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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 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Optimized resolved rate control of seven-degree-of-freedom Laboratory Telerobotic Manipulator (LTM) with application to three-dimensional graphics simulation

The Laboratory Telerobotic Manipulator (LTM) is a seven-degree-of-freedom robot arm. Two of the arms were delivered to Langley Research Center for ground-based research to assess the use of redundant degree-of-freedom robot arms in space operations. Resolved-rate control equations for the LTM are derived. The equations are based on a scheme developed at the Oak Ridge National Laboratory for computing optimized joint angle rates in real time. The optimized joint angle rates actually represent a trade-off, as the hand moves, between small rates (least-squares solution) and those rates which work toward satisfying a specified performance criterion of joint angles. In singularities where the optimization scheme cannot be applied, alternate control equations are devised. The equations developed were evaluated using a real-time computer simulation to control a 3-D graphics model of the LTM.

Barker, L. Keith↗
NASA NTRS1998

Mars Volatiles and Climate Surveyor (MVACS) Integrated Payload for the Mars Polar Lander Mission

The Mars Volatiles and Climate Surveyor (MVACS) integrated payload for the Mars Polar Lander will be launched in January 1999, with a scheduled landing on Mars' south-polar layered deposits in December 1999. Over the course of its 90-day nominal mission during the martian southern spring and summer seasons, it will make in situ measurements that will provide new insights into the behavior and distribution of martian volatiles, MVACS consists of four major instrument systems: a surface stereo imager (SSI), which will acquire multispectral stereo images of the surface and atmosphere; a 2-m robotic arm (RA), which will dig a O.5-m deep trench and acquire surface and subsurface samples that will be imaged by a focusable robotic arm camera (RAC), which will take close-up images of surface and subsurface samples at a spatial resolution of 21 micron; a meteorology package (MET), which will make the first measurements of surface pressure, temperature, and winds in Mars' southern hemisphere and employ a tunable diode laser (TDL) spectrometer to measure the water-vapor concentration and isotopic composition of CO2 in the martian atmosphere; and a thermal and evolved gas analyzer (TEGA), which will use differential scanning calorimetry and TDL-evolved gas analysis to determine the concentrations of ices, adsorbed volatiles, and volatile-bearing minerals in surface and subsurface soil samples. The unique in situ measurements made by MVACS at its high-latitude landing site will define a number of important aspects of the physical, isotopic, and chemical nature of the martian near-surface and subsurface environment that will be valuable in better understanding Mars meteorites and returned samples, as well as in the search for martian resources that could be utilized by humans.

Paige, D. A.↗
NASA NTRS2002

STS-110 Flight Day 2 Highlights

The second flight day of the STS-110 mission begins with Pilot Stephen Frick, and Mission Specialists Ellen Ochoa and Jerry Ross shown in the flight deck of the Space Shuttle Atlantis. Ellen Ochoa answers questions about the goals of the mission which are to install the S(0) truss segment on the International Space Station. Television cameras are attached to the robotic arm to take pictures of the truss in orbit. Commander Mike Bloomfield and Stephen Frick talks about the physical condition of the robotic arm.

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NASA NTRS2002

STS-112 Flight Day 8 Highlights

On this eighth day of the STS-112 mission, the crew members of Atlantis (Commander Jeff Ashby; Pilot Pam Melroy; Mission Specialists Sandy Magnus, Piers Sellers, Dave Wolf, and Fyodor Yurchikhin) are seen preparing for the mission's third extravehicular activity (EVA). Magnus is shown reviewing instructions for operation of the International Space Station's (ISS) robot arm. Wolf and Sellers are seen successfully attaching cable connections to the S1 truss during the EVA. Scenes shown include: the ISS's robot arm, the Crew Equipment Translation Aid (CETA) cart and the deployment of the central radiator panel of the S1 truss.

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NASA NTRS2002

STS-109 Crew Interviews - Currie

STS-109 Mission Specialist 2 Nancy Jane Currie is seen during a prelaunch interview. She answers questions about her inspiration to become an astronaut and her career path. She gives details on the Columbia Orbiter mission which has as its main tasks the maintenance and augmentation of the Hubble Space Telescope (HST). While she will do many things during the mission, the most important will be her role as the primary operator of the robotic arm, which is responsible for grappling the HST, bringing it to the Orbiter bay, and providing support for the astronauts during their EVAs (Extravehicular Activities). Additionally, the robotic arm will be responsible for transferring new and replacement equipment from the Orbiter to the HST. This equipment includes: two solar arrays, a Power Control Unit (PCU), the Advanced Camera for Surveys, and a replacement cooling system for NICMOS (Near Infrared Camera Multi-Object Spectrometer).

