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DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

NASA NTRSDate not supplied

Automated Multi-Robot Assembly of Compliance Optimized Structures

Autonomous assembly of large structures is one of the fundamental challenges on the way towards NASA’s objectives of deep space exploration. In this work, we propose an algorithmic framework to optimize the assembly process of a prescribed target structure by constraining the assembly effort as well as maintaining structural soundness throughout the process. This framework uses structural topology optimization with assembly effort metrics to generate checkpoints for robotic traversal algorithms. Assembly effort is quantified by the Wasserstein metric between consecutive structural configurations during the assembly process. The robotic assembly task is split into two subtasks, where we first optimize for a set of key frames, then perform reconfiguration between consecutive frames. Key frames are optimized by adopting topology optimization techniques to reduce assembly effort and maintain structural integrity during the assembly process, while reconfiguration between key frames is performed using a path planning algorithm with a minimum weight maximum matching approach on a bipartite graph. We employ a Crystalline robot model in which each structural element is capable of locomotion through the structure and locking into place with neighboring elements after reaching its destination. An example assembly of a two-dimensional cantilever beam under volume constraints and structural compliance considerations is presented to demonstrate the approach. Finally, we conclude by discussing possible future extensions to this work, including adoption of better metrics, extension to three-dimensional large-scale problems, and exacting finer control of structural integrity during the path-planning phase.

robotic assembly↗

NASA NTRS1993

RACE pulls for shared control

Maintaining and supporting an aircraft fleet, in a climate of reduced manpower and financial resources, dictates effective utilization of robotics and automation technologies. To help develop a winning robotics and automation program the Air Force Logistics Command created the Robotics and Automation Center of Excellence (RACE). RACE is a command wide focal point. Race is an organic source of expertise to assist the Air Logistic Center (ALC) product directorates in improving process productivity through the judicious insertion of robotics and automation technologies. RACE is a champion for pulling emerging technologies into the aircraft logistic centers. One of those technology pulls is shared control. Small batch sizes, feature uncertainty, and varying work load conspire to make classic industrial robotic solutions impractical. One can view ALC process problems in the context of space robotics without the time delay. The ALC's will benefit greatly from the implementation of a common architecture that supports a range of control actions from fully autonomous to teleoperated. Working with national laboratories and private industry, we hope to transition shared control technology to the depot floor. This paper provides an overview of the RACE internal initiatives and customer support, with particular emphasis on production processes that will benefit from shared control technology.

Leahy, M. B., Jr.↗

NASA NTRS1992

Person-like intelligent systems architectures for robotic shared control and automated operations

An approach to rendering robotic systems as 'personlike' as possible to achieve needed capabilities is outlined. Human characteristics such as knowledge, motivation, know-how, performance, achievement and individual differences corresponding to propensities and abilities can be supplied, within limits, with computing software and hardware to robotic systems provided with sufficiently rich sensory configurations. Pushing these limits is the developmental path for more and more personlike robotic systems. The portions of the Person Concept that appear to be most directly relevant to this effort are described in the following topics: reality concepts (the state-of-affairs system and descriptive formats, behavior as intentional action, individual persons (person characteristics), social patterns of behavior (social practices), and boundary conditions (status maxims). Personlike robotic themes and considerations for a technical development plan are also discussed.

Erickson, Jon D.↗

NASA NTRS2018

Human-Automation Allocations for Current Robotic Space Operations: Space Station Remote Manipulator System

NASA’s Human Research Program’s Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) delineates the uncertainty surrounding crew work with automation and robotics in spaceflight. HARI is concerned with detrimental effects of ineffective user interfaces, system designs and/or functional task allocation on crew performance, potentially compromising mission success and safety. This risk arises because of limited experience with complex automation and robotics in spaceflight. One key knowledge gap within the HARI risk is related to function allocation.

Chang, Mai Lee↗

NASA NTRS1991

NASA Goddard Space Flight Center Robotic Processing System Program Automation Systems, volume 2

Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form. Some of the areas covered include: (1) mission requirements; (2) automation management system; (3) Space Transportation System (STS) Hitchhicker Payload; (4) Spacecraft Command Language (SCL) scripts; (5) SCL software components; (6) RoMPS EasyLab Command & Variable summary for rack stations and annealer module; (7) support electronics assembly; (8) SCL uplink packet definition; (9) SC-4 EasyLab System Memory Map; (10) Servo Axis Control Logic Suppliers; and (11) annealing oven control subsystem.

Dobbs, M. E.↗

NASA NTRS1992

Guidelines and rules for automated assembly by robots in space

The development of an expert system for a 'Mechanical Design System' is discussed. Two different implementation approaches are described. One is coded in C, and the other is realized by a software package - 'Exsys.' The first method has the advantage of greater flexibility and quicker responses, while the latter one is easier to develop. This report discusses the feasible ways to establish a real mechanical intelligent design system applying artificial intelligence techniques so that the products designed by this system could best meet the requirements for space assembly.

Srivastava, Sadanand↗

NASA NTRS1990

The mobile servicing system

Viewgraphs on the mobile servicing system (MSS) are presented. Topics covered include: MSS overall configuration; MSS (space segment) hierarchy; functional requirements for special purpose dexterous manipulator (SPDM); SPDM configuration; objective of advanced technology development basic requirements for advanced technology; automation and robotics technologies MSS baseline; and automation and robotics technologies planned for incorporation.

Hunter, David G.↗

NASA NTRS1994

Technology transfer and evaluation for Space Station telerobotics

The international space station (SS) must take advantage of advanced telerobotics in order to maximize productivity and safety and to reduce maintenance costs. The Automation and Robotics Division at the NASA Lyndon B. Johnson Space Center (JSC) has designed, developed, and constructed the Automated Robotics Maintenance of Space Station (ARMSS) facility for the purpose of transferring and evaluating robotic technology that will reduce SS operation costs. Additionally, JSC had developed a process for expediting the transfer of technology from NASA research centers and evaluating these technologies in SS applications. Software and hardware system developed at the research centers and NASA sponsored universities are currently being transferred to JSC and integrated into the ARMSS for flight crew personnel testing. These technologies will be assessed relative to the SS baseline, and, after refinements, those technologies that provide significant performance improvements will be recommended as upgrades to the SS. Proximity sensors, vision algorithms, and manipulator controllers are among the systems scheduled for evaluation.

Price, Charles R.↗

NASA NTRS1987

Vision technology/algorithms for space robotics applications

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed.

Krishen, Kumar↗

NASA NTRS1989

Cislunar space infrastructure: Lunar technologies

Continuing its emphasis on the creation of a cisluar infrastructure as an appropriate and cost-effective method of space exploration and development, the University of Colorado explores the technologies necessary for the creation of such an infrastructure, namely (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologes. 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 (LOARS). Under direction from the NASA Office of Exploration, automation and robotics have been 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. Physiochemical 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 reconfiguration of the initial framework will ensue. An autonomously initiated, manned Lunar Oasis can become an essential component of the United States space program. The Lunar Oasis will provide support to science, technology, and commerce. It will enable more cost-effective space exploration to the planets and beyond.

W. Faller↗

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.↗