Browsing by Author "Mohanty, Ayush"
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Item A Development Framework for a Comprehensive Capstone which Demonstrates Human Interaction with Autonomous Habitat Technology(2024 International Conference on Environmnetal Systems, 2024-07-21) Sherman, Sage O.; Pischulti, Patrick K.; Mohanty, Ayush; Hwang, Min; Ivey, Daniela B.; Robinson, Stephen K.; Berges, Mario; Gebraeel, Nagi; Klaus, David; Anderson, Allison P.Future deep-space missions will require crews to operate more autonomously due to the increased distance from Earth, which results in communications delay and resupply scarcity. Specific flight phases (crewed or uncrewed) and time critical situations, where Earth-based support is impossible, highlight the critical need for the crew and habitat to operate independently from Earth. The Habitats Optimized for Missions of Exploration (HOME) Space Technology Research Institute (STRI) addresses some of the challenges by developing and advancing mission enabling habitat technologies. The HOME STRI encompasses researchers from seven universities that are spread across five research-thrusts, providing novel contributions in the area of vehicle functional design, self-awareness, human-autonomy-teaming, vehicle self-sufficiency, and digital twin technology. This paper presents the development framework of a capstone demonstration which aims to integrate several technologies needed for autonomous fault management mission operations. We present a system architecture that contains various HOME-developed technologies which include; machine learning and artificial intelligence, adaptive modes of autonomy, a decentralized system architecture, a digital twin integration concept, and subsystem fault interaction. The demonstrated mission scenario begins with an uncrewed deep space habitat, operating nominally, with a computational system with incorporated machine learning and artificial intelligence in-training to learn system inter-dependencies while uploading its current knowledge to a digital twin. As a new crew approaches, anomalous behavior in the EPS and the ECLSS subsystems is detected by the deep space habitat. The crew is alerted and provided with root cause analysis. Using this knowledge, the crew correspondingly safe the system remotely prior to docking. Upon arrival to the habitat, the root cause is manually fixed by crew, and the habitat returns to nominal operations. This capstone integrates twelve research projects, highlighting the complex and interconnected nature of detecting faults and how crews interact with habitats that have autonomous elements.Item Design, Build, Test of a CO2 Removal Testbed and Twin Robotically Manipulable Testbed: Sensing Degradation and Performing Maintenance with Robot/Human Teaming(2023 International Conference on Environmental Systems, 2023-07-16) Ivey, Daniela; Barkouki, Tammer; Torralba, Monica; Ulusoy, Ulubilge; Eshima, Samuel; Mohanty, Ayush; Lindbeck, Christopher; Balakirsky, Stephen; Robinson, StephenThe NASA-sponsored “Habitats Optimized for Missions of Exploration” (HOME) Space Technology Research Institute is creating a foundation for smart deep-space habitats that can both sustain human residents and sustain themselves without human residents. A vital element of any human-rated mission is the Environmental Control and Life Support System (ECLSS), composed of multiple subsystems, including an Air Revitalization subsystem that maintains a breathable atmosphere. Tracking performance, identifying performance degradation, predicting remaining useful life of components, and performing maintenance on such a critical system are paramount to creating a safe, habitable environment and are thus key research areas within HOME. This paper outlines the design, build, and test of two new testbeds at UC Davis. The first, ZeoDe (Zeolite Capacity Degradation), is a chemically functional CO2 removal testbed that generates degradation data for prognostics through the introduction of humidity into the system. The introduction of humidity can occur in a space habitat due to leaks or other faults. Humidity build-up within the system leads to CO2 removal capacity degradation of the sorbent. Thus, the study of sorbent degradation is of paramount importance to any zeolite-based CO2 removal system deployed on future spacecraft. The maintenance of such a system is equally important. The second UC Davis testbed, RobInZeN (Robotically Interactive ZeoDe twiN), is a non-functional ECLSS testbed designed for the physical manipulation by robots and humans of its components for task execution. It is modeled after ZeoDe, with additional design changes to allow maintenance practices for both humans and onboard robotic agents. These two testbeds will allow HOME to investigate sensor criticality, degradation physics, detection sequences, and maintenance plans for a degraded ECLSS CO2 removal unit in both autonomous robotic tasks and integrated robot/human teaming scenarios.