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NASA NTRS2004

Mobile Autonomous Humanoid Assistant

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

NASA NTRS2004

Robotic Assistance for Human Planetary and Lunar Exploration

Human exploration of space will need robotic assistance in many areas. The type and functionality of such robots needs to be more clearly defined as we resume human missions to the moon and begin human missions to Mars. This paper will identify possible robotic assistants, including their control modes, workplaces, and physical attributes. Current JSC human-robot interaction projects are described, and lessons learned from extensive field tests are given. Future scenario considerations are then detailed. Earth-based testing of varied robotic assistants will provide a means of defining what capabilities are needed for future exploration.

Tyree, Kimberly S.↗

NASA NTRS2004

Robotic Assistance for Human Planetary and Lunar Exploration

Tyree, Kimberly S.↗

NASA NTRS2012

SRMS Assisted Docking and Undocking for the Orbiter Repair Maneuver

As part of the Orbiter Repair Maneuver (ORM) planned for Return to Flight (RTF) operations, the Shuttle Remote Manipulator System (SRMS) must undock the Orbiter, maneuver it through a complex trajectory at extremely low rates, present it to an EVA crewman at the end of the Space Station Remote Manipulator System to perform the Thermal Protection System (TPS) repair, and then retrace back through the trajectory to dock the Orbiter with the Orbiter Docking System (ODS). The initial and final segments of this operation involve the interaction between the SRMS, ISS, Orbiter and ODS. Previously, a technique entitled "SRMS assisted docking" for installation of a payload to the ODS had been developed and was utilized for the Russian provided Docking Module on STS-74 during Shuttle-Mir missions and both the Node 1 and FGB elements on STS-88/Flight 2A. This procedure consisted of the SRMS grappling the respective payload, maneuvering it to a pre-install position inches above the ODS Androgynous Peripheral Attachment System (APAS) ring, commanding the SRMS into Test mode (which allows brakes-off motion of the joints), and then down-firing Primary Reaction Control System (PRCS) jets in order to effect a capture of the APAS latches. Once a successful capture had been achieved, then the AP AS was operated through its nominal retraction sequence to complete the mating sequence. While this technique can once again be used for the tail end docking portion of the ORM, the initial undocking of the orbiter and ISS vehicles with the assistance of the SRMS has yet to be attempted on orbit. The objective here is to determine the most efficient means to separate or extract the vehicles. Two techniques were analyzed in support of RTF: (1) the 'nominal' demating from the mated interface, and (2) the SRMS performing the operation (either in an active or passive fashion). In the first operation, the demating process would replicate standard undocking operations, with the exception that the SRMS is allowed to arrest the resulting motion. The second operation would be to extend the APAS ring to a ready to dock position, open the capture latches, and then detach the vehicles using the SRMS either actively or passively. In the active case, the APAS ring is extended and latched, and the SRMS is commanded to pull the two interfaces apart (assuming that the effective pull force of the SRMS can overcome the spec values of the combined latch resistance). In the passive case, the SRMS brakes are engaged and the AP AS mechanism is commanded to retract, pulling the two interfaces apart. Since the emphasis of both STS-74 and STS-88 had solely been on the installation operation, as opposed to the separation operation, two new models required development and incorporation within simulation tools designed to analyze those scenarios. These enhancements included: (1) a detailed demating dynamics model to characterize the pusher spring characteristics during undocking, and (2) contact and mechanical system modeling of the back side of the latches to represent unlatching dynamics. This paper first provides an overview of the Monte-Carlo screening analysis for the installation (both nominal and contingency), including the variation of separation distance, misalignment conditions, SRMS joint/brake parameter characteristics, and PRCS jet combinations and corresponding thrust durations. The resulting 'optimum' solution is presented based on trade studies between predicted capture success and integrated system loads. This paper then discusses the upgrades to the APAS math model associated with the new SRMS assisted undocking technique and reviews simulation results for various options investigated for either the active and passive separation of the ISS from the Orbiter.

