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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 NTRS1990

Fallout from the Shuttle Arm

Vadeko International, Inc., Mississauga, Ontario developed for the Canadian National Railways (CN) the Robotic Paint Application System. The robotic paint shop has two parallel paint booths, allowing simultaneous painting of two hopper cars. Each booth has three robots, two that move along wall-mounted rails to spray-paint the exterior, a third that is lowered through a hatch in the railcar's top to paint the interior. A fully computerized system controls the movement of the robots and the painting process. The robots can do in four hours a job that formerly took 32 hours. The robotic system applies a more thorough coating and CN expects that will double the useful life of its hoppers and improve cost efficiency. Human painters no longer have to handle the difficult and hazardous job. CN paint shop employees have been retrained to operate the computer system that controls the robots. In addition to large scale robotic systems, Vadeko International is engaged in such other areas of technology as flexible automation, nuclear maintenance, underwater vehicles, thin film deposition and wide band monitoring.

Source record↗

NASA NTRS1996

Mission simulation as an approach to develop requirements for automation in Advanced Life Support Systems

This paper examines mission simulation as an approach to develop requirements for automation and robotics for Advanced Life Support Systems (ALSS). The focus is on requirements and applications for command and control, control and monitoring, situation assessment and response, diagnosis and recovery, adaptive planning and scheduling, and other automation applications in addition to mechanized equipment and robotics applications to reduce the excessive human labor requirements to operate and maintain an ALSS. Based on principles of systems engineering, an approach is proposed to assess requirements for automation and robotics using mission simulation tools. First, the story of a simulated mission is defined in terms of processes with attendant types of resources needed, including options for use of automation and robotic systems. Next, systems dynamics models are used in simulation to reveal the implications for selected resource allocation schemes in terms of resources required to complete operational tasks. The simulations not only help establish ALSS design criteria, but also may offer guidance to ALSS research efforts by identifying gaps in knowledge about procedures and/or biophysical processes. Simulations of a planned one-year mission with 4 crewmembers in a Human Rated Test Facility are presented as an approach to evaluation of mission feasibility and definition of automation and robotics requirements.

NASA Discipline Number 61-10↗

NASA NTRS2013

Target Trailing With Safe Navigation for Maritime Autonomous Surface Vehicles

This software implements a motion-planning module for a maritime autonomous surface vehicle (ASV). The module trails a given target while also avoiding static and dynamic surface hazards. When surface hazards are other moving boats, the motion planner must apply International Regulations for Avoiding Collisions at Sea (COLREGS). A key subset of these rules has been implemented in the software. In case contact with the target is lost, the software can receive and follow a "reacquisition route," provided by a complementary system, until the target is reacquired. The programmatic intention is that the trailed target is a submarine, although any mobile naval platform could serve as the target. The algorithmic approach to combining motion with a (possibly moving) goal location, while avoiding local hazards, may be applicable to robotic rovers, automated landing systems, and autonomous airships. The software operates in JPL s CARACaS (Control Architecture for Robotic Agent Command and Sensing) software architecture and relies on other modules for environmental perception data and information on the predicted detectability of the target, as well as the low-level interface to the boat controls.

Wolf, Michael↗

NASA NTRS1989

Manufacturing implementation of off-line programming for the Space Shuttle Main Engines

An account is given of the efforts made to implement an off-line programming (OLP) system for a gas tungsten arc welding robot in actual manufacturing operations, namely those involved in the manufacture of the SSMEs. In conjunction with a real-time sensor control system, the OLP constitutes the Advanced Robotic Welding System, or 'AROWS'. OLP's task is to develop a robot-motion path without the initial use of the robot to 'teach' the characteristics of such motion; actual process parameters are recorded by OLP and correlated with the position along the weld.

Sliwinski, K. E.↗

NASA NTRS2018

Astrobee: A New Tool for ISS Operations

Astrobee is a new class of free-flying robots that operate in the interior of the International Space Station (ISS). In addition to providing a research platform for zero-g free-flying robotics (replacing the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES)), Astrobee improves the efficiency of ISS operations by providing flight and payload controllers with a mobile camera/sensor platform. The Astrobee system consists of three robots, a docking station, and a ground data system. Development began in late 2014, and Astrobee will launch to ISS in late 2018. This paper provides an overview of the capabilities of the Astrobee system, the concept of operations for ISS operations support, and the challenges of operating a free-flying robot within the constraints of the ISS environment.

