{"projectId":16715,"project":{"projectId":16715,"title":"Robotic Mission Simulation Tool","startDate":"2013-05-23","startYear":2013,"startMonth":5,"endDate":"2013-11-23","endYear":2013,"endMonth":11,"programId":73,"program":{"ableToSelect":false,"acronym":"SBIR/STTR","isActive":true,"description":"<p>The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.</p><p><strong>The SBIR and STTR programs have 3 phases</strong>:</p><ul><li><strong>Phase I</strong> is the opportunity to establish the scientific, technical, and commercial feasibility of the proposed innovation in fulfillment of NASA needs.</li><li><strong>Phase II</strong> is focused on the development, demonstration and delivery of the proposed innovation.</li></ul><p>The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.</p><ul><li><strong>Phase III</strong> is the commercialization of innovative technologies, products, and services resulting from either a Phase I or Phase II contract. Phase III contracts are funded from sources other than the SBIR and STTR programs and may be awarded without further competition.</li></ul><p><strong>Opportunity for Continued Technology Development Post-Phase II</strong>:</p><p>The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.&nbsp;</p><p><strong>Please review the links below to obtain more information on the SBIR/STTR programs.</strong></p><ul><li><strong><a target=\"_blank\" href=\"http://sbir.gsfc.nasa.gov/sites/default/files/ParticipationGuide.pdf\">Participation Guide</a></strong></li></ul><p>Provides an overview of the SBIR and STTR programs as implemented by NASA</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/solicitations\">Program Solicitations</a></strong></li></ul><p>Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/prg_sched_anncmnt\">Schedule and Awards</a></strong></li></ul><p>Schedule and links for the SBIR/STTR solicitations and selection announcements</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/content/additional-sources-assistance\">Sources of Assistance</a></strong></li></ul><p>Federal and non-Federal sources of assistance for small business</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/abstract_archives\">Awarded Abstracts</a></strong></li></ul><p>Search our complete archive of awarded project abstracts to learn about what NASA has funded</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/content/frequently-asked-questions\">Frequently Asked Questions</a></strong></li></ul><p>&nbsp;Still have questions? Visit the program FAQs</p>","parentProgram":{"ableToSelect":false,"isActive":true,"description":"Catalyst is a portfolio of early stage programs that specialize in different innovation constituencies and mechanisms to push the state of the art in aerospace technology development","programId":92327,"responsibleMd":{"canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":""},"title":"Catalyst","acronymOrTitle":"Catalyst"},"parentProgramId":92327,"programId":73,"responsibleMd":{"organizationId":4875,"organizationName":"Space Technology Mission Directorate","acronym":"STMD","organizationType":"NASA_Mission_Directorate","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":"NASA Mission Directorate"},"responsibleMdOffice":4875,"stockImageFileId":36648,"title":"Small Business Innovation Research/Small Business Tech Transfer","acronymOrTitle":"SBIR/STTR"},"description":"Energid Technologies proposes a software tool to predict robotic mission performance and support supervision of robotic missions even when environments and situations are profoundly unknown. It transcends common Monte Carlo simulations by supporting input parameters for which probability distributions are not available. Stochastic optimization is combined with randomized simulation to bound statistical measures of performance and convey the parameters giving the extreme scenarios. It also provides 3D immersive presentation of those scenarios. The act of performing multiple simulation runs in real time is enabled by the fast simulation capability provided by Energid Technologies' existing software combined with the development of new algorithms and software. The new algorithms cover path planning, scene rendering, sensor modeling, and robot-terrain interaction modeling. In the new software, automatic path planning is calculated using a combination of static and dynamic techniques. Scene rendering for sensor modeling is implemented using fast ray tracing for low-update-rate sensors and ray-tracing-validated rasterization for fast-update-rate sensors. Robot-terrain interaction is calculated through particle simulations implemented on graphics cards. For maximum performance, the new software allows distribution of randomized simulation runs over multiple networked PCs and cloud-based clusters. This combination of fast algorithms and statistical optimization offers a tool that provides new engineering insights and data. The software will be demonstrated on the example mission of searching for ice near near the southern lunar pole, giving evidence of the ability of the tool to support challenging relevant missions.","benefits":"The tool Energid proposes will reduce cost and improve schedule in NASA's lunar and planetary missions through digital testing early in a project. It will also support automation of robotic systems through real-time randomized optimization during mission execution. The value provided through these applications will lead to additional work for NASA. Energid will provide support for the new software's application on upcoming missions both as a prime contractor and as a supporting subcontractor to large NASA prime contractors.