Space Station Remote Manipulator System↗

NASA NTRS2003

Experiments with an EVA Assistant Robot

Human missions to the Moon or Mars will likely be accompanied by many useful robots that will assist in all aspects of the mission, from construction to maintenance to surface exploration. Such robots might scout terrain, carry tools, take pictures, curate samples, or provide status information during a traverse. At NASA/JSC, the EVA Robotic Assistant (ERA) project has developed a robot testbed for exploring the issues of astronaut-robot interaction. Together with JSC's Advanced Spacesuit Lab, the ERA team has been developing robot capabilities and testing them with space-suited test subjects at planetary surface analog sites. In this paper, we describe the current state of the ERA testbed and two weeks of remote field tests in Arizona in September 2002. A number of teams with a broad range of interests participated in these experiments to explore different aspects of what must be done to develop a program for robotic assistance to surface EVA. Technologies explored in the field experiments included a fuel cell, new mobility platform and manipulator, novel software and communications infrastructure for multi-agent modeling and planning, a mobile science lab, an "InfoPak" for monitoring the spacesuit, and delayed satellite communication to a remote operations team. In this paper, we will describe this latest round of field tests in detail.

Burridge, Robert R.↗

NASA NTRS2002

Boudreaux the Robot (a.k.a. EVA Robotic Assistant)

The EVA Robotic Assistant is a prototype for an autonomous rover designed to assist human astronauts. The primary focus of the research is to explore the interaction between humans and robots, particularly in extreme environments, and to develop a software infrastructure that could be applied to any type of assistant robot, whether for planetary exploration or orbital missions. This paper describes the background and current status of the project, the types of scenarios addressed in field demonstrations, the hardware and software that comprise the current prototype, and future research plans.

Shillcutt, Kimberly↗

NASA NTRS2013

High-Temperature Adhesives for Thermally Stable Aero-Assist Technologies

Aero-assist technologies are used to control the velocity of exploration vehicles (EVs) when entering Earth or other planetary atmospheres. Since entry of EVs in planetary atmospheres results in significant heating, thermally stable aero-assist technologies are required to avoid the high heating rates while maintaining low mass. Polymer adhesives are used in aero-assist structures because of the need for high flexibility and good bonding between layers of polymer films or fabrics. However, current polymer adhesives cannot withstand temperatures above 400 C. This innovation utilizes nanotechnology capabilities to address this need, leading to the development of high-temperature adhesives that exhibit high thermal conductivity in addition to increased thermal decomposition temperature. Enhanced thermal conductivity will help to dissipate heat quickly and effectively to avoid temperature rising to harmful levels. This, together with increased thermal decomposition temperature, will enable the adhesives to sustain transient high-temperature conditions.

Eberts, Kenneth↗

NASA NTRS2009

Broad Search Solar Electric Propulsion Trajectories to Saturn with Gravity Assists

Solar electric propulsion (SEP) trajectories to Saturn using multiple gravity assists are explored for the joint NASA and ESA Titan Saturn System Mission study. Results show that these new trajectories enable greater performance compared to chemical propulsion with similar gravity assists or SEP without gravity assists. This paper describes the method used in finding these interplanetary trajectories and examines variations in the performance for different SEP systems, flight times, and flyby sequences. The benefits of the SEP trajectories for a mission to Saturn are also discussed.

Titan↗

NASA NTRS2017

The Influence of Robotic Assistance on Reducing Neuromuscular Effort and Fatigue during Extravehicular Activity Glove Use

