SEARCH · Search NASA
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Advances in robotic automation, high-performance computing, and artificial intelligence encourage us to propose large, general-purpose science factories with the scale needed to tackle large discovery problems and to support thousands of scientists.
Large-scale electrification is vital to addressing the climate crisis, but several scientific and technological challenges remain to fully electrify both the chemical industry and transportation. In both of these areas, new electrochemical materials will be critical, but their development currently relies heavily on human-time-intensive experimental trial and error and computationally expensive first-principles, meso-scale and continuum simulations. To accelerate this process, our team has developed the AutoMat platform. AutoMat can accelerate development of new electrochemical materials along two avenues: first, automated input generation and management of simulations at multiple lengthscales as well as “handoff” of outputs from one lengthscale as inputs to the next; and second, replacement of the most computationally intensive simulation processes with machine-learned surrogate models. The crux of our team’s effort was not “reinventing the wheel” by developing entirely new techniques, but rather building a “superhighway” that allows existing state-of-the-art techniques to run faster and more smoothly than before. AutoMat can utilize tools spanning from first-principles quantum chemistry computations to automated robotic experimentation, and is driven by design space search techniques to reduce the number of iterations through the full simulation loop by rapidly targeting promising regions of design spaces such as single-atom alloy catalysts or blends of liquid electrolytes.
The problems of interfacing a human with a teleoperation system, for work in space are discussed. Much of the information presented here is the result of experience gained by the M.I.T. Space Systems Laboratory during the past two years of work on the ARAMIS (Automation, Robotics, and Machine Intelligence Systems) project. Many factors impact the design of the man-machine interface for a teleoperator. The effects of each are described in turn. An annotated bibliography gives the key references that were used. No conclusions are presented as a best design, since much depends on the particular application desired, and the relevant technology is swiftly changing.
Optical correlator uses commercially-available liquid-crystal television (LCTV) screen as spatial light modulator. Correlations with this device done at video frame rates, making such operations as bar-code recognition possible at reasonable cost. With further development, such correlator useful in automation, robotic vision, and optical image processing.
A concept of nested hierarchical (multi-resolutional, pyramidal) information (knowledge) processing is introduced for a variety of systems including data and/or knowledge bases, vision, control, and manufacturing systems, industrial automated robots, and (self-programmed) autonomous intelligent machines. A set of practical recommendations is presented using a case study of a multiresolutional object representation. It is demonstrated here that any intelligent module transforms (sometimes, irreversibly) the knowledge it deals with, and this tranformation affects the subsequent computation processes, e.g., those of decision and control. Several types of knowledge transformation are reviewed. Definite conditions are analyzed, satisfaction of which is required for organization and processing of redundant information (knowledge) in the multi-resolutional systems. Providing a definite degree of redundancy is one of these conditions.
The discipline of vacuum mechatronics is defined as the design and development of vacuum-compatible computer-controlled mechanisms for manipulating, sensing and testing in a vacuum environment. The importance of vacuum mechatronics is growing with an increased application of vacuum in space studies and in manufacturing for material processing, medicine, microelectronics, emission studies, lyophylisation, freeze drying and packaging. The quickly developing field of vacuum mechatronics will also be the driving force for the realization of an advanced era of totally enclosed clean manufacturing cells. High technology manufacturing has increasingly demanding requirements for precision manipulation, in situ process monitoring and contamination-free environments. To remove the contamination problems associated with human workers, the tendency in many manufacturing processes is to move towards total automation. This will become a requirement in the near future for e.g., microelectronics manufacturing. Automation in ultra-clean manufacturing environments is evolving into the concept of self-contained and fully enclosed manufacturing. A Self Contained Automated Robotic Factory (SCARF) is being developed as a flexible research facility for totally enclosed manufacturing. The construction and successful operation of a SCARF will provide a novel, flexible, self-contained, clean, vacuum manufacturing environment. SCARF also requires very high reliability and intelligent control. The trends in vacuum mechatronics and some of the key research issues are reviewed.
The implications on the evolutionary space station of accommodating geosynchronous Earth Orbit (GEO) facilities are assessed. These facilities include unmanned satellites and platforms, manned elements, and transportation and servicing vehicles/elements. The latest existing definitions of typical unmanned GEO facilities and transportation and servicing vehicles/elements are utilized. The physical design, functional design, and operations implications at the space station are determined. Various concepts of the space station from past studies are utilized ranging from the IOC Multifunction Space Station to a branched transportation node space station and the implications of accommodating the GEO infrastructure at each type are assessed. Where possible, parametric data is provided to show the implications of variations in sizes and quantities of elements, launch rates, crew sizes, etc. The use of advanced automation, robotics equipment, and an efficient mix of manned/automated support for accomplishing necessary activities at the space station are identified and assessed. The products of this study are configuration sketches, resource requirements, trade studies, and parametric data.
