardiac sympathetic activity and vagus nervous activity, as well as vasomotor sympathetic nervous activity, were evaluated by fluctuation analysis of heart rate and blood pressure. Repeated analysis of variance and multiple comparisons were performed to determine chronological changes in each indicator during gum chewing. Gum chewing increased the heart rate and the mean arterial pressure. Although cardiac sympathetic activity and vagus nervous activity showed significant changes, vasomotor sympathetic nervous activity did not. These results suggest that changes in the autonomic nervous activity of the heart are mainly involved in the enhancement of systemic circulation with gum chewing. This explains some characteristics of autonomic nervous regulation in masticatory movement.

Immobile Robots: AI in the New Millennium

NASA Technical Reports Server (NTRS)

Williams, Brian C.; Nayak, P. Pandurang

1996-01-01

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

Demonstration of a Spoken Dialogue Interface for Planning Activities of a Semi-autonomous Robot

NASA Technical Reports Server (NTRS)

Dowding, John; Frank, Jeremy; Hockey, Beth Ann; Jonsson, Ari; Aist, Gregory

2002-01-01

Planning and scheduling in the face of uncertainty and change pushes the capabilities of both planning and dialogue technologies by requiring complex negotiation to arrive at a workable plan. Planning for use of semi-autonomous robots involves negotiation among multiple participants with competing scientific and engineering goals to co-construct a complex plan. In NASA applications this plan construction is done under severe time pressure so having a dialogue interface to the plan construction tools can aid rapid completion of the process. But, this will put significant demands on spoken dialogue technology, particularly in the areas of dialogue management and generation. The dialogue interface will need to be able to handle the complex dialogue strategies that occur in negotiation dialogues, including hypotheticals and revisions, and the generation component will require an ability to summarize complex plans. This demonstration will describe a work in progress towards building a spoken dialogue interface to the EUROPA planner for the purposes of planning and scheduling the activities of a semi-autonomous robot. A prototype interface has been built for planning the schedule of the Personal Satellite Assistant (PSA), a mobile robot designed for micro-gravity environments that is intended for use on the Space Shuttle and International Space Station. The spoken dialogue interface gives the user the capability to ask for a description of the plan, ask specific questions about the plan, and update or modify the plan. We anticipate that a spoken dialogue interface to the planner will provide a natural augmentation or alternative to the visualization interface, in situations in which the user needs very targeted information about the plan, in situations where natural language can express complex ideas more concisely than GUI actions, or in situations in which a graphical user interface is not appropriate.

Thermal evaluation of alternative shipping cask for irradiated experiments

DOE PAGES

Guillen, Donna Post

2015-06-01

Results of a thermal evaluation are provided for a new shipping cask under consideration for transporting irradiated experiments between the test reactor and post-irradiation examination (PIE) facilities. Most of the experiments will be irradiated in the Advanced Test Reactor (ATR) at Idaho National Laboratory (INL), then later shipped to the Hot Fuel Examination Facility (HFEF) located at the Materials and Fuels Complex for PIE. To date, the General Electric (GE)-2000 cask has been used to transport experiment payloads between these facilities. However, the availability of the GE-2000 cask to support future experiment shipping is uncertain. In addition, the internal cavitymore » of the GE-2000 cask is too short to accommodate shipping the larger payloads. Therefore, an alternate shipping capability is being pursued. The Battelle Energy Alliance, LLC, Research Reactor (BRR) cask has been determined to be the best alternative to the GE-2000 cask. An evaluation of the thermal performance of the BRR cask is necessary before proceeding with fabrication of the newly designed cask hardware and the development of handling, shipping and transport procedures. This paper presents the results of the thermal evaluation of the BRR cask loaded with a representative set of fueled and non-fueled payloads. When analyzed with identical payloads, experiment temperatures were found to be lower with the BRR cask than with the GE-2000 cask. Furthermore, from a thermal standpoint, the BRR cask was found to be a suitable alternate to the GE-2000 cask for shipping irradiated experiment payloads.« less

Expert System for Building TRU Waste Payloads - 13554

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

Bruemmer, Heather; Slater, Bryant

2013-07-01

The process for grouping TRU waste drums into payloads for shipment to the Waste Isolation Pilot Plant (WIPP) for disposal is a very complex process. Transportation and regulatory requirements must be met, along with striving for the goals of shipment efficiency: maximize the number of waste drums in a shipment and minimize the use of empty drums which take up precious underground storage space. The restrictions on payloads range from weight restrictions, to limitations on flammable gas in the headspace, to minimum TRU alpha activity concentration requirements. The Overpack and Payload Assistant Tool (OPAT) has been developed as a mixed-initiativemore » intelligent system within the WIPP Waste Data System (WDS) to guide the construction of multiple acceptable payloads. OPAT saves the user time while at the same time maximizes the efficiency of shipments for the given drum population. The tool provides the user with the flexibility to tune critical factors that guide OPAT's operation based on real-time feedback concerning the results of the execution. This feedback complements the user's external knowledge of the drum population (such as location of drums, known challenges, internal shipment goals). This work demonstrates how software can be utilized to complement the unique domain knowledge of the users. The mixed-initiative approach combines the insight and intuition of the human expert with the proficiency of automated computational algorithms. The result is the ability to thoroughly and efficiently explore the search space of possible solutions and derive the best waste management decision. (authors)« less