The three-layered, pressurized space suit glove worn by Extravehicular Activity (EVA) crew members during missions commonly causes hand and forearm fatigue. The Spacesuit RoboGlove (SSRG), a Phase VI EVA space suit glove modified with robotic grasp-assist capabilities, has been developed to augment grip strength in order to improve endurance and reduce the risk of injury in astronauts. The overall goals of this study were to i) quantify the neuromuscular modulations that occur in response to wearing a conventional Phase VI space suit glove (SSG) during a fatiguing task, and ii) determine the efficacy of Spacesuit RoboGlove (SSRG) in reversing the adverse neuromuscular modulations and restoring altered muscular activity to barehanded levels. Six subjects performed a fatigue sequence consisting of repetitive dynamic-gripping interspersed with isometric grip-holds under three conditions: barehanded, wearing pressurized SSG, and wearing pressurized SSRG. Surface electromyography (sEMG) from six forearm muscles (flexor digitorum superficialis (FDS), flexor carpi radialis (FCR), flexor carpi ulnaris (FCU), extensor digitorum (ED), extensor carpi radialis longus (ECRL), and extensor carpi ulnaris (ECU)) and subjective fatigue ratings were collected during each condition. Trends in amplitude and spectral distributions of the sEMG signals were used to derive metrics quantifying neuromuscular effort and fatigue that were compared across the glove conditions. Results showed that by augmenting finger flexion, the SSRG successfully reduced the neuromuscular effort needed to close the fingers of the space suit glove in more than half of subjects during two types of tasks. However, the SSRG required more neuromuscular effort to extend the fingers compared to a conventional SSG in many subjects. Psychologically, the SSRG aided subjects in feeling less fatigued during short periods of intense work compared to the SSG. The results of this study reveal the promise of the SSRG as a grasp-assist device that can improve astronaut performance and reduce the risk of injury by offsetting neuromuscular effort. Modifications to the experimental protocol are needed, however, to improve the outcome of the neuromuscular fatigue metrics and determine the effectiveness of SSRG in increasing astronaut endurance. Nevertheless, these findings will improve the understanding of astronaut-spacesuit interaction and provide direction toward designing improved spacesuit gloves and robotic-assist devices, like the SSRG.

Madden, Kaci E.↗

NASA NTRS2017

Gravity-Assist Trajectories to the Ice Giants: An Automated Method to Catalog Mass- Or Time-Optimal Solutions

This work presents an automated method of calculating mass (or time) optimal gravity-assist trajectories without a priori knowledge of the flyby-body combination. Since gravity assists are particularly crucial for reaching the outer Solar System, we use the Ice Giants, Uranus and Neptune, as example destinations for this work. Catalogs are also provided that list the most attractive trajectories found over launch dates ranging from 2024 to 2038. The tool developed to implement this method, called the Python EMTG Automated Trade Study Application (PEATSA), iteratively runs the Evolutionary Mission Trajectory Generator (EMTG), a NASA Goddard Space Flight Center in-house trajectory optimization tool. EMTG finds gravity-assist trajectories with impulsive maneuvers using a multiple-shooting structure along with stochastic methods (such as monotonic basin hopping) and may be run with or without an initial guess provided. PEATSA runs instances of EMTG in parallel over a grid of launch dates. After each set of runs completes, the best results within a neighborhood of launch dates are used to seed all other cases in that neighborhood-allowing the solutions across the range of launch dates to improve over each iteration. The results here are compared against trajectories found using a grid-search technique, and PEATSA is found to outperform the grid-search results for most launch years considered.

Hughes, Kyle M.↗

NASA NTRS2017

Gravity-Assist Trajectories to the Ice Giants: An Automated Method to Catalog Mass-or Time-Optimal Solutions

This work presents an automated method of calculating mass (or time) optimal gravity-assist trajectories without a priori knowledge of the flyby-body combination. Since gravity assists are particularly crucial for reaching the outer Solar System, we use the Ice Giants, Uranus and Neptune, as example destinations for this work. Catalogs are also provided that list the most attractive trajectories found over launch dates ranging from 2024 to 2038. The tool developed to implement this method, called the Python EMTG Automated Trade Study Application (PEATSA), iteratively runs the Evolutionary Mission Trajectory Generator (EMTG), a NASA Goddard Space Flight Center in-house trajectory optimization tool. EMTG finds gravity-assist trajectories with impulsive maneuvers using a multiple-shooting structure along with stochastic methods (such as monotonic basin hopping) and may be run with or without an initial guess provided. PEATSA runs instances of EMTG in parallel over a grid of launch dates. After each set of runs completes, the best results within a neighborhood of launch dates are used to seed all other cases in that neighborhood---allowing the solutions across the range of launch dates to improve over each iteration. The results here are compared against trajectories found using a grid-search technique, and PEATSA is found to outperform the grid-search results for most launch years considered.

