Search NASA⌕ Search

SEARCH · Search NASA

Results for “Robotics Operations”

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 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

STS-114: Crew Interviews: 1. Jim Kelly 2. Charlie Camarda

1) STS-114 Pilot James Kelly mentions his primary job as the Pilot is to back up Commander Eileen Collins all through the flight. James discusses in detail his robotics operations for all of the extravehicular activities and spacewalk work, as well as moving the logistics module back and forth, onto the station and back in the payload bay. He shares his thoughts on the Columbia, the STS-114 mission as a new chapter in space exploration, and the International Space Station. 2) STS-114 Mission Specialist Charlie Camarda discusses his major role in the mission, his feelings for this being his first Space Shuttle flight; shares his thoughts on the Columbia; mentioned that STS-114 is a baby step to what is needed to do for the next step in space exploration, and gave some examples on how the International Space Station can help pave the path to future space exploration.

Source record↗
NASA NTRS2003

A terrain-based path planning method for mobile robots

This paper presents a technique for incorporating terrain traversability data into a global path planning method for field mobile robots operating on rough natural terrain.

path planning traversability terrain assessment↗
NASA NTRS2005

Requirements to Design to Code: Towards a Fully Formal Approach to Automatic Code Generation

A general-purpose method to mechanically transform system requirements into a provably equivalent model has yet to appear. Such a method represents a necessary step toward high-dependability system engineering for numerous possible application domains, including distributed software systems, sensor networks, robot operation, complex scripts for spacecraft integration and testing, and autonomous systems. Currently available tools and methods that start with a formal model of a system and mechanically produce a provably equivalent implementation are valuable but not sufficient. The gap that current tools and methods leave unfilled is that their formal models cannot be proven to be equivalent to the system requirements as originated by the customer. For the classes of systems whose behavior can be described as a finite (but significant) set of scenarios, we offer a method for mechanically transforming requirements (expressed in restricted natural language, or in other appropriate graphical notations) into a provably equivalent formal model that can be used as the basis for code generation and other transformations.

Hinchey, Michael G.↗
NASA NTRS2008

Semi-Automated Diagnosis, Repair, and Rework of Spacecraft Electronics

NASA's Constellation Program for Exploration of the Moon and Mars places human crews in extreme isolation in resource scarce environments. Near Earth, the discontinuation of Space Shuttle flights after 2010 will alter the up- and down-mass capacity for the International Space Station (ISS). NASA is considering new options for logistics support strategies for future missions. Aerospace systems are often composed of replaceable modular blocks that minimize the need for complex service operations in the field. Such a strategy however, implies a robust and responsive logistics infrastructure with relatively low transportation costs. The modular Orbital Replacement Units (ORU) used for ISS requires relatively large blocks of replacement hardware even though the actual failed component may really be three orders of magnitude smaller. The ability to perform in-situ repair of electronics circuits at the component level can dramatically reduce the scale of spares and related logistics cost. This ability also reduces mission risk, increases crew independence and improves the overall supportability of the program. The Component-Level Electronics Assembly Repair (CLEAR) task under the NASA Supportability program was established to demonstrate the practicality of repair by first investigating widely used soldering materials and processes (M&P) performed by modest manual means. The work will result in program guidelines for performing manual repairs along with design guidance for circuit reparability. The next phase of CLEAR recognizes that manual repair has its limitations and some highly integrated devices are extremely difficult to handle and demand semi-automated equipment. Further, electronics repairs require a broad range of diagnostic capability to isolate the faulty components. Finally repairs must pass functional tests to determine that the repairs are successful and the circuit can be returned to service. To prevent equipment demands from exceeding spacecraft volume capacity and skill demands from exceeding crew time and training limits, the CLEAR project is examining options provided by non-real time tele-operations, robotics, and a new generation of diagnostic equipment. This paper outlines a strategy to create an effective repair environment where, with the support of ground based engineers, crewmembers can diagnose, repair and test flight electronics in-situ. This paper also discusses the implications of successful tele-robotic repairs when expanded to rework and reconfiguration of used flight assets for building Constellation infrastructure elements.

