Engineering topics

Cady, Ian

Publications and source records attributed to Cady, Ian.

3 records

NASA NTRS2013

MSL's Widgets: Adding Rebustness to Martian Sample Acquisition, Handling, and Processing

Mars Science Laboratory's (MSL) Sample Acquisition Sample Processing and Handling (SA-SPaH) system is one of the most ambitious terrain interaction and manipulation systems ever built and successfully used outside of planet earth. Mars has a ruthless environment that has surprised many who have tried to explore there. The robustness widget program was implemented by the MSL project to help ensure the SA-SPaH system would be robust enough to the surprises of this ruthless Martian environment. The robustness widget program was an effort of extreme schedule pressure and responsibility, but was accomplished with resounding success. This paper will focus on a behind the scenes look at MSL's robustness widgets: the particle fun zone, the wind guards, and the portioner pokers.

particle fun zone (PFZ)↗

NASA NTRS2010

Results from Testing of Two Rotary Percussive Drilling Systems

The developmental test program for the MSL (Mars Science Laboratory) rotary percussive drill examined the e ect of various drill input parameters on the drill pene- tration rate. Some of the input parameters tested were drill angle with respect to gravity and percussive impact energy. The suite of rocks tested ranged from a high strength basalt to soft Kaolinite clay. We developed a hole start routine to reduce high sideloads from bit walk. The ongoing development test program for the IMSAH (Integrated Mars Sample Acquisition and Handling) rotary percussive corer uses many of the same rocks as the MSL suite. An additional performance parameter is core integrity. The MSL development test drill and the IMSAH test drill use similar hardware to provide rotation and percussion. However, the MSL test drill uses external stabilizers, while the IMSAH test drill does not have external stabilization. In addition the IMSAH drill is a core drill, while the MSL drill uses a solid powdering bit. Results from the testing of these two related drilling systems is examined.

Kriechbaum, Kristopher↗

NASA NTRS2008

Tactile Robotic Topographical Mapping Without Force or Contact Sensors

A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available. The method uses control software modified to utilize the inherent capability of the robotic control system to measure the joint positions, the rates of change of the joint positions, and the electrical current demanded by the robotic arm joint actuators. The system utilizes these coordinate data and the known robot-arm kinematics to compute the position and velocity of the end effector, move the end effector along a specified trajectory, place the end effector at a specified location, and measure the electrical currents in the joint actuators. Since the joint actuator current is approximately proportional to the actuator forces and torques, a sudden rise in joint current, combined with a slowing of the joint, is a possible indication of actuator stall and surface contact. Hence, even though the robotic arm is not equipped with contact sensors, it is possible to sense contact (albeit with reduced sensitivity) as the end effector becomes stalled against a surface that one seeks to measure.

Burke, Kevin↗