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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.

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At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

CIS-lunar space infrastructure lunar technologies: Executive summary

Technologies necessary for the creation of a cis-Lunar infrastructure, namely: (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologies, are explored. The technological focal point is on the development of automated and robotic systems for the implementation of a Lunar Oasis produced by Automation and Robotics (LOAR). Under direction from the NASA Office of Exploration, automation and robotics were extensively utilized as an initiating stage in the return to the Moon. A pair of autonomous rovers, modular in design and built from interchangeable and specialized components, is proposed. Utilizing a buddy system, these rovers will be able to support each other and to enhance their individual capabilities. One rover primarily explores and maps while the second rover tests the feasibility of various materials-processing techniques. The automated missions emphasize availability and potential uses of Lunar resources, and the deployment and operations of the LOAR program. An experimental bio-volume is put into place as the precursor to a Lunar environmentally controlled life support system. The bio-volume will determine the reproduction, growth and production characteristics of various life forms housed on the Lunar surface. Physicochemical regenerative technologies and stored resources will be used to buffer biological disturbances of the bio-volume environment. The in situ Lunar resources will be both tested and used within this bio-volume. Second phase development on the Lunar surface calls for manned operations. Repairs and re-configuration of the initial framework will ensue. An autonomously-initiated manned Lunar oasis can become an essential component of the United States space program.

Faller, W.↗
NASA NTRS1992

A doubly robotic telescope - The Berkeley Automated Supernova Search

We have designed, built, and are successfully using a completely robotic supernova search, with an automated observatory and automated real-time analysis and scheduling. This system has detected 20 supernovae so far, resulting in early supernova observations, surprising supernova rates, and new evidence against a true 'inclination effect' in galaxies.

Perlmutter, Saul↗
NASA NTRS1994

Space flight manipulator technologies and requirements for the NASA Flight Telerobotic Servicer (FTS)

NASA Headquarters' Office of Advanced Concepts and Technology (OACT) joined efforts with Johnson Space Center's (JSC) Automation and Robotics Division and Langley Research Center's (LaRC) Information Systems Division to capture the technologies developed during the cancelled NASA Flight Telerobotic Servicer (FTS) program planned for use on Space Station Freedom. The recent FTS technology capture effort completed the build and testing of one flight qualifiable FTS manipulator, deliverable to JSC's Automation & Robotics Division for environmental testing. The many robotic technologies developed to meet the 30 year space environment design requirements are discussed in this paper. The manipulator properties were to allow positioning control to one thousandths of an inch, with zero actuator backlash over a temperature range of -50 to +95 C, and were to include impedance control and inertial decoupling. Safety and reliability requirements are discussed that were developed to allow a thirty year life in space with minimum maintenance. The system had to meet the safety requirements for hazardous payloads for operation in the shuttle payload bay during demonstration test flights prior to station use. A brief description is contained on an orbiter based robotic experiment and operational application using the dexterous FTS manipulator operating on the end of the shuttle remote manipulator systems (SRMS) from ground control.