<br /> <br />To its commercial customers, Energid licenses its software technology primarily through its Actin toolkit. Actin is delivered as libraries and header files that can be compiled into new software. This form of Energid's technology has found wide application in software for space, manufacturing, entertainment, agriculture, nuclear energy, and oil exploration. Energid provides services to support the application of Actin. The advanced level of simulation-based testing provided by the new software developed during this SBIR project will substantially enhance these commercial activities. Energid will license the new software and provide services to support it as an ongoing and growing business.","releaseStatus":"Released","status":"Completed","viewCount":523,"destinationType":["Moon_and_Cislunar"],"trlBegin":4,"trlCurrent":5,"trlEnd":5,"lastUpdated":"01/22/26","favorited":false,"detailedFunding":false,"projectContacts":[{"contactId":3164116,"canUserEdit":false,"firstName":"Linda","lastName":"Kobayashi","fullName":"Linda Kobayashi","fullNameInverted":"Kobayashi, Linda","email":"Linda.T.Kobayashi@nasa.gov","receiveEmail":"Subscribed_Contact","projectContactRole":"Project_Manager","projectContactId":542206,"projectId":16715,"programContactRolePretty":"","projectContactRolePretty":"Project Manager"},{"contactId":194363,"canUserEdit":false,"firstName":"James","lastName":"English","fullName":"James D English","fullNameInverted":"English, James D","middleInitial":"D","email":"jde@energid.com","receiveEmail":"Subscribed_User","projectContactRole":"Principal_Investigator","projectContactId":542205,"projectId":16715,"programContactRolePretty":"","projectContactRolePretty":"Principal Investigator"}],"programContacts":[{"contactId":206378,"canUserEdit":false,"firstName":"Jason","lastName":"Kessler","fullName":"Jason L Kessler","fullNameInverted":"Kessler, Jason L","middleInitial":"L","email":"jason.l.kessler@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Director","programContactId":143,"programId":73,"programContactRolePretty":"Program Director","projectContactRolePretty":""},{"contactId":62051,"canUserEdit":false,"firstName":"Carlos","lastName":"Torrez","fullName":"Carlos Torrez","fullNameInverted":"Torrez, Carlos","email":"carlos.torrez@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Manager","programContactId":194,"programId":73,"programContactRolePretty":"Program Manager","projectContactRolePretty":""}],"leadOrganization":{"organizationId":3665,"organizationName":"Energid Technologies","organizationType":"Industry","city":"Cambridge","stateTerritoryId":30,"stateTerritory":{"abbreviation":"MA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"Massachusetts","stateTerritoryId":30,"isTerritory":false},"country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"zipCode":"02138-4946","uei":"U3NFV33CFSL5","cageCode":"1TZM1","congressionalDistrict":"Massachusetts 06","projectId":16715,"projectOrganizationId":570137,"organizationRole":"Lead_Organization","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"Lead Organization","organizationTypePretty":"Industry"},"otherOrganizations":[{"organizationId":3665,"organizationName":"Energid Technologies","organizationType":"Industry","city":"Cambridge","stateTerritoryId":30,"stateTerritory":{"abbreviation":"MA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"Massachusetts","stateTerritoryId":30,"isTerritory":false},"country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"zipCode":"02138-4946","uei":"U3NFV33CFSL5","cageCode":"1TZM1","congressionalDistrict":"Massachusetts 06","projectId":16715,"projectOrganizationId":570137,"organizationRole":"Lead_Organization","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"Lead Organization","organizationTypePretty":"Industry"},{"organizationId":4941,"organizationName":"Ames Research Center","acronym":"ARC","organizationType":"NASA_Center","city":"Moffett Field","stateTerritoryId":59,"stateTerritory":{"abbreviation":"CA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"California","stateTerritoryId":59,"isTerritory":false},"country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"zipCode":"94035","projectId":16715,"projectOrganizationId":570136,"organizationRole":"Supporting_Organization","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"Supporting Organization","organizationTypePretty":"NASA Center"}],"primaryTx":{"taxonomyNodeId":11118,"taxonomyRootId":8817,"parentNodeId":11116,"code":"TX04.6.2","title":"Modeling and Simulation for Robots","description":"Robot modeling and simulation includes software tools to assist in synthesis, trade studies, and optimization of complex robotic systems. This area also includes the ability to preview and optimize operations using concurrent dynamic simulation of alternative control options.","exampleTechnologies":"End-to-end system modeling, modeling of contact dynamics, dynamic simulation, granular media simulation, human-in-the-loop assessment systems","level":3,"hasChildren":false,"selected":false,"isPrimary":true,"hasInteriorContent":true},"primaryTxTree":[[{"taxonomyNodeId":11086,"taxonomyRootId":8817,"code":"TX04","title":"Robotic