Struk, Peter M.↗
NASA NTRS2008

History of On-orbit Satellite Fragmentations (14th Edition)

Since the first serious satellite fragmentation occurred in June 1961 (which instantaneously increased the total Earth satellite population by more than 400%) the issue of space operations within the finite region of space around the Earth has been the subject of increasing interest and concern. The prolific satellite fragmentations of the 1970s and the marked increase in the number of fragmentations in the 1980s served to widen international research into the characteristics and consequences of such events. Continued events in all orbits in later years make definition and historical accounting of those events crucial to future research. Large, manned space stations and the growing number of operational robotic satellites demand a better understanding of the hazards of the dynamic Earth satellite population.

Johnson, Nicholas L.↗
NASA NTRS2008

Facilitating Analysis of Multiple Partial Data Streams

Robotic Operations Automation: Mechanisms, Imaging, Navigation report Generation (ROAMING) is a set of computer programs that facilitates and accelerates both tactical and strategic analysis of time-sampled data especially the disparate and often incomplete streams of Mars Explorer Rover (MER) telemetry data described in the immediately preceding article. As used here, tactical refers to the activities over a relatively short time (one Martian day in the original MER application) and strategic refers to a longer time (the entire multi-year MER missions in the original application). Prior to installation, ROAMING must be configured with the types of data of interest, and parsers must be modified to understand the format of the input data (many example parsers are provided, including for general CSV files). Thereafter, new data from multiple disparate sources are automatically resampled into a single common annotated spreadsheet stored in a readable space-separated format, and these data can be processed or plotted at any time scale. Such processing or plotting makes it possible to study not only the details of a particular activity spanning only a few seconds, but also longer-term trends. ROAMING makes it possible to generate mission-wide plots of multiple engineering quantities [e.g., vehicle tilt as in Figure 1(a), motor current, numbers of images] that, heretofore could be found only in thousands of separate files. ROAMING also supports automatic annotation of both images and graphs. In the MER application, labels given to terrain features by rover scientists and engineers are automatically plotted in all received images based on their associated camera models (see Figure 2), times measured in seconds are mapped to Mars local time, and command names or arbitrary time-labeled events can be used to label engineering plots, as in Figure 1(b).

Maimone, Mark W.↗
NASA NTRS2008

Orbital Express Advanced Video Guidance Sensor: Ground Testing, Flight Results and Comparisons

Orbital Express (OE) was a successful mission demonstrating automated rendezvous and docking. The 2007 mission consisted of two spacecraft, the Autonomous Space Transport Robotic Operations (ASTRO) and the Next Generation Serviceable Satellite (NEXTSat) that were designed to work together and test a variety of service operations in orbit. The Advanced Video Guidance Sensor, AVGS, was included as one of the primary proximity navigation sensors on board the ASTRO. The AVGS was one of four sensors that provided relative position and attitude between the two vehicles. Marshall Space Flight Center was responsible for the AVGS software and testing (especially the extensive ground testing), flight operations support, and analyzing the flight data. This paper briefly describes the historical mission, the data taken on-orbit, the ground testing that occurred, and finally comparisons between flight data and ground test data for two different flight regimes.

Pinson, Robin M.↗
NASA NTRS2005

Requirements to Design to Code: Towards a Fully Formal Approach to Automatic Code Generation

A general-purpose method to mechanically transform system requirements into a provably equivalent model has yet to appear. Such a method represents a necessary step toward high-dependability system engineering for numerous possible application domains, including distributed software systems, sensor networks, robot operation, complex scripts for spacecraft integration and testing, and autonomous systems. Currently available tools and methods that start with a formal model of a: system and mechanically produce a provably equivalent implementation are valuable but not sufficient. The "gap" that current tools and methods leave unfilled is that their formal models cannot be proven to be equivalent to the system requirements as originated by the customer. For the ciasses of systems whose behavior can be described as a finite (but significant) set of scenarios, we offer a method for mechanically transforming requirements (expressed in restricted natural language, or in other appropriate graphical notations) into a provably equivalent formal model that can be used as the basis for code generation and other transformations.