Astrobee↗

NASA NTRS2018

Astrobee: A New Tool for ISS Operations

ISS↗

NASA NTRS2017

Robonaut 2 and You: Specifying and Executing Complex Operations

Crew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their form, but they are complex and high-dimensional platforms. This paper describes a system that human operators can use to maneuver Robonaut 2 (R2), a dexterous humanoid robot developed by NASA to research co-robotic applications. The system includes a specification of constraints used to describe operations, and the supporting planning framework that solves constrained problems on R2 at interactive speeds. The paper is developed in reference to an illustrative, typical example of an operation R2 performs to highlight the challenges inherent to the problems R2 must face. Finally, the interface and planner is validated through a case-study using the guiding example on the physical robot in a simulated microgravity environment. This work reveals the complexity of employing humanoid caretaker robots and suggest solutions that are broadly applicable.

Baker, William↗

NASA NTRS1991

A space servicing telerobotics technology demonstration

Supervised telerobotic controls provide the key to successful remote servicing, as demonstrated in the telerobot testbed of the jet propulsion laboratory. Such advanced techniques and systems are specially applicable to ground-remote operations for servicing tasks, which are to be performed remotely in space and to be operated under human supervision from the ground. Laboratory demonstrations have successfully proven the utility of such techniques and systems. Instrumental to the success of supervised robotic operations are the techniques called object designate and relative target. In addition, a technique called universal camera calibration was also applied in the telerobot testbed. Generalized compliant control techniques were used in the robotic removal and insertion operations. These techniques were proven successful in task situations where preprogrammed automation cannot be adequately exercised due to errors, changes, or omission in the worksite data base.

Kan, Edwin P.↗

NASA NTRS1994

Design and testing of a model CELSS chamber robot

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system. A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended. This proved that it was stable. Another pre-test was the actuator slip test used to determine if there is an adequate coefficient of friction between the actuator drive wheels and drive cable to enable the actuator to fully extend and retract the arm. This pre-test revealed that the coefficient of friction was not large enough to prevent slippage. Sandpaper was glued to the drive wheel and this eliminated the slippage problem. The class preformed a fit test in the CELSS chamber to ensure that the completed robot arm is capable of reaching the entire working envelope. The robot was centered in the chamber and the arm was fully extended to the sides of the chamber. The arm was also able to retract to clear the drain pipes separating the upper and lower plant trays.

Davis, Mark↗

NASA NTRS1992

Precise positioning and compliance synthesis for automatic assembly using Lorentz levitation

Many manufacturing assembly tasks require fine compliant motion and fast, accurate positioning. Conventional robots perform poorly in these tasks because of their large mass, friction and backlash in gears, cogging in drive motors and other deleterious effects. Even robots equipped with special control systems enabling compliant operation offer only partial solutions. It is difficult or impossible to automate many product assemblies requiring fine, compliant motion. This problem can be greatly alleviated by dividing the manipulation system into coarse and fine domains. In this scenario, a standard industrial robot can serve as a coarse positioner which in turn carries a six degrees of freedom fine motion wrist. Thus the robot can access a workspace measured in meters at low bandwidth and low resolution while the wrist can move over millimeters at high bandwidth and high resolution during the final phase of the assembly operation. Work indicates that fine motion wrists using Lorentz levitation can greatly augment the accuracy and dexterity of robots because they are frictionless, have high bandwidths and have a single back drivable moving part. Also, since there is no contact between the moving and stationary parts, wear and contamination can be eliminated. The use of six Lorentz force actuators in combination with real time position and orientation sensing offers several important advantages over magnetic bearing approaches.