Systems","level":1,"hasChildren":true,"selected":false,"hasInteriorContent":true},{"taxonomyNodeId":11116,"taxonomyRootId":8817,"parentNodeId":11086,"code":"TX04.6","title":"Robotics Integration","description":"Robotic systems are inherently multidisciplinary and complex, and they may include heterogeneous teams that work together or with humans to achieve a common goal. Systems engineering provides the framework for achieving this coordination and integration.","level":2,"hasChildren":true,"selected":false,"hasInteriorContent":true},{"taxonomyNodeId":11118,"taxonomyRootId":8817,"parentNodeId":11116,"code":"TX04.6.2","title":"Modeling and Simulation for Robots","description":"Robot modeling and simulation includes software tools to assist in synthesis, trade studies, and optimization of complex robotic systems. This area also includes the ability to preview and optimize operations using concurrent dynamic simulation of alternative control options.","exampleTechnologies":"End-to-end system modeling, modeling of contact dynamics, dynamic simulation, granular media simulation, human-in-the-loop assessment systems","level":3,"hasChildren":false,"selected":true,"hasInteriorContent":true}]],"technologyOutcomes":[{"technologyOutcomeId":93363,"projectId":16715,"project":{"projectId":16715,"title":"Robotic Mission Simulation Tool","startDate":"2013-05-23","startYear":2013,"startMonth":5,"endDate":"2013-11-23","endYear":2013,"endMonth":11,"programId":73,"program":{"ableToSelect":false,"acronym":"SBIR/STTR","isActive":true,"description":"<p>The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.</p><p><strong>The SBIR and STTR programs have 3 phases</strong>:</p><ul><li><strong>Phase I</strong> is the opportunity to establish the scientific, technical, and commercial feasibility of the proposed innovation in fulfillment of NASA needs.</li><li><strong>Phase II</strong> is focused on the development, demonstration and delivery of the proposed innovation.</li></ul><p>The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.</p><ul><li><strong>Phase III</strong> is the commercialization of innovative technologies, products, and services resulting from either a Phase I or Phase II contract. Phase III contracts are funded from sources other than the SBIR and STTR programs and may be awarded without further competition.</li></ul><p><strong>Opportunity for Continued Technology Development Post-Phase II</strong>:</p><p>The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.&nbsp;</p><p><strong>Please review the links below to obtain more information on the SBIR/STTR programs.</strong></p><ul><li><strong><a target=\"_blank\" href=\"http://sbir.gsfc.nasa.gov/sites/default/files/ParticipationGuide.pdf\">Participation Guide</a></strong></li></ul><p>Provides an overview of the SBIR and STTR programs as implemented by NASA</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/solicitations\">Program Solicitations</a></strong></li></ul><p>Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/prg_sched_anncmnt\">Schedule and Awards</a></strong></li></ul><p>Schedule and links for the SBIR/STTR solicitations and selection announcements</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/content/additional-sources-assistance\">Sources of Assistance</a></strong></li></ul><p>Federal and non-Federal sources of assistance for small business</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/abstract_archives\">Awarded Abstracts</a></strong></li></ul><p>Search our complete archive of awarded project abstracts to learn about what NASA has funded</p><ul><li><strong><a href=\"http://sbir.gsfc.nasa.gov/content/frequently-asked-questions\">Frequently Asked Questions</a></strong></li></ul><p>&nbsp;Still have questions? Visit the program FAQs</p>","parentProgram":{"ableToSelect":false,"isActive":true,"description":"Catalyst is a portfolio of early stage programs that specialize in different innovation constituencies and mechanisms to push the state of the art in aerospace technology development","programId":92327,"responsibleMd":{"canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":""},"title":"Catalyst","acronymOrTitle":"Catalyst"},"parentProgramId":92327,"programId":73,"responsibleMd":{"organizationId":4875,"organizationName":"Space Technology Mission Directorate","acronym":"STMD","organizationType":"NASA_Mission_Directorate","canUserEdit":false,"locationEdit":false,"organizationRolePretty":"","organizationTypePretty":"NASA Mission Directorate"},"responsibleMdOffice":4875,"stockImageFileId":36648,"title":"Small Business Innovation Research/Small Business Tech Transfer","acronymOrTitle":"SBIR/STTR"},"description":"Energid Technologies proposes a software tool to predict robotic mission performance and support supervision of robotic missions even when environments and situations are profoundly unknown. It transcends common Monte Carlo simulations by supporting input parameters for which probability distributions are not available. Stochastic optimization is combined with randomized simulation to bound statistical measures of performance and convey the parameters giving the extreme scenarios. It also provides 3D immersive presentation of those scenarios. The act of performing multiple simulation runs in real time is enabled by the fast simulation capability provided by Energid Technologies' existing