Chladek, John T.↗
NASA NTRSDate not supplied

Firmware Architecture of the ARMADAS Bolting Robot

The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) project, under development at NASA Ames Research Center, has demonstrated on-ground autonomous robotic assembly of extensive digital structures, and it is now moving forward towards in-space demonstration. The ARMADAS system comprises of the operation software, the operation user interface (opsUI), and a swarm of robots. The robotic system consists of a multitude of collaborative agents specifically designed to transport, place and bolt the building blocks, called voxels (volumetric pixels). This paper focuses on the bolting robot, referred to as Mobile Metamaterial Internal Co-Integrator (MMIC-I). MMIC-I is a battery-powered crawling robot. It navigates the structure through extension, contraction and gripping. Two distinct controller boards operate the robot's two symmetric modules, referred to as module A and B. Board A is the master board: it coordinates motion planning and motion primitives execution, hosts the WiFi client, performs periodic self-assessment and system idle check and triggers faults if anomalies are detected. Board B periodically sends a heartbeat to board A, through a wired communication channel that uses the Serial protocol. Additionally, board A's WiFi client receives heartbeat packet requests or motion/bolting commands from a dedicated server board, and acknowledges reception sending back a response heartbeat packet containing information about the overall robot status, e. g. electrical current and voltage values, target and actual angles, operating mode, fault status. Whenever a motion command is sent, the motion planning section of the firmware determines the current robot configuration, using Inertial Measurement Unit readings and the motors Pulse Width Modulation values. Afterwards, it calculates the list of primitives needed to reach the target state, and controls their execution in the proper order. MMIC-I can receive and execute motion and bolting commands only when it is in operational mode. MMIC-I has three operating modes: standby, operational and safed. Standby mode is automatically entered upon startup. While in standby mode, all motors are powered off, and the only accepted commands are the ones relative to a change of mode and heartbeat packet request. Fault detection causes the robot to automatically enter safed or standby mode. Whenever the detected fault occurs within a motion and requires immediate intervention, e. g. an over-current situation, the robot enters safed mode. Safed mode powers off all motors except for the locomotion module, thus preventing the robot from collapsing. Conversely, when the detected fault doesn't require immediate intervention (low battery warning, for instance), the robot enters standby mode after completing the ongoing motion. This paper provides a detailed discussion of MMIC-I's firmware architecture. It accurately describes the implementation approach for each module: sensor data reading, motor control and actuation, WiFi server-client communication, intra-boards Serial communication, operating modes and autonomous fault detection, motion planning, coordination and execution, etc. Moreover, in support of the software description, this paper includes a thorough characterization of MMIC-I's hardware and avionics.

In-space assembly↗
NASA NTRS1992

An experiment in vision based autonomous grasping within a reduced gravity environment

The National Aeronautics and Space Administration's Reduced Gravity Program (RGP) offers opportunities for experimentation in gravities of less than one-g. The Extravehicular Activity Helper/Retriever (EVAHR) robot project of the Automation and Robotics Division at the Lyndon B. Johnson Space Center in Houston, Texas, is undertaking a task that will culminate in a series of tests in simulated zero-g using this facility. A subset of the final robot hardware consisting of a three-dimensional laser mapper, a Robotics Research 807 arm, a Jameson JH-5 hand, and the appropriate interconnect hardware/software will be used. This equipment will be flown on the RGP's KC-135 aircraft. This aircraft will fly a series of parabolas creating the effect of zero-g. During the periods of zero-g, a number of objects will be released in front of the fixed base robot hardware in both static and dynamic configurations. The system will then inspect the object, determine the objects pose, plan a grasp strategy, and execute the grasp. This must all be accomplished in the approximately 27 seconds of zero-g.

Grimm, K. A.↗
NASA NTRS1983

NASA research in teleoperation and robotics

Increased automation is necessary in future NASA missions. Drivers for automation include constrained funding and physical resources as well as mission capabilities not achievable through conventional means. The application of emerging technology in manipulators and machine intelligence will enable the development of robotic devices remotely commanded by human operators to increase man's productivity in space. The Office of Aeronautics and Space Technology (OAST) has established a program for research in teleoperation and robotics. The program's near-term focus is a Remote Orbital Servicing System (ROSS). The longer range goals include: (1) basic research in autonomous operations, (2) human factors research on the man-machine interface to remote systems, and (3) system integration and analysis of advanced concepts. This paper reviews the current NASA research and technology and considers future work needed to meet the OAST goals.

Meintel, A. J., Jr.↗
NASA NTRS1985

The role of robotics in space system operations

The role of automation and robotics in support of man's activities in space is discussed, with emphasis given to satellite servicing functions on board the NASA Space Station (SS) or at remote locations. Consideration is given to four satellite servicing mission scenarios, including: low-earth-orbit (LEO) servicing of satellite in situ or on the Space Station following orbital transfer by means of an Orbital Maneuvering Vehicle (OMV); in situ servicing of a free-flying coorbiting materials processing platform; repair/refurbishment of Space Station payloads of substations; an in situ servicing of geostationary satellites by means of an Orbital Transfer Vehicle (OTV). The potential applications of three different automation technologies are examined, including: teleoperation; robotics; and artificial intelligence. Consideration is also given to the potential applications of the Space Station data system in support of servicing activities. A list of the more common terms of automation technology is provided.