Hollis, R. L.↗

NASA NTRS1992

Requirements and applications for robotic servicing of military space systems

The utility of on-orbit servicing of spacecraft has been demonstrated by NASA several times using shuttle-based astronaut EVA. There has been interest in utilizing on-orbit servicing for military space systems as well. This interest has been driven by the increasing reliance of all branches of the military upon space-based assets, the growing numbers, complexity, and cost of those assets, and a desire to normalize support policies for space-based operations. Many military satellites are placed in orbits which are unduly hostile for astronaut operations and/or cannot be reached by the shuttle. In addition, some of the projected tasks may involve hazardous operations. This has led to a focus on robotic systems, instead of astronauts, for the basis of projected servicing systems. This paper describes studies and activities which will hopefully lead to on-orbit servicing being one of the tools available to military space systems designers and operators. The utility of various forms of servicing has been evaluated for present and projected systems, critical technologies have been identified, and strategies for the development and insertion of this technology into operational systems have been developed. Many of the projected plans have been adversely affected by budgetary restrictions and evolving architectures, but the fundamental benefits and requirements are well understood. A method of introducing servicing capabilities in a manner which has a low impact on the system designer and does not require the prior development of an expensive infrastructure is discussed. This can potentially lead to an evolutionary implementation of the full technology.

Ledford, Otto C., Jr.↗

NASA NTRS2010

Gigapan Voyage for Robotic Recon

Gigapan Voyage (GV) is a self-contained remotely-operable Gigapan capturing system that is currently being developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. Gigapan Voyage was primarily designed to be integrated onto Johnson Space Center s Lunar Electric Rovers (LER). While on LER, Gigapan Voyage was used by scientists and astronauts during the 2009 and 2010 Desert RATS field tests. The concept behind Gigapan Voyage is to merge all the sub-components of the commercial GigaPan system into an all-in-one system that can capture, stitch, and display Gigapans in an automated way via a simple web interface. The GV system enables NASA to quickly and easily add remote-controlled Gigapan capturing capability onto rovers with minimal integration effort. Key Words: Geology, NASA, Black Point Lava Flow, Robot, K10, LER, Gigapan Voyage, Desert RATS, Intelligent Robotics Group

Lee, Susan Y.↗

NASA NTRS1994

A CLIPS-based expert system for the evaluation and selection of robots

This paper describes the development of a prototype expert system for intelligent selection of robots for manufacturing operations. The paper first develops a comprehensive, three-stage process to model the robot selection problem. The decisions involved in this model easily lend themselves to an expert system application. A rule-based system, based on the selection model, is developed using the CLIPS expert system shell. Data about actual robots is used to test the performance of the prototype system. Further extensions to the rule-based system for data handling and interfacing capabilities are suggested.

Nour, Mohamed A.↗

NASA NTRS2007

Lunar Dust on Heat Rejection System Surfaces: Problems and Prospects

Heat rejection from power systems will be necessary for human and robotic activity on the lunar surface. Functional operation of such heat rejection systems is at risk of degradation as a consequence of dust accumulation. The Apollo astronauts encountered marked degradation of performance in heat rejection systems for the lunar roving vehicle, science packages, and other components. Although ground testing of dust mitigation concepts in support of the Apollo mission identified mitigation tools, the brush concept adopted by the Apollo astronauts proved essentially ineffective. A better understanding of the issues associated with the impact of lunar dust on the functional performance of heat rejection systems and its removal is needed as planning gets underway for human and robotic missions to the Moon. Renewed emphasis must also be placed on ground testing of pristine and dust-covered heat rejection system surfaces to quantify degradation and address mitigation concepts. This paper presents a review of the degradation in performance of heat rejection systems encountered on the lunar surface to-date, and will discuss current activities underway to evaluate the durability of candidate heat rejection system surfaces and current dust mitigation concepts.