Hinchey, Michael G.↗
NASA NTRS2011

HERRO: A Science-Oriented Strategy for Crewed Missions Beyond LEO

This paper presents an exploration strategy for human missions beyond Low Earth Orbit (LEO) and the Moon that combines the best features of human and robotic spaceflight. This "Human Exploration using Real-time Robotic Operations" (HERRO) strategy refrains from placing humans on the surfaces of the Moon and Mars in the near-term. Rather, it focuses on sending piloted spacecraft and crews into orbit around exploration targets of interest, such as Mars, and conducting astronaut exploration of the surfaces using telerobots and remotely controlled systems. By eliminating the significant communications delay with Earth due to the speed of light limit, teleoperation provides scientists real-time control of rovers and other sophisticated instruments, in effect giving them a "virtual presence" on planetary surfaces, and thus expanding the scientific return at these destinations. It also eliminates development of the numerous man-rated landers, ascent vehicles and surface systems that are required to land humans on planetary surfaces. The propulsive requirements to travel from LEO to many destinations with shallow gravity-wells in the inner solar system are quite similar. Thus, a single spacecraft design could perform a variety of missions, including orbit-based surface exploration of the Moon, Mars and Venus, and rendezvous with Near Earth Asteroids (NEAs), as well as Phobos and Deimos. Although HERRO bypasses many of the initial steps that have been historically associated with human space exploration, it opens the door to many new destinations that are candidates for future resource utilization and settlement. HERRO is a first step that takes humans to exciting destinations beyond LEO, while expanding the ability to conduct science within the inner solar system.

Schmidt, George R.↗
NASA NTRS2013

Telerobotics for Human Exploration: Enhancing Crew Capabilities in Deep Space

Future space missions in Earth orbit, to the Moon, and to other distant destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible or efficient for humans to perform manually. Telerobots, however, can complement human explorers, performing work under remote control from Earth, orbit or nearby habitats. A central challenge, therefore, is to understand how humans and remotely operated robots can be jointly employed to maximize mission performance and success. This presentation provides an overview of the key issues with using telerobots for human exploration.

telerobotics↗
NASA NTRS2014

Analytical and Experimental Studies of Leak Location and Environment Characterization for the International Space Station

The International Space Station program is developing a robotically-operated leak locator tool to be used externally. The tool would consist of a Residual Gas Analyzer for partial pressure measurements and a full range pressure gauge for total pressure measurements. The primary application is to detect NH3 coolant leaks in the ISS thermal control system.An analytical model of leak plume physics is presented that can account for effusive flow as well as plumes produced by sonic orifices and thruster operations. This model is used along with knowledge of typical RGA and full range gauge performance to analyze the expected instrument sensitivity to ISS leaks of various sizes and relative locations (directionality).The paper also presents experimental results of leak simulation testing in a large thermal vacuum chamber at NASA Goddard Space Flight Center. This test characterized instrument sensitivity as a function of leak rates ranging from 1 lbmyr. to about 1 lbmday. This data may represent the first measurements collected by an RGA or ion gauge system monitoring off-axis point sources as a function of location and orientation. Test results are compared to the analytical model and used to propose strategies for on-orbit leak location and environment characterization using the proposed instrument while taking into account local ISS conditions and the effects of ramwake flows and structural shadowing within low Earth orbit.