Meissinger, H. F.↗
NASA NTRS1987

Systems autonomy technology: Executive summary and program plan

The National Space Strategy approved by the President and Congress in 1984 sets for NASA a major goal of conducting effective and productive space applications and technology programs which contribute materially toward United States leadership and security. To contribute to this goal, OAST supports the Nation's civil and defense space programs and overall economic growth. OAST objectives are to ensure timely provision of new concepts and advanced technologies, to support both the development of NASA missions in space and the space activities of industry and other organizations, to utilize the strengths of universities in conducting the NASA space research and technology program, and to maintain the NASA centers in positions of strength in critical space technology areas. In line with these objectives, NASA has established a new program in space automation and robotics that will result in the development and transfer and automation technology to increase the capabilities, productivity, and safety of NASA space programs including the Space Station, automated space platforms, lunar bases, Mars missions, and other deep space ventures. The NASA/OAST Automation and Robotics program is divided into two parts. Ames Research Center has the lead role in developing and demonstrating System Autonomy capabilities for space systems that need to make their own decisions and do their own planning. The Jet Propulsion Laboratory has the lead role for Telerobotics (that portion of the program that has a strong human operator component in the control loop and some remote handling requirement in space). This program is intended to be a working document for NASA Headquarters, Program Offices, and implementing Project Management.

Bull, John S↗
NASA NTRS1986

Advanced operator/system interface concepts for the Space Station

Concepts and data developed as part of the Preliminary Space Station Automation and Robotics Plan are reviewed as well as candidate selection criteria, technology assessments, and preliminary candidate recommendations. A need for development of advanced operator/systems interface (OSI) concepts to support future Space Station automation and robotics applications is identified. Four candidate applications, illustrating the potential benefits of an advanced OSI, are described. These include: (1) a conversational OSI system, (2) a laboratory experiment manipulator system, (3) a module safety advisor, and (4) an integrated maintenance/training system. These specific automation and robotics applications are expected to occur relatively early in the growth of the Space Station and to provide significant commercial and station benefits throughout the life of the station.

Case, C. M.↗
NASA NTRS1990

Summary of astronaut inputs concerning automation

An assessment of the potential for increased productivity on Space Station Freedom through advanced automation and robotics was recently completed. Sponsored by the Office of Space Station, the study involved reviews of on-orbit operations experience documentation, interviews with 23 current and former astronauts/payload specialists as well as other NASA and contractor personnel, and a survey of 32 astronauts and payload specialists. Assessed areas of related on-orbit experience included Skylab, space shuttle, Spacelab, and the Soviet space program, as well as the U.S. nuclear submarine program and Antarctic research stations analogs. The survey questionnaire asked the respondents to rate the desirability of advanced automation, EVA robotics, and IVA robotics. They were also asked to rate safety impacts of automated fault diagnosis, isolation, and recovery (FDIR); automated exception reporting and alarm filtering; and an EVA retriever. The respondents were also asked to evaluate 26 specific applications of advanced automation and robotics related to perceived impact on productivity.

Weeks, David J.↗
NASA NTRS2018

Automating Test Procedures Using Robot Software

This paper will discuss the project I was assigned during the 2018 Spring semester NIFS internship, what the project does for NASA, and what I contributed to the project. It will begin with a broad analysis of the types of software I worked on and how they were used to complete the project. Then, it will narrow in scope to concentrate on the group and parts of NASA assigned the project. Next, it will pay attention to the project itself and how it worked. After that, it will focus on my direct contributions to the project. Lastly, a few personal experiences I encountered to make my internship relatable. The initial points discussed will be an introduction to the basics of automated testing and the types of software used. Next, I will briefly discuss why these tools were chosen and whether or not they can be improved. Then, a look at where my group fits into the hierarchy of NASA, what the group working on my project did for NASA, and who were the entities working together for this project. Afterwards, a review of my involvement in the program, my development as an individual, and my new skills and abilities. Finally, a sense of involvement with the community through personal development will be demonstrated using unique experiences only available to me through this internship..

SikuliX↗
NASA NTRS1996

Mission simulation as an approach to develop requirements for automation in Advanced Life Support Systems

This paper examines mission simulation as an approach to develop requirements for automation and robotics for Advanced Life Support Systems (ALSS). The focus is on requirements and applications for command and control, control and monitoring, situation assessment and response, diagnosis and recovery, adaptive planning and scheduling, and other automation applications in addition to mechanized equipment and robotics applications to reduce the excessive human labor requirements to operate and maintain an ALSS. Based on principles of systems engineering, an approach is proposed to assess requirements for automation and robotics using mission simulation tools. First, the story of a simulated mission is defined in terms of processes with attendant types of resources needed, including options for use of automation and robotic systems. Next, systems dynamics models are used in simulation to reveal the implications for selected resource allocation schemes in terms of resources required to complete operational tasks. The simulations not only help establish ALSS design criteria, but also may offer guidance to ALSS research efforts by identifying gaps in knowledge about procedures and/or biophysical processes. Simulations of a planned one-year mission with 4 crewmembers in a Human Rated Test Facility are presented as an approach to evaluation of mission feasibility and definition of automation and robotics requirements.