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NASA NTRS1989

Design of an autonomous teleoperated cargo transporting vehicle for lunar base operations

At the turn of the century NASA plans to begin construction of a lunar base. The base will likely consist of developed areas (i.e., habitation, laboratory, landing and launching sites, power plant) separated from each other due to safety considerations. The Self-Repositioning Track Vehicle (SRTV) was designed to transport cargo between these base facilities. The SRTV operates by using two robotic arms to raise and position segments of track upon which the vehicle travels. The SRTV utilizes the semiautonomous mobility (SAM) method of teleoperation; actuator-controlled interlocking track sections; two robotic arms each with five degrees of freedom; and these materials: titanium for structural members and aluminum for shell members, with the possible use of light-weight, high-strength composites.

Holt, James↗
NASA NTRS1992

Robot path planning for space-truss assembly

Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. The path planning algorithm described here is a general approach to generating paths that guarantee collision avoidance for a single chain nonredundant or redundant robot. The algorithm uses a graph search of feasible points in position space, followed by a local potential field method that guarantees collision avoidance among objects, structures, and the robot arm as well as conformance to joint limit constraints. This algorithm is novel in its computation of goal attractive potential fields in Cartesian space, and computation of obstacle repulsive fields in robot joint space. These effects are combined to generate robot motion. Computation is efficiently implemented through the computation of the robot arm Jacobian and not the full inverse arm kinematics. These planning algorithms have been implemented and evaluated using existing space-truss designs, and are being integrated into the RPI-CIRSSE Testbed environment.

Muenger, Rolf↗
NASA NTRS1995

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.

Wells, Dennis L.↗
NASA NTRS1994

Truss structure tele-manipulation experiment using ETS-7

A robot experiment concept of space truss telemanipulation by National Aerospace Laboratory (NAL) is described in its flight model development. The experiment will be carried out on the Engineering Test Satellite No. 7 (ETS-7) using its robot arm. The satellite is scheduled to be launched in 1997 by National Space Development Agency of Japan (NASDA). The truss flight model is composed of deployable truss system and assemble truss joint. Those truss components will be manipulated by the ETS-7 robot arm using its small grapple fixture type-N (GPF-N), and the experimental task operation will be executed from the ground control station.

Matsumoto, Kohtaro↗
NASA NTRS2021

Integration of an Arm Kinematics Hot Patch onboard the Curiosity Rover

NASA's Mars Science Laboratory (MSL) mission has updated the Curiosity rover's flight software multiple times since landing on Mars on August 6, 2012. The most common patching method has been a hot patch, in which running flight software is modified after being copied into RAM from its persistent storage. The latest hot patch to be installed on Curiosity fixed an issue in the robotic arm software that computes generalized inverse kinematics. Additional unit testing performed since the start of the surface mission revealed that this software can sometimes produce erroneous solutions.The cause was identified as numerical instability in a quartic root finder. When the inputs to that solver are not well conditioned, floating-point numerical issuescan cause erroneous roots to be reported. In theory, this could result in the robotic arm turret instruments being commanded to unintended positions, for example, below the terrain surface. Out of approximately 3.7 million unit test cases, 97.2\% of the position errors were below 5 mm. However, there were 16 test cases where theposition error was greater than 20 cm, and the maximum position error was 1.2 meters.The patch was uploaded to Curiosity on sol 2642 (January 11, 2020) after the solution was developed, re-implemented as a hot patch, and validated and verified using Earth-based Curiosity testbeds. A checkout test of the patch was performed on Curiosity on sol 2657, and nominal use of the patch began on sol 2658. In this paper, we describe the steps that led to integrating the arm kinematic hot patch into Curiosity's flight software, from the discovery of the bug to the nominal use of the patch in flight.

Maimone, Mark↗
NASA NTRS1996

STS-80 Flight Day 4

On this fourth day of the STS-80 mission, the flight crew, Cmdr. Kenneth D. Cockrell, Pilot Kent V. Rominger, Mission Specialists, Tamara E. Jernigan, Thomas D. Jones, and F. Story Musgrave, busily begin final preparations for the release of Wake Shield. Jones powers up the shuttle's Canadian-built robot arm and grapples the satellite, while Jernigan powers up the Orbiter Space Vision System, which will be used to track precisely the Wake Shield's location. Cockrell places Columbia in a gravity gradient attitude to minimize disturbances during the release. Jones uses the robot arm to hold Wake Shield in position for a two-and-a-half hour cleansing by atomic oxygen molecules before moving the arm to the deploy position.