Nervous control of fish swimbladders.

PubMed

Nilsson, Stefan

2009-01-01

The swimbladder of teleost fish receives a rich and complex innervation by nerve fibres of the autonomic nervous system. While an understanding of the form and function of a non-adrenergic, non-cholinergic innervation is slowly emerging, the pattern of control by the "classical" cholinergic and adrenergic innervation is becoming relatively well understood. This short review describes the autonomic innervation patterns, and attempts to summarise the role of cholinergic and adrenergic pathways in the control of gas secretion and resorption in the teleost swimbladder.

AMO EXPRESS: A Command and Control Experiment for Crew Autonomy Onboard the International Space Station

NASA Technical Reports Server (NTRS)

Stetson, Howard K.; Haddock, Angie T.; Frank, Jeremy; Cornelius, Randy; 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 experiment on-board the International Space Station that demonstrated single action intelligent procedures for crew command and control. The target problem was to enable crew initialization of a facility class rack 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 initialization of a medical facility to respond to 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). Utilization of Draper Laboratory's Timeliner software, deployed on-board the ISS within the Command and Control (C&C) computers and the Payload computers, allowed development of the automated procedures specific to ISS without having to certify and employ novel software for procedure development and execution. The procedures contained the ground procedure logic and actions as possible to include fault detection and recovery capabilities. 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 (via Timerliner) 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. WebPD is a web based application that serves as the user interface for electronic procedure execution. It incorporates several aspects of the HTML5 standard. Procedures are written in a dialect of XML called Procedure Representation Language (PRL). WebPD tracks execution status in the procedure or procedures being displayed. WebPD aggregates and simplifies the auto-sequence execution status information, and formatted to be easily followed and understood by an operator who is not dedicated to actively monitoring the task. WebPD also provides an integrated data and control interface to pause or halt the execution in order to provide a check point of operation and to examine progress before starting the next sequence of activities. For this demonstration, the procedure was initiated and monitored from the ground. As the Timeliner sequences executed, their high-level execution status was written to PLMDM memory. This memory is read and downlinked via Ku-Band at a 1 Hz rate. The data containing the high-level execution status is de-commutated on the ground, and rebroadcast for WebPD consumption. A future demonstration will be performed onboard, with ISS astronauts initiating the operations instead of ground controllers. The AMO EXPRESS experiment demonstrated activation and de-activation of EXPRESS rack 7, providing the capability of future single button activations and deactivations of facility class racks. The experiment achieved numerous technical and operations 'firsts' for the ISS

The solution of the optimization problem of small energy complexes using linear programming methods

NASA Astrophysics Data System (ADS)

Ivanin, O. A.; Director, L. B.

2016-11-01

Linear programming methods were used for solving the optimization problem of schemes and operation modes of distributed generation energy complexes. Applicability conditions of simplex method, applied to energy complexes, including installations of renewable energy (solar, wind), diesel-generators and energy storage, considered. The analysis of decomposition algorithms for various schemes of energy complexes was made. The results of optimization calculations for energy complexes, operated autonomously and as a part of distribution grid, are presented.

Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

NASA Astrophysics Data System (ADS)

Kadouf, Hani Hunud A.; Mohd Mustafah, Yasir

2013-12-01

With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects.

Mental Workload and Performance Experiment (MWPE) Team in the Spacelab Payload Operations Control

NASA Technical Reports Server (NTRS)

1992-01-01

The primary payload for Space Shuttle Mission STS-42, launched January 22, 1992, was the International Microgravity Laboratory-1 (IML-1), a pressurized manned Spacelab module. The goal of IML-1 was to explore in depth the complex effects of weightlessness of living organisms and materials processing. Around-the-clock research was performed on the human nervous system's adaptation to low gravity and effects of microgravity on other life forms such as shrimp eggs, lentil seedlings, fruit fly eggs, and bacteria. Materials processing experiments were also conducted, including crystal growth from a variety of substances such as enzymes, mercury iodide, and a virus. The Huntsville Operations Support Center (HOSC) Spacelab Payload Operations Control Center (SL POCC) at the Marshall Space Flight Center (MSFC) was the air/ground communication channel used between the astronauts and ground control teams during the Spacelab missions. Featured is the Mental Workload and Performance Experiment (MWPE) team in the SL POCC) during STS-42, IML-1 mission.