NASA Discipline Number 61-10↗
NASA NTRS1990

A&R challenges for in-space operations

Automation and robotics (A&R) challenges for in-space operations are examined, with emphasis on the interaction between developing requirements, developing solutions, design concepts, and the nature of the applicability of automation in robotic technologies. Attention is first given to the use of A&R in establishing outposts on the moon and Mars. Then emphasis is placed on the requirements for the assembly of transportation systems in low earth orbit. Concepts of the Space Station which show how the assembly, processing, and checkout of systems in LEO might be accommodated are examined.

Underwood, James↗
NASA NTRS1985

Testimony of Robert A. Frosch before the Subcommittee on HUD and Independent Agencies of the Senate Committee on Appropriations

An agreement between NASA and the Congress was arranged as part of the activities supporting the establishment of NASA Policy on Automation and Robotics for the space station. This agreement is dicussed. A panel brought together experts from industry, universities, national laboratories, other government agencies, and NASA to perform an independent study of how NASA could use automation and robotics in the space station in ways that would be most useful to carrying out the mission of the station, and that would lead to useful benefits to the U.S. economy and industry on the ground.

Frosch, R. A.↗
NASA NTRS1987

Orbital transfer vehicle concept definition and system analysis study. Volume 4, Appendix A: Space station accommodations. Revision 1

Orbit Transfer Vehicle (OTV) processing at the space station is divided into two major categories: OTV processing and assembly operations, and support operations. These categories are further subdivided into major functional areas to allow development of detailed OTV processing procedures and timelines. These procedures and timelines are used to derive the specific space station accommodations necessary to support OTV activities. The overall objective is to limit impact on OTV processing requirements on space station operations, involvement of crew, and associated crew training and skill requirements. The operational concept maximizes use of automated and robotic systems to perform all required OTV servicing and maintenance tasks. Only potentially critical activities would require direct crew involvement or supervision. EVA operations are considered to be strictly contingency back-up to failure of the automated and robotic systems, with the exception of the initial assembly of Space-Based OTV accommodations at the space station, which will require manned involvement.

Randall, Roger M.↗
NASA NTRS1987

Technology - The basis for the past, the key to the future

The relationship between new technology and space missions, and the objectives of the Civil Space Technology Initiative (CSTI) are studied. The CSTI is concerned with technologies for safe and efficient access to space, earth-orbiting operations, and future science missions. The initiative focuses on research in the areas of propulsion, vehicles, information systems, large space structures and their control, power, and automation and robotics. Consideration is given to the development of high-performance engines for next-generation vehicles, booster technology for hybrid and pressure-fed propulsion systems, and a space OTV based on the aerobrake concept. Research involved with the application of automation and robotics to earth-orbiting operations are discussed. The control of flexible structure flight experiment, the use of nuclear systems for space propulsion, and the development of sensor devices and high-rate, high-capacity data systems are examined.

Harris, Leonard A.↗
NASA NTRS1987

NASA Systems Autonomy Demonstration Project - Development of Space Station automation technology

A 1984 Congressional expansion of the 1958 National Aeronautics and Space Act mandated that NASA conduct programs, as part of the Space Station program, which will yield the U.S. material benefits, particularly in the areas of advanced automation and robotics systems. Demonstration programs are scheduled for automated systems such as the thermal control, expert system coordination of Station subsystems, and automation of multiple subsystems. The programs focus the R&D efforts and provide a gateway for transfer of technology to industry. The NASA Office of Aeronautics and Space Technology is responsible for directing, funding and evaluating the Systems Autonomy Demonstration Project, which will include simulated interactions between novice personnel and astronauts and several automated, expert subsystems to explore the effectiveness of the man-machine interface being developed. Features and progress on the TEXSYS prototype thermal control system expert system are outlined.

Bull, John S.↗
NASA NTRS1993

An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation.

Lindley, Craig A.↗