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NASA NTRS1989

Autonomous space processor for orbital debris

This work continues to develop advanced designs toward the ultimate goal of a GETAWAY SPECIAL to demonstrate economical removal of orbital debris utilizing local resources in orbit. The fundamental technical feasibility was demonstrated last year through theoretical calculations, quantitative computer animation, a solar focal point cutter, a robotic arm design and a subscale model. During this reporting period, several improvements are made in the solar cutter, such as auto track capabilities, better quality reflectors and a more versatile framework. The major advance has been in the design, fabrication and working demonstration of a ROBOTIC ARM that has several degrees of freedom. The functions were specifically tailored for the orbital debris handling. These advances are discussed here. Also a small fraction of the resources were allocated towards research in flame augmentation in SCRAMJETS for the NASP. Here, the fundamental advance was the attainment of Mach numbers up to 0.6 in the flame zone and a vastly improved injection system; the current work is expected to achieve supersonic combustion in the laboratory and an advanced monitoring system.

Ramohalli, Kumar↗
NASA NTRS1989

Advanced design for orbital debris removal in support of solar system exploration

This work continues to develop advanced designs toward the ultimate goal of a Getaway Special to demonstrate economical removal of orbital debris utilizing local resources in orbit. The fundamental technical feasibility was demonstrated last year through theoretical calculations, quantitative computer animation, a solar focal point cutter, a robotic arm design, and a subscale model. During this reporting period, several improvements are made in the solar cutter, such as auto track capabilities, better quality reflectors, and a more versatile framework. The major advance has been in the design, fabrication, and working demonstration of a robotic arm that has several degrees of freedom. The functions were specifically tailored for the orbital debris handling. These advances are discussed. Also, a small fraction of the resources were allocated toward research in flame augmentation in scramjets for the NASP. Here, the fundamental advance has been the attainment of Mach numbers up to 0.6 in the flame zone and a vastly improved injection system; our current work is expected to achieve supersonic combustion in the laboratory and an advanced monitoring system.

Campbell, David↗
NASA NTRS2026

Outgassing Characterization of Common Trash Items for Disposal By Nanoracks Airlock on the International Space Station

The arrival of the Nanoracks Airlock to the International Space Station (ISS) has provided the ISS program the capability to dispose of common trash items. The concept of operations involved the crew bagging up those items into a trash bag and then utilizing the robotic arm and the airlock to jettison the trash bag. Because of the unknown thermal vacuum stability of some of the items, a molecular contamination concern was raised by the ISS program as the trash is exposed to vacuum upon the evacuation of air from the airlock and the robotic arm moving the airlock to its jettison location. In order to characterize the representative outgassing rates for ISS trash, thermal vacuum testing was performed at White Sands Test Facility. Trash was sorted into a “lower” outgassing bag and a “mixed” bag. The “mixed” trash bag contained more items that were suspected to be not vacuum stable. Load cells were chosen as the primary means for measuring mass loss. A sharp decay in the outgassing rate was observed in the first 30 minutes followed by a slower decay. As expected, the “mixed” bag lost more mass. While Quartz Crystal Microbalances (QCMs) are often utilized to measure long term outgassing rates and the sticking coefficients of contaminants at different operating temperatures for vacuum stable materials, these measurements proved difficult due to the amount and the inclusion of materials with suspect thermal vacuum stability. Because of high rates of material outgassing, the facility was unable to maintain the CQCM temperature setpoint of 80 K QCMs.. The QCMs operating at the warmer temperatures also saturated on occasion due to high levels of condensed matter. Though testing was able to confirm high risk of outgassing contamination for the program, true sticking coefficients could not be determined, available measurements are provided herein.

Alvin Y Huang↗
NASA NTRS1990

Conceptual second-generation lunar equipment

The spring 1990 Introduction to Design class was asked to conceptually design second-generation lunar vehicles and equipment as a semester design project. The basic assumption made in designing second-generation lunar vehicles and equipment was that a network of permanent lunar bases already existed. The designs were to facilitate the transportation of personnel and materials. The eight topics to choose from included flying vehicles, ground-based vehicles, robotic arms, and life support systems. Two teams of two or three members competed on each topic and results were exhibited at a formal presentation. A clean-propellant powered lunar flying transport vehicle, an extra-vehicular activity life support system, a pressurized lunar rover for greater distances, and a robotic arm design project are discussed.

