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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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NASA NTRS2016

Mission Planning for Robotic and Human Exploration

Mission planning for spaceflight is a complex challenge for ground operators managing robotic or human missions. It requires integrating the needs of various disciplines and creating an effective, efficient, and safe plan to execute. NASA uses specialized tools to meet planning requirements and constraints. This talk will provide an overview of spaceflight mission planning as well as the software tools the Human-Computer Interaction Group has built to support scheduling and planning. Also, it identifies the future scheduling and planning challenges for human Mars missions and how we leverage Earth Analogs to learn about Mars operations.

Scheduling and planning↗

NASA NTRS2021

ISAAC

This document describes the ISAAC (Integrated Structural Assembly of Advanced Composites) robotic system. ISAAC is a highly accurate, automated robotic platform used to support research on the design, analysis, manufacturing and evaluation of advanced composite materials and structures. ISAAC can build composite parts using automated fiber placement (AFP) and stitching through the thickness of dry fabric. The system is frequently upgraded to include new capabilities. ISAAC is located at the NASA Langley Research Center

carbon-epoxy↗

NASA NTRS2005

Humanoids for lunar and planetary surface operations

This paper presents a vision of humanoid robots as human's key partners in future space exploration, in particular for construction, maintenance/repair and operation of lunar/planetary habitats, bases and settlements. It integrates this vision with the recent plans, for human and robotic exploration, aligning a set of milestones for operational capability of humanoids with the schedule for the next decades and development spirals in the Project Constellation. These milestones relate to a set of incremental challenges, for the solving of which new humanoid technologies are needed. A system of systems integrative approach that would lead to readiness of cooperating humanoid crews is sketched. Robot fostering, training/education techniques, and improved cognitive/sensory/motor development techniques are considered essential elements for achieving intelligent humanoids. A pilot project in this direction is outlined.

information fusion↗

NASA NTRS2006

Humanoids in Support of Lunar and Planetary Surface Operations

This paper presents a vision of humanoid robots as human's key partners in future space exploration, in particular for construction, maintenance/repair and operation of lunar/planetary habitats, bases and settlements. It integrates this vision with the recent plans for human and robotic exploration, aligning a set of milestones for operational capability of humanoids with the schedule for the next decades and development spirals in the Project Constellation. These milestones relate to a set of incremental challenges, for the solving of which new humanoid technologies are needed. A system of systems integrative approach that would lead to readiness of cooperating humanoid crews is sketched. Robot fostering, training/education techniques, and improved cognitive/sensory/motor development techniques are considered essential elements for achieving intelligent humanoids. A pilot project using small-scale Fujitsu HOAP-2 humanoid is outlined.

imitation↗

NASA NTRS1989

Robust performance of multiple tasks by a mobile robot

While there have been many successful mobile robot experiments, only a few papers have addressed issues pertaining to the range of applicability, or robustness, of robotic systems. The purpose of this paper is to report results of a series of benchmark experiments done to determine and quantify the robustness of an integrated hardware and software system of a mobile robot.

Beckerman, Martin↗

NASA NTRS2003

Lending a Helping Hand

Barrett Technology, Inc., of Cambridge, Massachusetts, received the 2003 Robotic Industries Association s Joseph Engelberger Award for Technology Leadership based on successful commercialization of its novel robotic manipulators. Designed for applications requiring superior adaptability, programmability, and dexterity, Barrett s devices provide state-of-the-art functionality and capability, as well as product integration with existing technology. The cutting-edge robotic manipulators originated through collaboration with NASA, the National Science Foundation, and the U.S. Air Force.

Source record↗

NASA NTRS1991

Optimal control/structure integrated design of a flexible space platform with articulated appendages

A complete set of closed form symbolic equations are developed for a 2-D model of a system comprised of a flexible platform with articulated appendages. The system considered has a flexible two link manipulator, with joint compliance, at one end of the flexible platform and an articulated antenna on the other end. The model is formulated using a Lagrangian approach which incorporates homogeneous transformation matrices, similar to those typically seen in the robotics literature, for the kinematic representation. The integrated control/structure design strategy considered emphasizes rapid system response and minimal structural weight. Constraints are included to keep antenna pointing error to a minimum, and at the same time achieve accurate end point positioning of the manipulator with minimal oscillations.

