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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Living and Working in Space; IAA Man in Space Symposium, 9th, Cologne, Federal Republic of Germany, June 17-21, 1991, Selection of Papers

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.

Klein, Karl E.↗
NASA NTRS2006

Experimental Demonstration of Technologies for Autonomous On-Orbit Robotic Assembly

The Modular Reconfigurable High Energy (MRHE) program aimed to develop technologies for the automated assembly and deployment of large-scale space structures and aggregate spacecraft. Part of the project involved creation of a terrestrial robotic testbed for validation and demonstration of these technologies and for the support of future development activities. This testbed was completed in 2005, and was thereafter used to demonstrate automated rendezvous, docking, and self-assembly tasks between a group of three modular robotic spacecraft emulators. This paper discusses the rationale for the MRHE project, describes the testbed capabilities, and presents the MRHE assembly demonstration sequence.

LeMaster, Edward A.↗
NASA NTRS2000

Model Checking JAVA Programs Using Java Pathfinder

This paper describes a translator called JAVA PATHFINDER from JAVA to PROMELA, the "programming language" of the SPIN model checker. The purpose is to establish a framework for verification and debugging of JAVA programs based on model checking. This work should be seen in a broader attempt to make formal methods applicable "in the loop" of programming within NASA's areas such as space, aviation, and robotics. Our main goal is to create automated formal methods such that programmers themselves can apply these in their daily work (in the loop) without the need for specialists to manually reformulate a program into a different notation in order to analyze the program. This work is a continuation of an effort to formally verify, using SPIN, a multi-threaded operating system programmed in Lisp for the Deep-Space 1 spacecraft, and of previous work in applying existing model checkers and theorem provers to real applications.

Havelund, Klaus↗
NASA NTRS1989

Machine learning in motion control

The existing methodologies for robot programming originate primarily from robotic applications to manufacturing, where uncertainties of the robots and their task environment may be minimized by repeated off-line modeling and identification. In space application of robots, however, a higher degree of automation is required for robot programming because of the desire of minimizing the human intervention. We discuss a new paradigm of robotic programming which is based on the concept of machine learning. The goal is to let robots practice tasks by themselves and the operational data are used to automatically improve their motion performance. The underlying mathematical problem is to solve the problem of dynamical inverse by iterative methods. One of the key questions is how to ensure the convergence of the iterative process. There have been a few small steps taken into this important approach to robot programming. We give a representative result on the convergence problem.

Su, Renjeng↗
NASA NTRS2002

Making ROBONAUT an Intelligent Assistant for Humans

This presentation is an overview of the Robonaut project. Robonaut is a humanoid robot designed by the Automation, Robotics, and Simulation Division at NASA's Johnson Space Center. The Robonaut project seeks to develop and demonstrate a robotic system that can function as an EVA astronaut equivalent. Robonaut jumps generations ahead by eliminating the robotic scars (e.g., special robotic grapples and targets) and specialized robotic tools of traditional on-orbit robotics. However, it still keeps the human operator in the control loop through its telepresence control system. Robonaut is being designed for "EVA" tasks, i.e., those that were not specifically designed for robots. Our challenge is to build machines that can help humans work and explore in space. Working side by side with humans, or going where the risks are too great for people, machines like Robonaut will expand our ability for construction and discovery. Central to that effort is a capability we call dexterous manipulation, embodied by an ability to use ones hand to do work, and our challenge is to build machines with dexterity that exceeds that of a suited astronaut.

Savely, Robert T.↗
NASA NTRS1991

Computational needs survey of NASA automation and robotics missions. Volume 1: Survey and results

NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is that mission computing requirements are frequently unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. A preliminary set of advanced mission computational processing requirements of automation and robotics (A&R) systems are provided for use by NASA, industry, and academic communities. These results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implementation capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Volume one includes the survey and results. Volume two contains the appendixes.

Davis, Gloria J.↗
NASA NTRS1985

Emerging aerospace technologies

The United States Government has a long history of promoting the advancement of technology to strengthen the economy and national defense. An example is NASA, which was formed in 1958 to establish and maintain U.S. space technology leadership. This leadership has resulted in technological benefits to many fields and the establishment of new commercial industries, such as satellite communications. Currently, NASA's leading technology development at Ames Research Center includes the Tilt Rotor XV-15, which provides the versatility of a helicopter with the speed of a turboprop aircraft; the Numerical Aerodynamic Simulator, which is pushing the state of the art in advanced computational mathematics and computer simulation; and the Advanced Automation and Robotics programs, which will improve all areas of space development as well as life on Earth. Private industry is involved in maintaining technological leadership through NASA's Commercial Use of Space Program, which provides for synergistic relationships among government, industry, and academia. The plan for a space station by 1992 has framed much of NASA's future goals and has provided new areas of opportunity for both domestic space technology and leadership improvement of life on Earth.

Ballhaus, W. F., Jr.↗
NASA NTRS1986

Architecture of autonomous systems

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Dikshit, Piyush↗
NASA NTRS1989

Architecture of autonomous systems

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Dikshit, Piyush↗
NASA NTRS1991

Automated assembly of large space structures

The topics are presented in viewgraph form and include: the Telerobotic Assembly Facility; joint components; the robot end effector; assembly projected time; typical truss assembly breakdown; the Automated Structures Assembly Facility's current control hierarchy; an assembly problem summary; observations and results; sensor monitoring and error recovery; recommendations and conclusions; and current plans and development.