Leak Locator↗
NASA NTRS2014

Analytical and Experimental Studies of Leak Location and Environment Characterization for the International Space Station

The International Space Station program is developing a robotically-operated leak locator tool to be used externally. The tool would consist of a Residual Gas Analyzer for partial pressure measurements and a full range pressure gauge for total pressure measurements. The primary application is to detect NH3 coolant leaks in the ISS thermal control system. An analytical model of leak plume physics is presented that can account for effusive flow as well as plumes produced by sonic orifices and thruster operations. This model is used along with knowledge of typical RGA and full range gauge performance to analyze the expected instrument sensitivity to ISS leaks of various sizes and relative locations ("directionality"). The paper also presents experimental results of leak simulation testing in a large thermal vacuum chamber at NASA Goddard Space Flight Center. This test characterized instrument sensitivity as a function of leak rates ranging from 1 lb-mass/yr. to about 1 lb-mass/day. This data may represent the first measurements collected by an RGA or ion gauge system monitoring off-axis point sources as a function of location and orientation. Test results are compared to the analytical model and used to propose strategies for on-orbit leak location and environment characterization using the proposed instrument while taking into account local ISS conditions and the effects of ram/wake flows and structural shadowing within low Earth orbit.

000000↗
NASA NTRS2015

2nd Generation QUATARA Flight Computer Project

Single core flight computer boards have been designed, developed, and tested (DD&T) to be flown in small satellites for the last few years. In this project, a prototype flight computer will be designed as a distributed multi-core system containing four microprocessors running code in parallel. This flight computer will be capable of performing multiple computationally intensive tasks such as processing digital and/or analog data, controlling actuator systems, managing cameras, operating robotic manipulators and transmitting/receiving from/to a ground station. In addition, this flight computer will be designed to be fault tolerant by creating both a robust physical hardware connection and by using a software voting scheme to determine the processor's performance. This voting scheme will leverage on the work done for the Space Launch System (SLS) flight software. The prototype flight computer will be constructed with Commercial Off-The-Shelf (COTS) components which are estimated to survive for two years in a low-Earth orbit.

Falker, Jay↗
NASA NTRS2008

Automated and Adaptive Mission Planning for Orbital Express

The Orbital Express space mission was a Defense Advanced Research Projects Agency (DARPA) lead demonstration of on-orbit satellite servicing scenarios, autonomous rendezvous, fluid transfers of hydrazine propellant, and robotic arm transfers of Orbital Replacement Unit (ORU) components. Boeing's Autonomous Space Transport Robotic Operations (ASTRO) vehicle provided the servicing to the Ball Aerospace's Next Generation Serviceable Satellite (NextSat) client. For communication opportunities, operations used the high-bandwidth ground-based Air Force Satellite Control Network (AFSCN) along with the relatively low-bandwidth GEO-Synchronous space-borne Tracking and Data Relay Satellite System (TDRSS) network. Mission operations were conducted out of the RDT&E Support Complex (RSC) at the Kirtland Air Force Base in New Mexico. All mission objectives were met successfully: The first of several autonomous rendezvous was demonstrated on May 5, 2007; autonomous free-flyer capture was demonstrated on June 22, 2007; the fluid and ORU transfers throughout the mission were successful. Planning operations for the mission were conducted by a team of personnel including Flight Directors, who were responsible for verifying the steps and contacts within the procedures, the Rendezvous Planners who would compute the locations and visibilities of the spacecraft, the Scenario Resource Planners (SRPs), who were concerned with assignment of communications windows, monitoring of resources, and sending commands to the ASTRO spacecraft, and the Mission planners who would interface with the real-time operations environment, process planning products and coordinate activities with the SRP. The SRP position was staffed by JPL personnel who used the Automated Scheduling and Planning ENvironment (ASPEN) to model and enforce mission and satellite constraints. The lifecycle of a plan began three weeks outside its execution on-board. During the planning timeframe, many aspects could change the plan, causing the need for re-planning. These variable factors, ranging from shifting contact times to ground-station closures and required maintenance times, are discussed along with the flexibility of the ASPEN tool to accommodate changes to procedures and the daily or long-range plan, which contributed to the success of the mission. This paper will present an introduction to ASPEN, a more in-depth discussion on its use on the Orbital Express mission, and other relative work. A description of ground operations after the SRP deliveries were made is included, and we briefly discuss lessons learned from the planning perspective and future work.