Kelkar, Atul G.↗

NASA NTRS2003

Advantages of Brahms for Specifying and Implementing a Multiagent Human-Robotic Exploration System

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, all-terrain vehicles, robotic assistant, crew in a local habitat, and mission support team. Software processes ('agents') implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a runtime system Thus, Brahms provides a language, engine, and system builder's toolkit for specifying and implementing multiagent systems.

Clancey, William J.↗

NASA NTRS2018

Gas-Granular Simulation Framework for Spacecraft Landing Plume-Surface Interaction and Debris Transport Analysis

The Gas-Granular Flow Solver (GGFS) multi-phase flow computational framework has been developed to enable simulations of particle flows complex extra-terrestrial regolith materials. Particle flows of interest include the damage of unprepared landing sites from rocket plume impingement on Moon, Mars, and asteroids. The flow solver implements an Eulerian-Eulerian two-fluid model with fluid representation of the gas phase and granular phase to avoid the need to model billions of particle interactions. The granular phase is modeled as an Eulerian fluid with constituent physics closure models derived from first-principle Discrete Element Model (DEM) particle interaction simulations that capture the complex, non-linear granular particle interaction effects. Granular phase constituent models have been developed and integrated that address the complex, non-linear granular material mechanics complexities resulting from both: the irregular, jagged particle shapes and poly-disperse mixture effects encountered in extra-terrestrial regolith, with lunar regolith as the extreme. The GGFS capabilities are being integrated into a proven NASA plume-surface interaction and debris transport simulation framework featuring the Loci/CHEM CFD program and Debris Transport Analysis (DTA) post-processing tools for applications in robotic and human Moon and Mars lander development. Integration of the three simulation tool components. Loci/CHEM, GGFS, and DTA, into a coordinated simulation framework will enable time-accurate spacecraft landing simulations that account for the alteration of the landing surface through plume-induced cratering and the resulting redirection of plume impingement flow and debris transport. Initial implementation of this simulation framework and application examples will be presented.

Liever, Peter A.↗

NASA NTRS2007

Exploration Blueprint: Data Book

The material contained in this report was compiled to capture the work performed by the National Aeronautics and Space Administration's (NASA's) Exploration study team in the late 2002 timeframe. The "Exploration Blueprint Data Book" documents the analyses and findings of the 90-day Agency-wide study conducted from September - November 2002. During the summer of 2002, the NASA Deputy Administrator requested that a study be performed with the following objectives: - Develop the rationale for exploration beyond low-Earth orbit - Develop roadmaps for how to accomplish the first steps through humans to Mars - Develop design reference missions as a basis for the roadmaps - Make recommendations on what can be done now to effect this future This planning team, termed the Exploration Blueprint, performed architecture analyses to develop roadmaps for how to accomplish the first steps beyond LEO through the human exploration of Mars. The previous NASA Exploration Team activities laid the foundation and framework for development of NASA's Integrated Space Plan. The reference missions resulting from the analysis performed by the Exploration Blueprint team formed the basis for requirement definition, systems development, technology roadmapping, and risk assessments for future human exploration beyond low-Earth orbit. Emphasis was placed on developing recommendations on what could be done now to effect future exploration activities. The Exploration Blueprint team embraced the "Stepping Stone" approach to exploration where human and robotic activities are conducted through progressive expansion outward beyond low-Earth orbit. Results from this study produced a long-term strategy for exploration with near-term implementation plans, program recommendations, and technology investments. Specific results included the development of a common exploration crew vehicle concept, a unified space nuclear strategy, focused bioastronautics research objectives, and an integrated human and robotic exploration strategy. Recommendations from the Exploration Blueprint included the endorsement of the Nuclear Systems Initiative, augmentation of the bioastronautics research, a focused space transportation program including heavy-lift launch and a common exploration vehicle design for ISS and exploration missions, as well as an integrated human and robotic exploration strategy for Mars.