Mental Workload and Performance Experiment (MWPE) Team in the Spacelab Payload Operations Control

NASA Technical Reports Server (NTRS)

1992-01-01

The primary payload for Space Shuttle Mission STS-42, launched January 22, 1992, was the International Microgravity Laboratory-1 (IML-1), a pressurized manned Spacelab module. The goal of IML-1 was to explore in depth the complex effects of weightlessness of living organisms and materials processing. Around-the-clock research was performed on the human nervous system's adaptation to low gravity and effects of microgravity on other life forms such as shrimp eggs, lentil seedlings, fruit fly eggs, and bacteria. Materials processing experiments were also conducted, including crystal growth from a variety of substances such as enzymes, mercury iodide, and a virus. The Huntsville Operations Support Center (HOSC) Spacelab Payload Operations Control Center (SL POCC) at the Marshall Space Flight Center (MSFC) was the air/ground communication channel used between the astronauts and ground control teams during the Spacelab missions. Featured activities are of the Mental Workload and Performance Experiment (MWPE) team in the SL POCC during the IML-1 mission.

Gravity Plant Physiology Facility (GPPF) Team in the Spacelab Payload Operations Control Center (SL

NASA Technical Reports Server (NTRS)

1992-01-01

The primary payload for Space Shuttle Mission STS-42, launched January 22, 1992, was the International Microgravity Laboratory-1 (IML-1), a pressurized manned Spacelab module. The goal of IML-1 was to explore in depth the complex effects of weightlessness of living organisms and materials processing. Around-the-clock research was performed on the human nervous system's adaptation to low gravity and effects of microgravity on other life forms such as shrimp eggs, lentil seedlings, fruit fly eggs, and bacteria. Materials processing experiments were also conducted, including crystal growth from a variety of substances such as enzymes, mercury iodide, and a virus. The Huntsville Operations Support Center (HOSC) Spacelab Payload Operations Control Center (SL POCC) at the Marshall Space Flight Center (MSFC) was the air/ground communication channel used between the astronauts and ground control teams during the Spacelab missions. Featured is the Gravity Plant Physiology Facility (GPPF) team in the SL POCC during the IML-1 mission.

Spacecraft design project multipurpose satellite bus MPS

NASA Technical Reports Server (NTRS)

Kellman, Lyle; Riley, John; Szostak, Michael; Watkins, Joseph; Willhelm, Joseph; Yale, Gary

1990-01-01

The thrust of this project was to design not a single spacecraft, but to design a multimission bus capable of supporting several current payloads and unnamed, unspecified future payloads. Spiraling costs of spacecraft and shrinking defense budgets necessitated a fresh look at the feasibility of a multimission spacecraft bus. The design team chose two very diverse and different payloads, and along with them two vastly different orbits, to show that multimission spacecraft buses are an area where indeed more research and effort needs to be made. Tradeoffs, of course, were made throughout the design, but optimization of subsystem components limited weight and volume penalties, performance degradation, and reliability concerns. Simplicity was chosen over more complex, sophisticated and usually more efficient designs. Cost of individual subsystem components was not a primary concern in the design phase, but every effort was made to chose flight tested and flight proven hardware. Significant cost savings could be realized if a standard spacecraft bus was indeed designed and purchased in finite quantities.

TESS SpaceX Fairing Halves Lift to Vertical; Payload Encapsulation

NASA Image and Video Library

2018-04-08

Technicians prepare NASA's Transiting Exoplanet Survey Satellite (TESS) for encapsulation in the SpaceX payload fairing inside the Payload Hazardous Servicing Facility at the agency's Kennedy Space Center in Florida. The satellite is scheduled to launch atop a SpaceX Falcon 9 rocket from Space Launch Complex 40 at Cape Canaveral Air Force Station on April 16. The satellite is the next step in NASA's search for planets outside our solar system, known as exoplanets. TESS is a NASA Astrophysics Explorer mission led and operated by MIT in Cambridge, Massachusetts, and managed by NASA’s Goddard Space Flight Center in Greenbelt, Maryland. Dr. George Ricker of MIT’s Kavli Institute for Astrophysics and Space Research serves as principal investigator for the mission. Additional partners include Orbital ATK, NASA’s Ames Research Center, the Harvard-Smithsonian Center for Astrophysics and the Space Telescope Science Institute. More than a dozen universities, research institutes and observatories worldwide are participants in the mission. NASA’s Launch Services Program is responsible for launch management.

