Search NASA⌕ Search

SEARCH · Search NASA

Results for “Space Manipulator”

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.

At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Enhanced convection for higher module and system efficiency (Final Technical Report)

The goal of this work is to develop new solar photovoltaic (PV) modules and solar system-scale designs that promote an increase of the convective heat transfer coefficient of at least 40%, reducing the operating temperature of the solar PV panels, and leading to a boost on the annual energy yield by at least 5%. By achieving this goal, we further foresee decreasing solar panel degradation by +0.3%/year, reducing the LCOE by 2.9-4.5¢/kWh. Currently, this question and/or approach is not considered though it is a relevant factor in performance/efficiency. The technology proposed will be at a mature stage by the end of the project and could be aligned to be proven on a full-field test. PV users, installers and manufacturers will be interested in the technology due to the aforementioned benefits. The work was conducted through a suite of wind tunnel experiments, numerical simulations and field experiments. These were then evaluated through a correlation encompassing the entire data set and implementing findings into NREL SAM. The work resulted in eight peer reviewed publications with three others in preparation. The key results of the project are 1.) Showing the capability of increasing the solar farm power production by increasing the heat transfer coefficient; 2.) Providing strategies for achieving this through large scale arrangement manipulation (heights, spacings, angles), flow deflectors and vortex generators; 3.) Demonstrating scalability of results by comparing numerical simulations, wind tunnel experiments and field experiments; 4.) Providing a correlation to be able to capture the various arrangements while exploiting the heat transfer coefficient; and 5.) Proving the feasibility of such strategies and their capacity through a comprehensive techno-economic analysis. For the heat transfer coefficients, gains of 40% were attained and increases in power in the excess of 5% were observed. For heat mitigation strategies, consideration at the PV array scale were inter-panel spacing, panel height and panel angles while at the module level, wind breaks such as solid walls and selected gaps were evaluated as well as vortex generators on the panel. All proposed strategies saw an increase in heat transfer coefficient. For scalability, results were compared against field experiments and a correlation for the heat transfer quantity was attained leading to a parametric understanding of the variations and impact in the heat transfer coefficient independent of tools implemented (wind tunnel/numerical simulations). The strategies were also further assessed by a technoeconomic analysis finding improvements based on LCOE with respect to location (several states with varies atmospheric conditions/geographic locations) yielded different results. Improvements on this end were also observed especially towards the colder climates and when considering bi-facial modules. The quantitative demonstrations of such conclusions are provided in the main portion of this document with complementary results and their narration. Milestones and go/no-go points were successfully met in the project.

14 SOLAR ENERGY↗
NASA NTRS1976

Payload operation television system

The Payload Operation Television System is a high performance closed-circuit TV system designed to determine the feasibility of using TV to augment purely visual monitoring of operations, and to establish optimum system design of an operating unit which can ultimately be used to assist the operator of a remotely manipulated space-borne cargo loading device. The TV system assembled on this program is intended for laboratory experimentation which would develop operational techniques and lead to the design of space-borne TV equipment whose purpose would be to assist the astronaut-operator aboard a space station to load payload components. The equipment consists principally of a good quality TV camera capable of high resolving power; a TV monitor; a sync generator for driving camera and monitor; and two pan/tilt units which are remotely controlled by the operator.

Source record↗
NASA NTRS1979

Payload installation and deployment aid for Space Shuttle Orbiter spacecraft remote manipulator system

An aid concept known as the PIDA (Payload Installation and Deployment Aid) is presented as a way to assist the RMS (Remote Manipulator System) by relaxing the accuracy required during payload handling in the payload bay. The aid concept was designed and developed to move payloads through a prescribed path between the confined quarters of the payload bay and a position outside the critical maneuvering area of the Orbiter. A description of the design requirements and the modes of operation of the various functions of the deployment and the docking mechanisms are covered.

Ross, T. O.↗
NASA NTRS1980

Computer control of a robotic satellite servicer

The advantages that will accrue from the in-orbit servicing of satellites are listed. It is noted that in a concept in satellite servicing which holds promise as a compromise between the high flexibility and adaptability of manned vehicles and the lower cost of an unmanned vehicle involves an unmanned servicer carrying a remotely supervised robotic manipulator arm. Because of deficiencies in sensor technology, robot servicing would require that satellites be designed according to a modular concept. A description is given of the servicer simulation hardware, the computer and interface hardware, and the software. It is noted that several areas require further development; these include automated docking, modularization of satellite design, reliable connector and latching mechanisms, development of manipulators for space environments, and development of automated diagnostic techniques.

Fernandez, K. R.↗
NASA NTRS1981

Voice control of the space shuttle video system

A pilot voice control system developed at the Jet Propulsion Laboratory (JPL) to test and evaluate the feasibility of controlling the shuttle TV cameras and monitors by voice commands utilizes a commercially available discrete word speech recognizer which can be trained to the individual utterances of each operator. Successful ground tests were conducted using a simulated full-scale space shuttle manipulator. The test configuration involved the berthing, maneuvering and deploying a simulated science payload in the shuttle bay. The handling task typically required 15 to 20 minutes and 60 to 80 commands to 4 TV cameras and 2 TV monitors. The best test runs show 96 to 100 percent voice recognition accuracy.