Bret G Drake↗

NASA NTRSDate not supplied

Stiffener Jumping for Unitized Stitched Composite Preform Manufacturing

A single-sided stitching head is used to assemble unitized three-dimensional preforms using the NASA Langley Research Center (LaRC) Integrated Structural Assembly of Advanced Composites (ISAAC) robotic manufacturing system. Typically, assembly of a preform includes a “skin” that is stiffened by stiffener elements stitched to the skin. The single-sided stitching head has two needles that pass through the preform from the same side to form the stitch, typically from the smooth outer surface so the needles penetrate through the preform towards the stiffener side. The single-sided head cannot stitch across stiffening elements (e.g., stringer, frame, integral cap, etc.) because the needles would penetrate into the stiffener web, which would not allow the stitch form because the thread movement would be impeded. As a result, stitching seams cannot cross stiffening elements, and therefore are very short and must remain in the skin/flange connections within the space between the stiffening element webs. Each short segment requires a stop and cut process that takes a significant amount of time. A stiffener jumping stitching method was developed that eliminates the need to cut and restart seams when encountering a stiffener, thus providing a long, continuous seam with a significant reduction in stitching time by eliminating cutting operations and associated excess thread end trimming. This stiffener jumping process places what could be considered a very long stitch that bridges the stiffener to connect the end of one segment of the seam with the beginning of the next segment of the seam to provide a longer continuous seam. As a result, all intermediate thread cuts that would be done at the end of each individual segment of the seam are eliminated, with only a single cut at the end of the seam. The process and programming requirements for carrying out the stiffener jumping stitching approach are presented in this paper. Using the presented stiffener jumping approach to produce the long continuous seams, the stitching time for a representative commercial transport unitized stiffened wing cover panel can possibly be reduced by at least 25 percent.

stitched↗

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 NTRS2006

Technology developments integrating a space network communications testbed

hybrid simulations↗

NASA NTRS2006

Technology Developments Integrating a Space Network Communications Testbed

As future manned and robotic space explorations missions involve more complex systems, it is essential to verify, validate, and optimize such systems through simulation and emulation in a low cost testbed environment. The goal of such a testbed is to perform detailed testing of advanced space and ground communications networks, technologies, and client applications that are essential for future space exploration missions. We describe the development of new technologies enhancing our Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) that enable its integration in a distributed space communications testbed. MACHETE combines orbital modeling, link analysis, and protocol and service modeling to quantify system performance based on comprehensive considerations of different aspects of space missions. It can simulate entire networks and can interface with external (testbed) systems. The key technology developments enabling the integration of MACHETE into a distributed testbed are the Monitor and Control module and the QualNet IP Network Emulator module. Specifically, the Monitor and Control module establishes a standard interface mechanism to centralize the management of each testbed component. The QualNet IP Network Emulator module allows externally generated network traffic to be passed through MACHETE to experience simulated network behaviors such as propagation delay, data loss, orbital effects and other communications characteristics, including entire network behaviors. We report a successful integration of MACHETE with a space communication testbed modeling a lunar exploration scenario. This document is the viewgraph slides of the presentation.

hybrid simulation↗

NASA NTRS2005

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

Zornetzer, Steve↗

NASA NTRS2010

360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle

This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.

ASV (AUTONOMOUS SEA SURFACE VEHICLE)↗

NASA NTRS1986

Linear multivariable control of two-link robots

Several simple multivariable controllers such as proportional (P), proportional-derivative (PD), proportional-integral (PI), and proportional-integral-derivative (PID) are investigated and designed for stabilization and regulation of a two-link planar robot. A new multivariable controller is introduced in this article to achieve command matching. The multivariable controllers are designed on the basis of a linearized model of the robot dynamics. Numerous simulation results are presented to evaluate the performance of the multivariable controllers for the two-link planar robot.

Seraji, H.↗

NASA NTRS2006

NASA's Lunar Robotic Program

Before returning humans to the Moon for mankind s seventh lunar landing, NASA will embark upon a series of robotic missions with International partnership, executed within the construct of an integrated program, designed specifically to prepare the way for this further human exploration. The Lunar Precursors Robotic Exploration Program (LPRP) will acquire knowledge about the moon and its environment, as well as to develop operational experience and infrastructure, all needed to bring about sustained human exploration in the lunar environment. This paper presents an overview of the program in its early stages, a review of the currently planned missions, highlights of several of the program s important features and objectives, and a discussion of the challenges faced as we move forward to prepare for a return of people to the Moon.

McGrath, Melissa A.↗