SpaceX TESS Fairing Move

NASA Image and Video Library

2018-04-03

The payload fairing for NASA's Transiting Exoplanet Survey Satellite (TESS) is moved inside the Payload Hazardous Servicing Facility at the agency's Kennedy Space Center in Florida. Inside the facility, TESS will be encapsulated in the payload fairing. The satellite is scheduled to launch atop a SpaceX Falcon 9 rocket from Space Launch Complex 40 at Cape Canaveral Air Force Station on April 16. The satellite is the next step in NASA's search for planets outside our solar system, known as exoplanets. TESS is a NASA Astrophysics Explorer mission led and operated by MIT in Cambridge, Massachusetts, and managed by NASA’s Goddard Space Flight Center in Greenbelt, Maryland. Dr. George Ricker of MIT’s Kavli Institute for Astrophysics and Space Research serves as principal investigator for the mission. Additional partners include Orbital ATK, NASA’s Ames Research Center, the Harvard-Smithsonian Center for Astrophysics and the Space Telescope Science Institute. More than a dozen universities, research institutes and observatories worldwide are participants in the mission. NASA’s Launch Services Program is responsible for launch management.

SpaceX TESS Fairing Move

NASA Image and Video Library

2018-04-03

The payload fairing for NASA's Transiting Exoplanet Survey Satellite (TESS) is being moved to the Payload Hazardous Servicing Facility at the agency's Kennedy Space Center in Florida. Inside the facility, TESS will be encapsulated in the payload fairing. The satellite is scheduled to launch atop a SpaceX Falcon 9 rocket from Space Launch Complex 40 at Cape Canaveral Air Force Station on April 16. The satellite is the next step in NASA's search for planets outside our solar system, known as exoplanets. TESS is a NASA Astrophysics Explorer mission led and operated by MIT in Cambridge, Massachusetts, and managed by NASA’s Goddard Space Flight Center in Greenbelt, Maryland. Dr. George Ricker of MIT’s Kavli Institute for Astrophysics and Space Research serves as principal investigator for the mission. Additional partners include Orbital ATK, NASA’s Ames Research Center, the Harvard-Smithsonian Center for Astrophysics and the Space Telescope Science Institute. More than a dozen universities, research institutes and observatories worldwide are participants in the mission. NASA’s Launch Services Program is responsible for launch management.

Critical Point Facility (CPE) Group in the Spacelab Payload Operations Control Center (SL POCC)

NASA Technical Reports Server (NTRS)

1992-01-01

The primary payload for Space Shuttle Mission STS-42, launched January 22, 1992, was the International Microgravity Laboratory-1 (IML-1), a pressurized manned Spacelab module. The goal of IML-1 was to explore in depth the complex effects of weightlessness of living organisms and materials processing. Around-the-clock research was performed on the human nervous system's adaptation to low gravity and effects of microgravity on other life forms such as shrimp eggs, lentil seedlings, fruit fly eggs, and bacteria. Materials processing experiments were also conducted, including crystal growth from a variety of substances such as enzymes, mercury iodide, and a virus. The Huntsville Operations Support Center (HOSC) Spacelab Payload Operations Control Center (SL POCC) at the Marshall Space Flight Center (MSFC) was the air/ground communication channel used between the astronauts and ground control teams during the Spacelab missions. Featured is the Critical Point Facility (CPE) group in the SL POCC during STS-42, IML-1 mission.

Crystal Growth Team in the Spacelab Payload Operations Control Center (SL POCC) During the STS-42

NASA Technical Reports Server (NTRS)

1992-01-01

The primary payload for Space Shuttle Mission STS-42, launched January 22, 1992, was the International Microgravity Laboratory-1 (IML-1), a pressurized manned Spacelab module. The goal of IML-1 was to explore in depth the complex effects of weightlessness of living organisms and materials processing. Around-the-clock research was performed on the human nervous system's adaptation to low gravity and effects of microgravity on other life forms such as shrimp eggs, lentil seedlings, fruit fly eggs, and bacteria. Materials processing experiments were also conducted, including crystal growth from a variety of substances such as enzymes, mercury iodide, and a virus. The Huntsville Operations Support Center (HOSC) Spacelab Payload Operations Control Center (SL POCC) at the Marshall Space Flight Center (MSFC) was the air/ground communication channel used between the astronauts and ground control teams during the Spacelab missions. Featured is the Crystal Growth team in the SL POCC during STS-42, IML-1 mission.

The Mice Drawer System (MDS) experiment and the space endurance record-breaking mice.