Hughes, Kyle M.↗

NASA NTRSDate not supplied

Guidance and Control Techniques for Titan Aerogravity Assist for Enceladus Observation

Enceladus is a prime scientific target due active geological features and evidence that liquid water might be present on this Saturnian moon. The surface of Enceladus is covered in active fissures known as “Tiger Stripes”. The plumes coming from these rifts were sampled by the Cassini mission, which detected carbon, hydrogen, oxygen, and nitrogen – all key signatures where life could exit. In order to access this moon, mission design using traditional fully-propulsive orbit insertion maneuvers is fuel expensive and time consuming, leading a prior study to rule traditional chemical and solar electric propulsion based missions infeasible. One alternative that enables this mission is Titan aerogravity assist, which is an aeroassist maneuver that combines atmospheric flight and gravity assist of Titan to allow a spacecraft to enter a planetary capture orbit about Saturn. This poster will look at the guidance and control techniques that are required to allow aerogravity assist to take place within Titan’s atmosphere.

Soumyo Dutta↗

NASA NTRS2020

Solar System Escape Trajectories Using Outer Planetary Gravity Assists

A broad search of outer planet gravity assist sequences reveals flyby conditions that are naturally amenable for solar system escape. The optimal flyby conditions depend on the arrival velocity at the final body and provide the maximum possible escape speed for purely ballistic sequences. Trajectories in the 2030-2060 time frame are categorized by their encounter year with an emphasis on solar system escape speed and direction. All resulting sequences require a Jupiter gravity assist, and a considerable increase in escape speed is found in trajectories that utilize an additional Saturn, Uranus, or Neptune flyby. However, these solutions are limited by their availability and range of right ascensions. All cataloged trajectories are able to escape the solar system at least 3 au/year, and the highest energy sequences are in excess of 5.5 au/year. The search space is then used to find outer planet gravity assist trajectories to Kuiper Belt Objects (KBOs), and several cases are optimized.

Lam, Try↗

NASA NTRS2022

Virtual Assistant for First Responders Using Natural Language Understanding and Optical Character Recognition

Commercial deep learning capabilities are available for many applications such as computer vision processing and intelligent chat bots. The Google Cloud Platform product Google Dialogflow provides lifelike conversational artificial intelligence (AI) using machine learning (ML) to generate natural conversations between computers and humans. This ML utilizes natural language understanding (NLU) to recognize a user’s intent and extracts key information into a form of entities. We have developed a user-friendly application through understanding the hazardous material database, first aid safety guidelines and observing the process of first responders who access this information in the field. We created the Trusted and Explainable Artificial Intelligence for Saving Lives (TruePAL) virtual assistant using Dialogflow1 and TensorFlow2 paired with EasyOCR.3 The chatbot supports first responders by providing voice interaction which helps limit additional steps such as browsing through multiple categories when searching for information. Using feedback from our field interviews, the voice interface has been developed to enable the first responder to focus on the immediate emergency. With less distractions, the first responder is able to engage the incident more effectively. The partial hands-free TruePAL chatbot assistant improves the accessibility to the correct guidance by an average of 1.9 seconds compared to the widely used application, NIH WISER, which requires full attention to operate. We combined this intelligent chatbot with a separate visual processing capability to produce hazardous signage analysis and generate the proper guidance for first responders. With the evolving functionality of AI tools, the use of virtual assistants in first responder technology will be an advancement, benefiting the safety of both first responders and civilians.

Chow, Edward↗

DOE OSTI2021

Ahtna Tribal Energy Planning and Technical Assistance Project (Final Report)

Ahtna Intertribal Resource Commission (AITRC) provided technical assistance and capacity building activities for eight (8) tribal communities in the Ahtna region to: 1. reduce energy costs; 2. improve community wildfire readiness and biomass utilization; 3. provide local food security; and 4. reduce unemployment, poverty and outmigration in the Ahtna villages. AITRC provided community education on energy needs, conservation and efficiency, issues and options, assisted the tribes in identifying appropriate renewable energy systems, and increased their capacity to implement successful energy projects that employed local tribal members. AITRC also successfully assisted the member Tribes and Alaska Native Corporations in pursuing additional funding to advance their energy goals and projects, including Tribal Resiliency Planning, community biomass heating and wood resource assessment projects, and hydroelectric.