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NASA NTRS1997

STS-80 Mission Highlights Resource Tape

The flight crew of STS-80, Cmdr. Kenneth D. Cockrell, Pilot Kent V. Rominger, Mission Specialists, Tamara E. Jernigan, Thomas D. Jones, and F. Story Musgrave are seen performing pre-launch activities such as eating the traditional breakfast, being suited-up, and riding out to the launch pad. Also, included are various panoramic views of the shuttle on the pad. The crew is readied in the 'white room' for their mission. After the closing of the hatch and arm retraction, launch activities are shown including the countdown, engine ignition, launch, and the separation of the Solid Rocket Boosters (SRB) from the shuttle. The crew completes the first major objective of the mission with the deployment of the Orbiting Retrievable Far and Extreme Ultraviolet Spectrometer (ORFEUS) on the reusable Shuttle Pallet Satellite. The crew than begins final preparations for the release of Wake Shield. Jones powers up the shuttle's Canadian-built robot arm and grapples the satellite, while Jernigan powers up the Orbiter Space Vision System, which will be used to track precisely the Wake Shield's location. Cockrell places Columbia in a gravity gradient attitude to minimize disturbances during the release. Jones uses the robot arm to hold Wake Shield in position for a two-and-a-half hour cleansing by atomic oxygen molecules before moving the arm to the deploy position. The failure of the hatch to properly open causes the cancellation of all EVA's planned for this mission by Jernigan and Jones. The mission ends with the shuttle landing at the Kennedy Space Center.

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NASA NTRS2002

STS-109 Flight Day 3 Highlights

This footage from the third day of the STS-109 mission to service the Hubble Space Telescope (HST) begins with the grappling of the HST by the robotic arm of the Columbia Orbiter, operated by Mission Specialist Nancy Currie. During the grappling, numerous angles deliver close-up images of the telescope which appears to be in good shape despite many years in orbit around the Earth. Following the positioning of the HST on its berthing platform in the Shuttle bay, the robotic arm is used to perform an external survey of the telescope. Some cursory details are given about different equipment which will be installed on the HST including a replacement cooling system for the Near Infrared Camera Multi-Object Spectrometer (NICMOS) and the Advanced Camera for Surveys. Following the survey, there is footage of the retraction of both of the telescope's two flexible solar arrays, which was successful. These arrays will be replaced by rigid solar arrays with decreased surface area and increased performance.

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NASA NTRS2013

Orion MPCV GN and C End-to-End Phasing Tests

End-to-end integration tests are critical risk reduction efforts for any complex vehicle. Phasing tests are an end-to-end integrated test that validates system directional phasing (polarity) from sensor measurement through software algorithms to end effector response. Phasing tests are typically performed on a fully integrated and assembled flight vehicle where sensors are stimulated by moving the vehicle and the effectors are observed for proper polarity. Orion Multi-Purpose Crew Vehicle (MPCV) Pad Abort 1 (PA-1) Phasing Test was conducted from inertial measurement to Launch Abort System (LAS). Orion Exploration Flight Test 1 (EFT-1) has two end-to-end phasing tests planned. The first test from inertial measurement to Crew Module (CM) reaction control system thrusters uses navigation and flight control system software algorithms to process commands. The second test from inertial measurement to CM S-Band Phased Array Antenna (PAA) uses navigation and communication system software algorithms to process commands. Future Orion flights include Ascent Abort Flight Test 2 (AA-2) and Exploration Mission 1 (EM-1). These flights will include additional or updated sensors, software algorithms and effectors. This paper will explore the implementation of end-to-end phasing tests on a flight vehicle which has many constraints, trade-offs and compromises. Orion PA-1 Phasing Test was conducted at White Sands Missile Range (WSMR) from March 4-6, 2010. This test decreased the risk of mission failure by demonstrating proper flight control system polarity. Demonstration was achieved by stimulating the primary navigation sensor, processing sensor data to commands and viewing propulsion response. PA-1 primary navigation sensor was a Space Integrated Inertial Navigation System (INS) and Global Positioning System (GPS) (SIGI) which has onboard processing, INS (3 accelerometers and 3 rate gyros) and no GPS receiver. SIGI data was processed by GN&C software into thrust magnitude and direction commands. The processing changes through three phases of powered flight: pitchover, downrange and reorientation. The primary inputs to GN&C are attitude position, attitude rates, angle of attack (AOA) and angle of sideslip (AOS). Pitch and yaw attitude and attitude rate responses were verified by using a flight spare SIGI mounted to a 2-axis rate table. AOA and AOS responses were verified by using a data recorded from SIGI movements on a robotic arm located at NASA Johnson Space Center. The data was consolidated and used in an open-loop data input to the SIGI. Propulsion was the Launch Abort System (LAS) Attitude Control Motor (ACM) which consisted of a solid motor with 8 nozzles. Each nozzle has active thrust control by varying throat area with a pintle. LAS ACM pintles are observable through optically transparent nozzle covers. SIGI movements on robot arm, SIGI rate table movements and LAS ACM pintle responses were video recorded as test artifacts for analysis and evaluation. The PA-1 Phasing Test design was determined based on test performance requirements, operational restrictions and EGSE capabilities. This development progressed during different stages. For convenience these development stages are initial, working group, tiger team, Engineering Review Team (ERT) and final.

Neumann, Brian C.↗