PubMed

Cancedda, Ranieri; Liu, Yi; Ruggiu, Alessandra; Tavella, Sara; Biticchi, Roberta; Santucci, Daniela; Schwartz, Silvia; Ciparelli, Paolo; Falcetti, Giancarlo; Tenconi, Chiara; Cotronei, Vittorio; Pignataro, Salvatore

2012-01-01

The Italian Space Agency, in line with its scientific strategies and the National Utilization Plan for the International Space Station (ISS), contracted Thales Alenia Space Italia to design and build a spaceflight payload for rodent research on ISS: the Mice Drawer System (MDS). The payload, to be integrated inside the Space Shuttle middeck during transportation and inside the Express Rack in the ISS during experiment execution, was designed to function autonomously for more than 3 months and to involve crew only for maintenance activities. In its first mission, three wild type (Wt) and three transgenic male mice over-expressing pleiotrophin under the control of a bone-specific promoter (PTN-Tg) were housed in the MDS. At the time of launch, animals were 2-months old. MDS reached the ISS on board of Shuttle Discovery Flight 17A/STS-128 on August 28(th), 2009. MDS returned to Earth on November 27(th), 2009 with Shuttle Atlantis Flight ULF3/STS-129 after 91 days, performing the longest permanence of mice in space. Unfortunately, during the MDS mission, one PTN-Tg and two Wt mice died due to health status or payload-related reasons. The remaining mice showed a normal behavior throughout the experiment and appeared in excellent health conditions at landing. During the experiment, the mice health conditions and their water and food consumption were daily checked. Upon landing mice were sacrificed, blood parameters measured and tissues dissected for subsequent analysis. To obtain as much information as possible on microgravity-induced tissue modifications, we organized a Tissue Sharing Program: 20 research groups from 6 countries participated. In order to distinguish between possible effects of the MDS housing conditions and effects due to the near-zero gravity environment, a ground replica of the flight experiment was performed at the University of Genova. Control tissues were collected also from mice maintained on Earth in standard vivarium cages.

The Mice Drawer System (MDS) Experiment and the Space Endurance Record-Breaking Mice

PubMed Central

Cancedda, Ranieri; Liu, Yi; Ruggiu, Alessandra; Tavella, Sara; Biticchi, Roberta; Santucci, Daniela; Schwartz, Silvia; Ciparelli, Paolo; Falcetti, Giancarlo; Tenconi, Chiara; Cotronei, Vittorio; Pignataro, Salvatore

2012-01-01

The Italian Space Agency, in line with its scientific strategies and the National Utilization Plan for the International Space Station (ISS), contracted Thales Alenia Space Italia to design and build a spaceflight payload for rodent research on ISS: the Mice Drawer System (MDS). The payload, to be integrated inside the Space Shuttle middeck during transportation and inside the Express Rack in the ISS during experiment execution, was designed to function autonomously for more than 3 months and to involve crew only for maintenance activities. In its first mission, three wild type (Wt) and three transgenic male mice over-expressing pleiotrophin under the control of a bone-specific promoter (PTN-Tg) were housed in the MDS. At the time of launch, animals were 2-months old. MDS reached the ISS on board of Shuttle Discovery Flight 17A/STS-128 on August 28th, 2009. MDS returned to Earth on November 27th, 2009 with Shuttle Atlantis Flight ULF3/STS-129 after 91 days, performing the longest permanence of mice in space. Unfortunately, during the MDS mission, one PTN-Tg and two Wt mice died due to health status or payload-related reasons. The remaining mice showed a normal behavior throughout the experiment and appeared in excellent health conditions at landing. During the experiment, the mice health conditions and their water and food consumption were daily checked. Upon landing mice were sacrificed, blood parameters measured and tissues dissected for subsequent analysis. To obtain as much information as possible on microgravity-induced tissue modifications, we organized a Tissue Sharing Program: 20 research groups from 6 countries participated. In order to distinguish between possible effects of the MDS housing conditions and effects due to the near-zero gravity environment, a ground replica of the flight experiment was performed at the University of Genova. Control tissues were collected also from mice maintained on Earth in standard vivarium cages. PMID:22666312

Aging reduces complexity of heart rate variability assessed by conditional entropy and symbolic analysis.