Marvin D Rhodes↗
NASA NTRS1992

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

Grissom, William A.↗
NASA NTRS1993

Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992), volume 2

This document contains papers presented at the Space Operations, Applications, and Research Symposium (SOAR) hosted by the U.S. Air Force (USAF) on 4-6 Aug. 1992. The symposium was cosponsored by the Air Force Material Command and by NASA/JSC. Key technical areas covered during the symposium were robotics and telepresence, automation and intelligent systems, human factors, life sciences, and space maintenance and servicing. The SOAR differed from most other conferences in that it was concerned with Government-sponsored research and development relevant to aerospace operations. Symposium proceedings include papers covering various disciplines presented by experts from NASA, the USAF, universities, and industry.

Krishen, Kumar↗
NASA NTRS1988

Systems integration for the Kennedy Space Center (KSC) Robotics Applications Development Laboratory (RADL)

A laboratory for developing robotics technology for hazardous and repetitive Shuttle and payload processing activities is discussed. An overview of the computer hardware and software responsible for integrating the laboratory systems is given. The center's anthropomorphic robot is placed on a track allowing it to be moved to different stations. Various aspects of the laboratory equipment are described, including industrial robot arm control, smart systems integration, the supervisory computer, programmable process controller, real-time tracking controller, image processing hardware, and control display graphics. Topics of research include: automated loading and unloading of hypergolics for space vehicles and payloads; the use of mobile robotics for security, fire fighting, and hazardous spill operations; nondestructive testing for SRB joint and seal verification; Shuttle Orbiter radiator damage inspection; and Orbiter contour measurements. The possibility of expanding the laboratory in the future is examined.

Davis, V. Leon↗
NASA NTRS2008

Multi-sensor Testing for Automated Rendezvous and Docking

During the past two years, many sensors have been tested in an open-loop fashion in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL) to both determine their suitability for use in Automated Rendezvous and Docking (AR&D) systems and to ensure the test facility is prepared for future multi-sensor testing. The primary focus of this work was in support of the CEV AR&D system, because the AR&D sensor technology area was identified as one of the top risks in the program. In 2006, four different sensors were tested individually or in a pair in the MSFC FRL. In 2007, four sensors, two each of two different types, were tested simultaneously. In each set of tests, the target was moved through a series of pre-planned trajectories while the sensor tracked it. In addition, a laser tracker "truth" sensor also measured the target motion. The tests demonstrated the functionality of testing four sensors simultaneously as well as the capabilities (both good and bad) of all of the different sensors tested. This paper outlines the test setup and conditions, briefly describes the facility, summarizes the earlier results of the individual sensor tests, and describes in some detail the results of the four-sensor testing. Post-test analysis includes data fusion by minimum variance estimation and sequential Kalman filtering. This Sensor Technology Project work was funded by NASA's Exploration Technology Development Program.

Howard, Richard T.↗
NASA NTRS1994

Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), volume 2

This document contains papers presented at the Space Operations, Applications and Research Symposium (SOAR) Symposium hosted by NASA/Johnson Space Center (JSC) on August 3-5, 1993, and held at JSC Gilruth Recreation Center. The symposium was cosponsored by NASA/JSC and U.S. Air Force Materiel Command. SOAR included NASA and USAF programmatic overviews, plenary session, panel discussions, panel sessions, and exhibits. It invited technical papers in support of U.S. Army, U.S. Navy, Department of Energy, NASA, and USAF programs in the following areas: robotics and telepresence, automation and intelligent systems, human factors, life support, and space maintenance and servicing. SOAR was concerned with Government-sponsored research and development relevant to aerospace operations. More than 100 technical papers, 17 exhibits, a plenary session, several panel discussions, and several keynote speeches were included in SOAR '93. These proceedings, along with comments and suggestions made by panelists and keynote speakers, will be used to assess progress made in joint USAF/NASA projects and activities to identify future collaborative/jolnt programs. SOAR '93 was the responsibility of the USAF NASA Space Technology Interdependency Group Operations Committee. Symposium proceedings include papers presented by experts from NASA, the USAF, USA, and USN, U.S. Department of Energy, universities, and industry.

Navigation↗
NASA NTRS1990

Fifth Conference on Artificial Intelligence for Space Applications

The Fifth Conference on Artificial Intelligence for Space Applications brings together diverse technical and scientific work in order to help those who employ AI methods in space applications to identify common goals and to address issues of general interest in the AI community. Topics include the following: automation for Space Station; intelligent control, testing, and fault diagnosis; robotics and vision; planning and scheduling; simulation, modeling, and tutoring; development tools and automatic programming; knowledge representation and acquisition; and knowledge base/data base integration.

Odell, Steve L.↗
NASA NTRS1990

Fuzzy Control/Space Station automation

Viewgraphs on fuzzy control/space station automation are presented. Topics covered include: Space Station Freedom (SSF); SSF evolution; factors pointing to automation & robotics (A&R); astronaut office inputs concerning A&R; flight system automation and ground operations applications; transition definition program; and advanced automation software tools.

Gersh, Mark↗
NASA NTRS1993

The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992)

This document contains papers presented at the Space Operations, Applications, and Research Symposium (SOAR) hosted by the U.S. Air Force (USAF) on 4-6 Aug. 1992 and held at the JSC Gilruth Recreation Center. The symposium was cosponsored by the Air Force Material Command and by NASA/JSC. Key technical areas covered during the symposium were robotic and telepresence, automation and intelligent systems, human factors, life sciences, and space maintenance and servicing. The SOAR differed from most other conferences in that it was concerned with Government-sponsored research and development relevant to aerospace operations. The symposium's proceedings include papers covering various disciplines presented by experts from NASA, the USAF, universities, and industry.

Krishen, Kumar↗