09 BIOMASS FUELS↗

DOE OSTI2024

Microwave-assisted pyrolysis of hydrocarbons using iron-based alumina catalysts obtained via solution combustion synthesis

The demand for hydrogen is growing which makes the development of clean and efficient H2 synthesis technologies imperative. Microwave-assisted, thermocatalytic, dehydrogenation of hydrocarbons has demonstrated the ability to generate H2 with high yield and selectivity, leaving behind valuable solid carbon byproducts. However, this microwave-assisted process is unoptimized which prevents it from being utilized in industry. A critical component of optimization is the development of a catalyst that is catalytically active, a good microwave absorber, and can be regenerated for repeated dehydrogenation cycles. Previous studies that focused on plastic waste decomposition have used iron-based alumina (FeAlxOy) made via solution combustion synthesis (SCS). Unexplored is the effect of tuning SCS parameters on dehydrogenation performance, the use of these materials in hydrocarbon decomposition to H2, and the regeneration of these catalysts. This dissertation has three objectives: (1) characterize the relationship between SCS parameters and the material properties of FeAlxOy, (2) determine how differences in the material properties of FeAlxOy influence their performance as catalysts during microwave-assisted pyrolysis of fossil fuels, and (3) investigate the Boudouard reaction to regenerate the FeAlxOy post-dehydrogenation.

Chanoi, Zachary Aidan↗

DOE OSTI2024

Community Microgrid Assistance Partnership (C-MAP) [Slides]

This informational webinar, held on Nov. 11, 2024, covered the structure, technical focus, and eligibility criteria for the first Request for Proposals (RFP) released by the Community Microgrid Assistance Partnership (C-MAP). Eligible communities are invited to propose a community-based microgrid development or improvement project for funding and/or technical assistance. C-MAP is a program led by the U.S. Department of Energy Office of Electricity with management and coordination by the National Renewable Energy Laboratory. C-MAP will bring together many of the organizations that are working to understand, improve, and implement advanced microgrid energy systems in underserved and Indigenous communities in remote areas, facilitating a new forum for engagement and collaboration. Wraparound services from regional organizations will support the participating communities in microgrid operations as it relates to advancing their energy goals.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2023

New Materials and an Efficient Processing Approach for Materials for Harsh Environments – Continuous Electric Field Assisted Sintering

Electric-field assisted sintering (EFAS) is an advanced manufacturing method for the consolidation and processing of ceramic and metal materials. It is a particularly excellent candidate for efficient materials processing as it has greater than 90% energy cost savings and improved CO2 emissions compared to traditional sintering in a furnace. This is due to direct rapid heating of the materials and molds leveraging an electrification phenomenon called Joule heating where electrical current is passed through the sample/mold assemblies causing direct heating. The technique does have limitations though as it is traditionally a batch-process and suffers from scale up difficulties. To overcome this, researchers at Idaho National Laboratory changed the form factor of traditional EFAS instruments to develop and construct a continuous rolling electric-field assisted sintering (CEFAS) device. Its unique design creates highly localized electrical, thermal, and mechanical process parameters for continuous samples of limitless length. Advanced core shell powder materials were also created using fluidized powder bed atomic layer deposition of core/shell solid oxide electrochemical electrode/electrolyte BaCe0.7Zr0.1Y0.1Yb0.1O3 (BCZYYb) and yttrium doped BaZrO3 (BZY) to be a feedstock for the new CEFAS instrument. The innovative core/shell powder is hypothesized to have high protonic conductivity with enhanced environmental resistance. The completed project covers innovations in process control and design enabled by control theory, finite element modeling and mechanical design, three dimensionally printed carbon-carbon composite manufacturing and utilization, and green materials processing techniques.

36 MATERIALS SCIENCE↗