PubMed

Takahashi, Anielle C M; Porta, Alberto; Melo, Ruth C; Quitério, Robison J; da Silva, Ester; Borghi-Silva, Audrey; Tobaldini, Eleonora; Montano, Nicola; Catai, Aparecida M

2012-06-01

Increasing age is associated with a reduction in overall heart rate variability as well as changes in complexity of physiologic dynamics. The aim of this study was to verify if the alterations in autonomic modulation of heart rate caused by the aging process could be detected by Shannon entropy (SE), conditional entropy (CE) and symbolic analysis (SA). Complexity analysis was carried out in 44 healthy subjects divided into two groups: old (n = 23, 63 ± 3 years) and young group (n = 21, 23 ± 2). It was analyzed SE, CE [complexity index (CI) and normalized CI (NCI)] and SA (0V, 1V, 2LV and 2ULV patterns) during short heart period series (200 cardiac beats) derived from ECG recordings during 15 min of rest in a supine position. The sequences characterized by three heart periods with no significant variations (0V), and that with two significant unlike variations (2ULV) reflect changes in sympathetic and vagal modulation, respectively. The unpaired t test (or Mann-Whitney rank sum test when appropriate) was used in the statistical analysis. In the aging process, the distributions of patterns (SE) remain similar to young subjects. However, the regularity is significantly different; the patterns are more repetitive in the old group (a decrease of CI and NCI). The amounts of pattern types are different: 0V is increased and 2LV and 2ULV are reduced in the old group. These differences indicate marked change of autonomic regulation. The CE and SA are feasible techniques to detect alteration in autonomic control of heart rate in the old group.

The effect of orthostatic stress on multiscale entropy of heart rate and blood pressure.

PubMed

Turianikova, Zuzana; Javorka, Kamil; Baumert, Mathias; Calkovska, Andrea; Javorka, Michal

2011-09-01

Cardiovascular control acts over multiple time scales, which introduces a significant amount of complexity to heart rate and blood pressure time series. Multiscale entropy (MSE) analysis has been developed to quantify the complexity of a time series over multiple time scales. In previous studies, MSE analyses identified impaired cardiovascular control and increased cardiovascular risk in various pathological conditions. Despite the increasing acceptance of the MSE technique in clinical research, information underpinning the involvement of the autonomic nervous system in the MSE of heart rate and blood pressure is lacking. The objective of this study is to investigate the effect of orthostatic challenge on the MSE of heart rate and blood pressure variability (HRV, BPV) and the correlation between MSE (complexity measures) and traditional linear (time and frequency domain) measures. MSE analysis of HRV and BPV was performed in 28 healthy young subjects on 1000 consecutive heart beats in the supine and standing positions. Sample entropy values were assessed on scales of 1-10. We found that MSE of heart rate and blood pressure signals is sensitive to changes in autonomic balance caused by postural change from the supine to the standing position. The effect of orthostatic challenge on heart rate and blood pressure complexity depended on the time scale under investigation. Entropy values did not correlate with the mean values of heart rate and blood pressure and showed only weak correlations with linear HRV and BPV measures. In conclusion, the MSE analysis of heart rate and blood pressure provides a sensitive tool to detect changes in autonomic balance as induced by postural change.

Autonomous control systems: applications to remote sensing and image processing

NASA Astrophysics Data System (ADS)

Jamshidi, Mohammad

2001-11-01

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

A linguistic geometry for 3D strategic planning

NASA Technical Reports Server (NTRS)

Stilman, Boris

1995-01-01

This paper is a new step in the development and application of the Linguistic Geometry. This formal theory is intended to discover the inner properties of human expert heuristics, which have been successful in a certain class of complex control systems, and apply them to different systems. In this paper we investigate heuristics extracted in the form of hierarchical networks of planning paths of autonomous agents. Employing Linguistic Geometry tools the dynamic hierarchy of networks is represented as a hierarchy of formal attribute languages. The main ideas of this methodology are shown in this paper on the new pilot example of the solution of the extremely complex 3D optimization problem of strategic planning for the space combat of autonomous vehicles. This example demonstrates deep and highly selective search in comparison with conventional search algorithms.

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

Rivera-Durón, R. R., E-mail: roberto.rivera@ipicyt.edu.mx; Campos-Cantón, E., E-mail: eric.campos@ipicyt.edu.mx; Campos-Cantón, I.

We present the design of an autonomous time-delay Boolean network realized with readily available electronic components. Through simulations and experiments that account for the detailed nonlinear response of each circuit element, we demonstrate that a network with five Boolean nodes displays complex behavior. Furthermore, we show that the dynamics of two identical networks display near-instantaneous synchronization to a periodic state when forced by a common periodic Boolean signal. A theoretical analysis of the network reveals the conditions under which complex behavior is expected in an individual network and the occurrence of synchronization in the forced networks. This research will enablemore » future experiments on autonomous time-delay networks using readily available electronic components with dynamics on a slow enough time-scale so that inexpensive data collection systems can faithfully record the dynamics.« less

Autonomous navigation of structured city roads

NASA Astrophysics Data System (ADS)

Aubert, Didier; Kluge, Karl C.; Thorpe, Chuck E.