The implications on the evolutionary space station of accommodating geosynchronous Earth Orbit (GEO) facilities including unmanned satellites and platforms, manned elements, and transportation and servicing vehicles/elements. The latest existing definitions of typical unmanned GEO facilities and transportation and servicing vehicles/elements are utilized. The physical design, functional design, and operations implications at the space station are determined. Various concepts of the space station from past studies are utilized ranging from the IOC Multifunction Space Station to a branched transportation node space station, and the implications of the accommodation the GEO infrastructure of each type are assessed. Where possible, parametric data are provided to show the implications of variations in sizes and quantities of elements, launch rates, crew sizes, etc. The use of advanced automation, robotics equipment, and an efficient mix of manned/automated support for accomplishing necessary activities at the space station are identified and assessed. The products of this study are configuration sketches, resource requirements, trade studies, and parametric data.
The present symposium on living and working in space encompasses the physiological responses of humans in space and biomedical support for the conditions associated with space travel. Specific physiological issues addressed include cerebral and sensorimotor functions, effects on the cardiovascular and respiratory system, musculoskeletal system, body fluid, hormones and electrolytes, and some orthostatic hypotension mechanisms as countermeasures. The biomedical support techniques examined include selection training, and care, teleoperation and artificial intelligence, robotic automation, bioregenerative life support, and toxic hazard risks in space habitats. Also addressed are determinants of orientation in microgravity, the hormonal control of body fluid metabolism, integrated human-machine intelligence in space machines, and material flow estimation in CELSS.
Development and application of telerobotics technology for the enhancement of the quality of the Air Logistic Centers (ALC) repair and remanufacturing processes is described. Telerobotics provides the means for bridging the gap between manual operation and full automation. The Robotics and Automation Center for Excellence (RACE) initiated the Unified Telerobotics Architecture Project (UTAP) to support the development and application of telerobotics for depot operation.
It is common practice to use split sleeve coldworking of fastener holes as a means of extending the fatigue life of metal structures. In search of lower manufacturing costs, the aerospace industry is examining the split mandrel (sleeveless) coldworking process as an alternative method of coldworking fastener holes in metal structures. The split mandrel process (SpM) significantly extends the fatigue life of metal structures through the introduction of a residual compressive stress in a manner that is very similar to the split sleeve system (SpSl). Since the split mandrel process is significantly less expensive than the split sleeve process and more adaptable to robotic automation, it will have a notable influence upon other new manufacture of metal structures which require coldworking a significant number of holes, provided the aerospace community recognizes that the resulting residual stress distributions and fatigue life improvement are the same for both processes. Considerable testing has validated the correctness of that conclusion. The findings presented in this paper represent the results of an extensive research and development program, comprising data collected from over 400 specimens fabricated from 2024-T3 and 7075-T651 aluminum alloys in varied configurations, which quantify the benefits (fatigue enhancement and cost savings) of automating a sleeveless coldworking system.
The Simplified Aid for EVA Rescue (SAFER) is a small propulsive backpack that was developed as an in-house effort at Johnson Space Center; it is a lightweight system which attaches to the underside of the Primary Life Support Subsystem (PLSS) backpack of the Extravehicular Mobility Unit (EMU). SAFER provides full six-axis control, as well as Automatic Attitude Hold (AAH), by means of a set of cold-gas nitrogen thrusters and a rate sensor-based control system. For compactness, a single hand controller is used, together with mode switching, to command all six axes. SAFER was successfully test-flown on the STS-64 mission in September 1994 as a Development Test Objective (DTO); development of an operational version is now proceeding. This version will be available for EVA self-rescue on the International Space Station and Mir, starting with the STS-86/Mir-7 mission in September 1997. The DTO SAFER was heavily instrumented, and produced in-flight data that was stored in a 12 MB computer memory on-board. This has allowed post-flight analysis to yield good estimates for the actual mass properties (moments and products of inertia and center of mass location) encountered on-orbit. By contrast, Manned Maneuvering Unit (MMU) post-flight results were generated mainly from analysis of video images, and so were not very accurate. The main goal of the research reported here was to use the detailed SAFER on-orbit mass properties data to optimize the design of future EVA maneuvering systems, with the aim being to improve flying qualities and/or reduce propellant consumption. The Automation, Robotics and Simulation Division Virtual Reality (VR) Laboratory proved to be a valuable research tool for such studies. A second objective of the grant was to generate an accurate dynamics model in support of the reflight of the DTO SAFER on STS-76/Mir-3. One complicating factor was the fact that a hand controller stowage box was added to the underside of SAFER on this flight; the position of this box was such that two of the SAFER jets plume it. A second complication was that the EVA astronaut will sometimes be transporting a massive experiment package. This will not only alter the overall mass properties significantly, but can itself also be plumed.