software combined with the development of new algorithms and software. The new algorithms cover path planning, scene rendering, sensor modeling, and robot-terrain interaction modeling. In the new software, automatic path planning is calculated using a combination of static and dynamic techniques. Scene rendering for sensor modeling is implemented using fast ray tracing for low-update-rate sensors and ray-tracing-validated rasterization for fast-update-rate sensors. Robot-terrain interaction is calculated through particle simulations implemented on graphics cards. For maximum performance, the new software allows distribution of randomized simulation runs over multiple networked PCs and cloud-based clusters. This combination of fast algorithms and statistical optimization offers a tool that provides new engineering insights and data. The software will be demonstrated on the example mission of searching for ice near near the southern lunar pole, giving evidence of the ability of the tool to support challenging relevant missions.","benefits":"The tool Energid proposes will reduce cost and improve schedule in NASA's lunar and planetary missions through digital testing early in a project. It will also support automation of robotic systems through real-time randomized optimization during mission execution. The value provided through these applications will lead to additional work for NASA. Energid will provide support for the new software's application on upcoming missions both as a prime contractor and as a supporting subcontractor to large NASA prime contractors.<br /> <br />To its commercial customers, Energid licenses its software technology primarily through its Actin toolkit. Actin is delivered as libraries and header files that can be compiled into new software. This form of Energid's technology has found wide application in software for space, manufacturing, entertainment, agriculture, nuclear energy, and oil exploration. Energid provides services to support the application of Actin. The advanced level of simulation-based testing provided by the new software developed during this SBIR project will substantially enhance these commercial activities. Energid will license the new software and provide services to support it as an ongoing and growing business.","releaseStatus":"Released","status":"Completed","destinationType":["Moon_and_Cislunar"],"trlBegin":4,"trlCurrent":5,"trlEnd":5,"favorited":false,"detailedFunding":false,"programContacts":[{"contactId":62051,"canUserEdit":false,"firstName":"Carlos","lastName":"Torrez","fullName":"Carlos Torrez","fullNameInverted":"Torrez, Carlos","email":"carlos.torrez@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Manager","programContactId":194,"programId":73,"programContactRolePretty":"Program Manager","projectContactRolePretty":""},{"contactId":206378,"canUserEdit":false,"firstName":"Jason","lastName":"Kessler","fullName":"Jason L Kessler","fullNameInverted":"Kessler, Jason L","middleInitial":"L","email":"jason.l.kessler@nasa.gov","receiveEmail":"Subscribed_User","programContactRole":"Program_Director","programContactId":143,"programId":73,"programContactRolePretty":"Program Director","projectContactRolePretty":""}],"endDateString":"Nov 2013","startDateString":"May 2013"},"technologyOutcomeDate":"2013-11-23","technologyOutcomePath":"Closed_Out","files":[{"title":"Final Summary Chart","file":{"fileExtension":"pdf","fileId":357263,"fileName":"SBIR_2012_1_FSC_H6_01-8746","fileSize":588730,"objectId":93363,"objectType":"technologyOutcomeFiles","presignedUpload":false,"fileSizeString":"574.9 KB"},"technologyOutcomeId":93363,"fileId":357263}],"infoText":"Closed out","infoTextExtra":"Project closed out","isIndirect":false,"technologyOutcomeRationalePretty":"","infusionPretty":"","isBiDirectional":false,"technologyOutcomeDateString":"Nov 2013","technologyOutcomeDateFullString":"November 2013","technologyOutcomePartnerPretty":"","technologyOutcomePathPretty":"Closed Out"}],"primaryImage":{"file":{"fileExtension":"bmp","fileId":357262,"presignedUpload":false,"fileSizeString":"0 Byte"},"libraryItemId":356624,"description":"Robotic Mission Simulation Tool","projectId":16715,"publishedDateString":"","entryDateString":"","libraryItemTypePretty":"","modifiedDateString":""},"libraryItems":[{"file":{"fileExtension":"bmp","fileId":357262,"fileName":"SBIR_2012_1_BC_H6_01-8746","fileSize":206094,"objectId":356624,"objectType":"libraryItemFiles","presignedUpload":false,"fileSizeString":"201.3 KB"},"files":[{"fileExtension":"bmp","fileId":357262,"fileName":"SBIR_2012_1_BC_H6_01-8746","fileSize":206094,"objectId":356624,"objectType":"libraryItemFiles","presignedUpload":false,"fileSizeString":"201.3 KB"}],"libraryItemId":356624,"title":"Project Image","description":"Robotic Mission Simulation Tool","libraryItemType":"Image","projectId":16715,"isPrimary":true,"internalOnly":false,"publishedDateString":"","entryDateString":"01/22/25 01:10 AM","libraryItemTypePretty":"Image","modifiedDateString":"01/08/24 08:27 PM"}],"states":[{"abbreviation":"CA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"California","stateTerritoryId":59,"isTerritory":false},{"abbreviation":"MA","country":{"abbreviation":"US","countryId":236,"name":"United States"},"countryId":236,"name":"Massachusetts","stateTerritoryId":30,"isTerritory":false}],"endDateString":"Nov 2013","startDateString":"May 2013"}}