Gaier, James R.↗

NASA NTRS2006

Sensor Data Qualification for Autonomous Operation of Space Systems

NASA's new Exploration initiative for both robotic and manned missions will require higher levels of reliability, autonomy and reconfiguration capability to make the missions safe, successful and affordable. Future systems will require diagnostic reasoning to assess the health of the system in order to maintain the system s functionality. The diagnostic reasoning and assessment will involve data qualification, fault detection, fault isolation and remediation control. A team of researchers at the NASA Glenn Research Center is currently working on a Sensor Data Qualification (SDQ) system that will support these critical evaluation processes, for both automated and human-in-the-loop applications. Data qualification is required as a first step so that critical safety and operational decisions are based on good data. The SDQ system would monitor a network of related sensors to determine the health of individual sensors within that network. Various diagnostic systems such as the Caution and Warning System would then use the sensor health information with confidence. The proposed SDQ technology will be demonstrated on a variety of subsystems that are relevant to NASA s Exploration systems, which currently include an electrical power system and a cryogenic fluid management system. The focus of this paper is the development and demonstration of a SDQ application for a prototype power distribution unit that is representative of a Crew Exploration Vehicle electrical power system; this provides a unique and relevant environment in which to demonstrate the feasibility of the SDQ technology.

Maul, William A.↗

NASA NTRS1994

A Mobile Robot for Remote Response to Incidents Involving Hazardous Materials

This paper will describe a teleoperated mobile robot system being developed at JPL for use by the JPL Fire Department/HAZMAT Team. The project, which began in October 1990, is focused on prototyping a robotic vehicle which can be quickly deployed and easily operated by HAZMAT Team personnel allowing remote entry and exploration of a hazardous material incident site. The close involvement of JPL Fire Department personnel has been critical in establishing system requirements as well as evaluating the system. The current robot, called HAZBOT III, has been especially designed for operation in environments that may contain combustible gases. Testing of the system with the Fire Department has shown that teleoperated robots can successfully gain access to incident sites allowing hazardous material spills to be remotely located and identified. Work is continuing to enable more complex missions through enhancement of the operator interface and by allowing tetherless operation.

robots teleoperator hazardous materials HAZMAT HAZ↗

NASA NTRS2019

Artificial Intelligence: Powering Human Exploration of the Moon and Mars

Artificial Intelligence (AI) is a growing field of computa- tional science techniques designed to mimic functions per- formed by people. Advancements in autonomy will depend on a portfolio of AI technologies. Automated planning and scheduling is a venerable field of study in AI, and is needed for a variety of mission planning functions. Plan execution technology is less well studied, but important for auton- omy and robotics. Specialized forms of automated reason- ing and machine learning are key technologies to enable fault management. Over the past decade, the NASA Au- tonomous Systems and Operations (ASO) project has devel- oped and demonstrated numerous autonomy enabling tech- nologies employing AI techniques. Our work has employed AI in three distinct ways to enable autonomous mission op- erations capabilities. Crew Autonomy gives astronauts tools to assist in the performance of each of these mission oper-ations functions. Vehicle System Management uses AI tech- niques to turn the astronaut's spacecraft into a robot, allow- ing it to operate when astronauts are not present, or to reduce astronaut workload. AI technology also enables Autonomous Robots as crew assistants or proxies when the crew are not present. When these capabilities are used to enable astro- nauts to operate autonomously, they must be integrated with user interfaces, introducing numerous human factors con- siderations; when these capabilities are used to enable vehi- cle system management, they must be integrated with flight software, and run on embedded processors under the control of real-time operating systems.We first describe human spaceflight mission operations capabilities. The remainder of the paper will describe the ASO project, and the development and demonstration per- formed by ASO since 2011. We will describe the AI tech- niques behind each of these demonstrations, which include a variety of symbolic automated reasoning and machine learn- ing based approaches. Finally, we conclude with an assess- ment of future development needs for AI to enable NASA's future Exploration missions.

Mission Operations↗

NASA NTRS1981

Simple geometric algorithms to aid in clearance management for robotic mechanisms

Global geometric shapes such as lines, planes, circles, spheres, cylinders, and the associated computational algorithms which provide relatively inexpensive estimates of minimum spatial clearance for safe operations were selected. The Space Shuttle, remote manipulator system, and the Power Extension Package are used as an example. Robotic mechanisms operate in quarters limited by external structures and the problem of clearance is often of considerable interest. Safe clearance management is simple and suited to real time calculation, whereas contact prediction requires more precision, sophistication, and computational overhead.

Copeland, E. L.↗