scheduling↗
NASA NTRS2016

Safeguarding a Lunar Rover with Wald's Sequential Probability Ratio Test

The virtual bumper is a safeguarding mechanism for autonomous and remotely operated robots. In this paper we take a new approach to the virtual bumper system by using an old statistical test. By using a modified version of Wald's sequential probability ratio test we demonstrate that we can reduce the number of false positive reported by the virtual bumper, thereby saving valuable mission time. We use the concept of sequential probability ratio to control vehicle speed in the presence of possible obstacles in order to increase certainty about whether or not obstacles are present. Our new algorithm reduces the chances of collision by approximately 98 relative to traditional virtual bumper safeguarding without speed control.

safeguarding↗
NASA NTRS2017

An Integrated System for Autonomous Search and Track with a Small Unmanned Aerial Vehicle

This article presents a framework for searching, detecting, and tracking an object of interest with a small unmanned aerial vehicle (sUAV). The vehicle is given an area to search for an object of interest. Once the object is detected, the sUAV follows the target while maintaining a fixed distance and centered on its image plane. This paper describes an architecture for integrating autonomy capabilities for search and track for sUAVs. The system has been implemented in the Robot Operating System (ROS) framework using the Parrot ARDrone platform. In this paper we present our technical approach, the system architecture and demonstrate the principles of the approach in a simulation environment and indoor flight tests.

Unmanned Aerial Vehicle↗
NASA NTRS2020

Sediment Sorting and Rounding in a Basaltic Glacio-Fluvio-Aeolian Environment: Ϸhórisjökull Glacier, Iceland

Sediments and sedimentary rocks preserve a rich history of environment and climate. Identifying these signals requires an understanding of the physical and chemical processes that have affected sedimentary deposits [1]. Such processes include sorting and rounding during transport and chemical alteration through weathering and diagenesis. Although these processes have long been studied in quartz-dominated sedimentary systems [2], a lack of studies of basaltic sedimentary systems limits our interpretations of the environment and climate where mafic source rocks dominate, such as on Mars [3,4]. As part of the SAND-E: Semi-Autonomous Navigation for Detrital Environments project [5], which uses robotic operations to examine physical and chemical changes to sediments in basaltic glacio-fluvialaeolian environments, this research studies changes in sorting and rounding of fluvial-aeolian sediments along a glacier-proximal-to-glacier-distal transect in the outwash-plain of the Ϸόrisjökull glacier in SW Iceland (Fig. 1)

Mason, K. G.↗
NASA NTRS2020

Electrodynamic Dust Shield Housing for RASSOR Redesign and Fabrication

Abstract—An Electrodynamic Dust Shield (EDS) was to be mounted over the cameras of the Regolith Advanced Surface Systems Operations Robot (RASSOR) to mitigate the clouding effects and abrasive properties of lunar dust. This report discusses the redesign process and physical fabrication of the housing unit planned to attach the EDS to the RASSOR camera. The two-piece 3D-Printed design consists of a holder and cover unit. The EDS Holder seats the EDS near two live copper contacts that are to be wired into the main electronics housing. The EDS Cover seats two metal leaf spring tabs to bridge the connections between the copper contacts and EDS electrodes, as well as a centralized O-ring that is pressed flush against the EDS to mitigate dust intrusion. All components were modeled, printed, and checked for proper electrical contact and mechanical fit. The built-up assembly was subsequently tested in the Electrostatics and Surface Physics Laboratory (ESPL) and demonstrated good dust clearing performance.

Alexander Lacerna↗