As the NASA Center responsible for assembly, checkout, servicing, launch, recovery, and operational support of Space Transportation System elements and payloads, the John F. Kennedy Space Center is placing increasing emphasis on its advanced technology development program. This program encompasses the efforts of the Engineering Development Directorate laboratories, most of the KSC operations contractors, academia, and selected commercial industries - all working in a team effort within their own areas of expertise. This edition of the Kennedy Space Center Research and Technology 1995 Annual Report covers efforts of all these contributors to the KSC advanced technology development program, as well as technology transfer activities. Major areas of research include environmental engineering, automation, robotics, advanced software, materials science, life sciences, mechanical engineering, nondestructive evaluation, and industrial engineering.
A summary of recent composite structures and materials research at NASA Langley Research Center is presented. Fabrication research to develop low-cost automated robotic fabrication procedures for thermosetting and thermoplastic composite materials, and low-cost liquid molding processes for preformed textile materials is described. Robotic fabrication procedures discussed include ply-by-ply, cure-on-the-fly heated placement head and out-of-autoclave electron-beam cure methods for tow and tape thermosetting and thermoplastic materials. Liquid molding fabrication processes described include Resin Film Infusion (RFI) Resin Transfer Molding (RTM) and Vacuum-Assisted Resin Transfer Molding (VARTM). Results for a full-scale composite wing box are summarized to identify the performance of materials and structures fabricated with these low-cost fabrication methods.
This report documents the scientific activities that took place at the Acqua Alta Oceanographic Tower (AAOT) in the northern Adriatic Sea off the coast of Italy from 2-6 August 1999. The ultimate objective of the field campaign was to evaluate the capabilities of a new instrument called the SeaWiFS Photometer Revision for Incident Surface Measurements (SeaPRISM). SeaPRISM is based on a CE-318 sun photometer made by CIMEL Electronique (Paris, France). The CE-318 is an automated, robotic system which measures the direct sun irradiance plus the sky radiance in the sun plane and in the almucantar plane. The data are transmitted over a satellite link, and this remote operation capability has made the device very useful for atmospheric measurements. The revision to the CE-318 that makes the instrument potentially useful for SeaWiFS calibration and validation activities is to include a capability for measuring the radiance leaving the sea surface in wavelengths suitable for the determination of chlorophyll a concentration. The initial evaluation of this new capability involved above- and in-water measurement protocols. An intercomparison of the water-leaving radiances derived from SeaPRISM and an in-water system showed the overall spectral agreement was approximately 8.6%, but the blue-green channels intercompared at the 5% level. A blue-green band ratio comparison was at the 4% level.
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.
This procedure communicates to the Customers of the Automation, Robotics and Simulation Division (AR&SD) Dynamics Systems Test Branch (DSTB) how to obtain services of the Six-Degrees-Of-Freedom Dynamic Test System (SDTS). The scope includes the major communication documents between the SDTS and its Customer. It established the initial communication and contact points as well as provides the initial documentation in electronic media for the customer. Contact the SDTS Manager (SM) for the names of numbers of the current contact points.
As robotic arms are becoming increasingly common alongside humans as collaborative robots, their high precision in motion enables tasks to be performed at significantly higher speeds with reduced disruption in the environment. The Fermi National Accelerator Laboratory is exploring this application by incorporating a UR16e from Universal Robots in a cleanroom setting during assembly of couplers to superconducting radio frequency cavities as part of the PIP-II project. The goal of the robotic assembly process is to precisely position the UR16e robot so that the coupler flange, mounted on the robot’s end-effector, is accurately aligned with and pressed against the cavity flange, requiring only final fastening by a lab technician. This thesis builds upon an initial system in which the robotic process was limited to the alignment phase using position-based visual servoing with an eye-in-hand camera to only align the coupler to the cavity with an offset distance. The objective of this thesis is to further advance autonomous robotic assembly by extending the process. To this end, the entire software framework was reconstructed, as the previous development environment posed significant challenges in modifying the software and adapting to hardware changes. The main contributions of this thesis are as follows: (i) a modular and scalable software framework based on ROS~2 was developed to facilitate performance expansion and interchangeability of software and hardware components; (ii) the desired alignment position for position-based visual servoing was parameterized to enable flexible configuration; and (iii) a methodology was developed to close the offset distance between the coupler and cavity utilizing the internal force-torque sensing capability of the UR16e, as visual feedback is not available during the offset-closing phase. The proposed autonomous robotic assembly reduces assembly time and technician involvement, thereby minimizing the risk of airborne particulate contamination, which is essential in the cleanroom setting. Moreover, the ROS~2-based framework provides a foundation for further expansion and continued advancement of robotic automation in Fermilab.