Bejczy, A. K.↗
NASA NTRS1982

Payload installation and deployment aid for space shuttle orbiter spacecraft remote manipulator system

An aid concept known as the PIDA (Payload Installation and Deployment Aid) is presented as a way to assist the Remote Manipulator System (RMS) by relaxing the accuracy required during payload handling in the payload bay. The aid concept was designed and developed to move payloads through a prescribed path between the confined quarters of the payload bay and a position outside the critical maneuvering area of the Orbiter. An androgynous docking mechanism is used at the payload/PIDA interfaces for normal docking functions that also serves as the structural connection between the payload and the Orbiter, that is capable of being loosened to prevent transfer of loads between a stowed payload and the PIDA structure. A gearmotor driven drum/cable system is used in the docking mechanism in a unique manner to center the attenuator assembly, align the ring and guide assembly (docking interface) in roll, pitch, and yaw, and rigidize the mechanism at a nominal position. A description of the design requirements and the modes of operation of the various functions of the deployment and the docking mechanisms are covered.

Ross, T. O.↗
NASA NTRS1989

Force/torque and tactile sensors for sensor-based manipulator control

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

Vanbrussel, H.↗
NASA NTRS1991

Real-time control of the MIT vehicle emulation system

The MIT vehicle emulation system (VES) is an experimental facility designed to facilitate the study of controlling robots fixed to nonstationary bases. This includes assembly and repair manipulators attached to space vehicles, or to the space shuttle arm, as well as manipulators fixed to the bed of moving ground vehicles. Controlling manipulators under these conditions for endpoint force and positioning tasks requires both the development of new theory, and the development of a testbed for verifying theoretical results through experimentation. A description is presented of the technical details of the real-time controller for the second generation VES system.

Durfee, William K.↗
NASA NTRS1992

The General Purpose Work Station, a spacious microgravity workbench

The General Purpose Work Station (GPWS) is a laboratory multiuse facility, as demonstrated during the Spacelab Life Sciences 1 (SLS-1) flight. The unit provided particulate containment under varying conditions, served as an effective work space for manipulating live animals, e.g., rats, served as a containment facility for fixatives, and was proposed for use to conduct in-flight maintenance during connector pin repair. The cabinet has a front door large enough to allow installation of a full-size microscope in-flight and is outfitted with a side window to allow delivery of items into the cabinet without exposure to the spacelab atmosphere. Additional support subsystems include inside cabinet mounting, surgical glove fine manipulations capability, and ac or dc power supply for experiment equipment, as will be demonstrated during Spacelab J. The GPWS, integrated and maintained in a double flight-rack, interfaces to spacelab systems including water cooling, avionics and cabin air, and power. Verification has been completed for multiple spacelab scenarios including SLS-2, SL-J, and SLS-3.

Dalton, Bonnie P.↗
NASA NTRS1994

Virtual reality and telerobotics applications of an Address Recalculation Pipeline

The technology described in this paper was designed to reduce latency to user interactions in immersive virtual reality environments. It is also ideally suited to telerobotic applications such as interaction with remote robotic manipulators in space or in deep sea operations. in such circumstances the significant latency is observed response to user stimulus which is due to communications delays, and the disturbing jerkiness due to low and unpredictable frame rates on compressed video user feedback or computationally limited virtual worlds, can be masked by our techniques. The user is provided with highly responsive visual feedback independent of communication or computational delays in providing physical video feedback or in rendering virtual world images. Virtual and physical environments can be combined seamlessly using these techniques.

Regan, Matthew↗
NASA NTRS1994

The next decade of space robotics

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000.

Lavery, Dave↗
NASA NTRS1996

Mechanism Attaches To Special Fixture

Mechanism designed for attachment to special fixture on round structural member. Hooks and bumper pads hold device in place. In original application, special fixture striker bar, round structural member lies at end of remote manipulator on space shuttle, and mechanism used to attach foot restraint for use by astronaut during extravehicular activity. On Earth, similar mechanisms and fixtures with suitably modified dimensions useful for temporary attachment of various items (e.g., safety harnesses) to structures or machines.

Zaguli, Ronald James↗
NASA NTRS2013

Test and Validation of the Mars Science Laboratory Robotic Arm

The Mars Science Laboratory Robotic Arm (RA) is a key component for achieving the primary scientific goals of the mission. The RA supports sample acquisition by precisely positioning a scoop above loose regolith or accurately preloading a percussive drill on Martian rocks or rover-mounted organic check materials. It assists sample processing by orienting a sample processing unit called CHIMRA through a series of gravity-relative orientations and sample delivery by positioning the sample portion door above an instrument inlet or the observation tray. In addition the RA facilitates contact science by accurately positioning the dust removal tool, Alpha Particle X-Ray Spectrometer (APXS) and the Mars Hand Lens Imager (MAHLI) relative to surface targets. In order to fulfill these seemingly disparate science objectives the RA must satisfy a variety of accuracy and performance requirements. This paper describes the necessary arm requirement specification and the test campaign to demonstrate these requirements were satisfied.

manipulation↗
NASA NTRS2020

Robotic Assembly Activities at NASA Langley Research Center

Over the past several decades, NASA Langley Research Center (LaRC) has developed a suite of hardware and software capabilities for robotic in-space assembly. Specific robots include the Lightweight Surface Manipulation System (LSMS), Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN), NASA Intelligent Jigging and Assembly Robot (NINJAR), Strut Assembly, Manufacturing, Utility & Robotic Aid (SAMURAI), and most recently the Assemblers modular robots. Alongside the hardware, software tools such as the Autonomous Entity Operations Network (AEON) and the Baseline Environment for Autonomous Modeling (BEAM) have been developed to enable communication and simulation respectively. These tools have supported foundational research in single and multi-agent control, sensing and perception, trajectory generation, task allocation, and human-machine teaming. This talk will provide a broad overview of these capabilities and go into detail on recent developments made by the Assemblers project to create modular, reconfigurable robots for autonomous in-space assembly.

John R Cooper↗