1991-03-01

Autonomous road following is a domain which spans a range of complexity from poorly defined unmarked dirt roads to well defined well marked highly struc-. tured highways. The YARF system (for Yet Another Road Follower) is designed to operate in the middle of this range of complexity driving on urban streets. Our research program has focused on the use of feature- and situation-specific segmentation techniques driven by an explicit model of the appearance and geometry of the road features in the environment. We report results in robust detection of white and yellow painted stripes fitting a road model to detected feature locations to determine vehicle position and local road geometry and automatic location of road features in an initial image. We also describe our planned extensions to include intersection navigation.

An Architecture for Autonomic Web Service Process Planning

NASA Astrophysics Data System (ADS)

Moore, Colm; Xue Wang, Ming; Pahl, Claus

Web service composition is a technology that has received considerable attention in the last number of years. Languages and tools to aid in the process of creating composite Web services have been received specific attention. Web service composition is the process of linking single Web services together in order to accomplish more complex tasks. One area of Web service composition that has not received as much attention is the area of dynamic error handling and re-planning, enabling autonomic composition. Given a repository of service descriptions and a task to complete, it is possible for AI planners to automatically create a plan that will achieve this goal. If however a service in the plan is unavailable or erroneous the plan will fail. Motivated by this problem, this paper suggests autonomous re-planning as a means to overcome dynamic problems. Our solution involves automatically recovering from faults and creating a context-dependent alternate plan. We present an architecture that serves as a basis for the central activities autonomous composition, monitoring and fault handling.

Sandia National Laboratories proof-of-concept robotic security vehicle

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

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

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

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

Autonomic nervous system function, child behavior, and maternal sensitivity in three-year-old children with surgically corrected transposition.

PubMed

Harrison, Tondi M

2013-01-01

Explore relationships among autonomic nervous system (ANS) function, child behavior, and maternal sensitivity in three-year-old children with surgically corrected transposition of the great arteries (TGA) and in children healthy at birth. Children surviving complex congenital heart defects are at risk for behavior problems. ANS function is associated with behavior and with maternal sensitivity. Child ANS function (heart rate variability) and maternal sensitivity (Parent-Child Early Relational Assessment) were measured during a challenging task. Mother completed the Child Behavior Checklist. Data were analyzed descriptively and graphically. Children with TGA had less responsive autonomic function and more behavior problems than healthy children. Autonomic function improved with more maternal sensitivity. Alterations in ANS function may continue years after surgical correction in children with TGA, potentially impacting behavioral regulation. Maternal sensitivity may be associated with ANS function in this population. Continued research on relationships among ANS function, child behavior, and maternal sensitivity is warranted. Copyright © 2013 Elsevier Inc. All rights reserved.

Evaluation of propellant tank insulation concepts for low-thrust chemical propulsion systems

NASA Technical Reports Server (NTRS)

Kramer, T.; Brogren, E.; Seigel, B.

1984-01-01

An analytical evaluation of cryogenic propellant tank insulations for liquid oxygen/liquid hydrogen low-thrust 2224N (500 lbf) propulsion systems (LTPS) was conducted. The insulation studied consisted of combinations of N2-purged foam and multilayer insulation (MLI) as well as He-purged MLI-only. Heat leak and payload performance predictions were made for three Shuttle-launched LTPS designed for Shuttle bay packaged payload densities of 56 kg/cu m, 40 kg/cu m and 24 kg/cu m. Foam/MLI insulations were found to increase LTPS payload delivery capability when compared with He-purged MLI-only. An additional benefit of foam/MLI was reduced operational complexity because Orbiter cargo bay N2 purge gas could be used for MLI purging. Maximum payload mass benefit occurred when an enhanced convection, rather than natural convection, heat transfer was specified for the insulation purge enclosure. The enhanced convection environment allowed minimum insulation thickness to be used for the foam/MLI interface temperature selected to correspond to the moisture dew point in the N2 purge gas. Experimental verification of foam/MLI benefits was recommended. A conservative program cost estimate for testing a MLI-foam insulated tank was 2.1 million dollars. It was noted this cost could be reduced significantly without increasing program risk.

CASIS Fact Sheet: Hardware and Facilities

NASA Technical Reports Server (NTRS)

Solomon, Michael R.; Romero, Vergel

2016-01-01

Vencore is a proven information solutions, engineering, and analytics company that helps our customers solve their most complex challenges. For more than 40 years, we have designed, developed and delivered mission-critical solutions as our customers' trusted partner. The Engineering Services Contract, or ESC, provides engineering and design services to the NASA organizations engaged in development of new technologies at the Kennedy Space Center. Vencore is the ESC prime contractor, with teammates that include Stinger Ghaffarian Technologies, Sierra Lobo, Nelson Engineering, EASi, and Craig Technologies. The Vencore team designs and develops systems and equipment to be used for the processing of space launch vehicles, spacecraft, and payloads. We perform flight systems engineering for spaceflight hardware and software; develop technologies that serve NASA's mission requirements and operations needs for the future. Our Flight Payload Support (FPS) team at Kennedy Space Center (KSC) provides engineering, development, and certification services as well as payload integration and management services to NASA and commercial customers. Our main objective is to assist principal investigators (PIs) integrate their science experiments into payload hardware for research aboard the International Space Station (ISS), commercial spacecraft, suborbital vehicles, parabolic flight aircrafts, and ground-based studies. Vencore's FPS team is AS9100 certified and a recognized implementation partner for the Center for Advancement of Science in Space (CASIS

TDRS-L Media Day

NASA Image and Video Library

2014-01-03

TITUSVILLE, Fla. – Members of the news media are given an up-close look at the Tracking and Data Relay Satellite, or TDRS-L, spacecraft undergoing preflight processing inside the Astrotech payload processing facility in Titusville. TDRS-L is being prepared for encapsulation inside its payload fairing prior to being transported to Launch Complex 41 at Cape Canaveral Air Force Station. Journalists visited Astrotech as part of TDRS-L Media Day to conduct interviews and photograph the satellite that will be a part of the second of three next-generation spacecraft designed to ensure vital operational continuity for the NASA Space Network. It is scheduled to launch from Cape Canaveral's Space Launch Complex 41 atop an Atlas V rocket in January 2014. The current Tracking and Data Relay Satellite system consists of eight in-orbit satellites distributed to provide near continuous information relay contact with orbiting spacecraft ranging from the International Space Station and Hubble Space Telescope to the array of scientific observatories. For more information, visit: http://www.nasa.gov/mission_pages/tdrs/home/index.html

KSC01padig281

NASA Image and Video Library

2001-09-29

KODIAK ISLAND, Alaska. -- With light still on the horizon, a Lockheed Martin Athena I launch vehicle lifts off the launch pad at Kodiak Launch Complex (KSC) with the Kodiak Star spacecraft on board. Liftoff occurred at 10:40 p.m. EDT, Sept. 29. The Kodiak Star payload consists of four satellites: PICOSat, PCSat, Sapphire and Starshine 3. Starshine is sponsored by NASA. The 200-pound sphere will be used by students to study orbital decay. The other three satellites, also on educational missions, are sponsored by the department of defense. PICOSat is a technology demonstration satellite with four experiments on board. PCSat was designed by midshipmen at the U.S. Naval Academy, and will become part of the amateur radio community's automatic position reporting system. Sapphire is a micro-satellite built by students at Stanford University and Washington University - St. Louis to test infrared sensors for space use. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC01padig280

NASA Image and Video Library

2001-09-29

KODIAK ISLAND, Alaska -- A Lockheed Martin Athena I launch vehicle lifts off the launch pad at Kodiak Launch Complex (KSC) with the Kodiak Star spacecraft on board. Liftoff occurred at 10:40 p.m. EDT, Sept. 29. The Kodiak Star payload consists of four satellites: PICOSat, PCSat, Sapphire and Starshine 3. Starshine is sponsored by NASA. The 200-pound sphere will be used by students to study orbital decay. The other three satellites, also on educational missions, are sponsored by the department of defense. PICOSat is a technology demonstration satellite with four experiments on board. PCSat was designed by midshipmen at the U.S. Naval Academy, and will become part of the amateur radio community's automatic position reporting system. Sapphire is a micro-satellite built by students at Stanford University and Washington University - St. Louis to test infrared sensors for space use. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits

KSC01padig279

NASA Image and Video Library

2001-09-29

KODIAK ISLAND, Alaska -- A Lockheed Martin Athena I launch vehicle rockets off the launch pad at Kodiak Launch Complex (KSC) with the Kodiak Star spacecraft on board. Liftoff occurred at 10:40 p.m. EDT, Sept. 29. The Kodiak Star payload consists of four satellites: PICOSat, PCSat, Sapphire and Starshine 3. Starshine is sponsored by NASA. The 200-pound sphere will be used by students to study orbital decay. The other three satellites, also on educational missions, are sponsored by the department of defense. PICOSat is a technology demonstration satellite with four experiments on board. PCSat was designed by midshipmen at the U.S. Naval Academy, and will become part of the amateur radio community's automatic position reporting system. Sapphire is a micro-satellite built by students at Stanford University and Washington University - St. Louis to test infrared sensors for space use. KLC is the newest commercial launch complex in the United States, ideal for launch payloads requiring low-Earth polar or sun-synchronous orbits