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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 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Testbed for remote telepresence research

The paper describes the design and implementation of a telepresence system, as well as its control hardware and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free-flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three-DOF platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Adnan, Sarmad↗
NASA NTRS1995

A study of space-rated connectors using a robot end-effector

The main research activities have been directed toward the study of the Robot Operated Materials Processing System (ROMPS), developed at GSFC under a flight project to investigate commercially promising in-space material processes and to design reflyable robot automated systems to be used in the above processes for low-cost operations. The research activities can be divided into two phases. Phase 1 dealt with testing of ROMPS robot mechanical interfaces and compliant device using a Stewart Platform testbed and Phase 2 with computer simulation study of the ROMPS robot control system. This report provides a summary of the results obtained in Phase 1 and Phase 2.

Nguyen, Charles C.↗
NASA NTRS2011

Ndarts

Ndarts software provides algorithms for computing quantities associated with the dynamics of articulated, rigid-link, multibody systems. It is designed as a general-purpose dynamics library that can be used for the modeling of robotic platforms, space vehicles, molecular dynamics, and other such applications. The architecture and algorithms in Ndarts are based on the Spatial Operator Algebra (SOA) theory for computational multibody and robot dynamics developed at JPL. It uses minimal, internal coordinate models. The algorithms are low-order, recursive scatter/ gather algorithms. In comparison with the earlier Darts++ software, this version has a more general and cleaner design needed to support a larger class of computational dynamics needs. It includes a frames infrastructure, allows algorithms to operate on subgraphs of the system, and implements lazy and deferred computation for better efficiency. Dynamics modeling modules such as Ndarts are core building blocks of control and simulation software for space, robotic, mechanism, bio-molecular, and material systems modeling.

Jain, Abhinandan↗
NASA NTRS1989

Development of efficient computer program for dynamic simulation of telerobotic manipulation

Research in robot control has generated interest in computationally efficient forms of dynamic equations for multi-body systems. For a simply connected open-loop linkage, dynamic equations arranged in recursive form were found to be particularly efficient. A general computer program capable of simulating an open-loop manipulator with arbitrary number of links has been developed based on an efficient recursive form of Kane's dynamic equations. Also included in the program is some of the important dynamics of the joint drive system, i.e., the rotational effect of the motor rotors. Further efficiency is achieved by the use of symbolic manipulation program to generate the FORTRAN simulation program tailored for a specific manipulator based on the parameter values given. The formulations and the validation of the program are described, and some results are shown.

Chen, J.↗
DOE OSTI2023

Self‐Propelling Macroscale Sheets Powered by Enzyme Pumps

Nanoscale enzymes anchored to surfaces act as chemical pumps by converting chemical energy released from enzymatic reactions into spontaneous fluid flow that propels entrained nano‐ and microparticles. Enzymatic pumps are biocompatible, highly selective, and display unique substrate specificity. Utilizing these pumps to trigger self‐propelled motion on the macroscale has, however, constituted a significant challenge and thus prevented their adaptation in macroscopic fluidic devices and soft robotics. Using experiments and simulations, we herein show that enzymatic pumps can drive centimeter‐scale polymer sheets along directed linear paths and rotational trajectories. In these studies, the sheets are confined to the air/water interface. With the addition of appropriate substrate, the asymmetric enzymatic coating on the sheets induces chemically driven, buoyancy flows that controllably propel the sheet's motion on the air/water interface. The directionality and speed of the motion can be tailored by changing the pattern of the enzymatic coating, type of enzyme, and nature and concentration of the substrate. This work highlights the utility of biocompatible enzymes for generating motion in macroscale fluidic devices and robotics and indicates their potential utility for in vivo applications.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS2020

A Jupyter Notebook Environment For Multibody Dynamics

DARTS is a rigid/flexible multibody dynamics toolkit for themodeling and simulation of aerospace and robotic vehicles forengineering applications. In this paper we describe an on-line,browser-based environment using Jupyter notebooks to supporttraining needs for the DARTS software. The suite of curated tutorial notebooks is organized into different topic areas, and intomultiple themes within each topic area. The notebooks within atheme use a progression of examples for users to expand theirunderstanding of the software. The topic areas include one onthe DARTS multibody dynamics software and another one on thetheory underlying the multibody dynamics formulation. We alsodescribe a number of Jupyter extensions that were used - andsome developed in house - to enhance the notebook interface foruse with the dynamics simulation software. One significant extension we implemented allows the embedding of live 3D visualizations within simulation notebooks.

Gaut, Aaron↗
NASA NTRS2005

NASA Tech Briefs, August 2005

Topics include: Hidden Identification on Parts: Magnetic Machine-Readable Matrix Symbols; System for Processing Coded OFDM Under Doppler and Fading; Multipurpose Hyperspectral Imaging System; Magnetic-Flux-Compensated Voltage Divider; High-Performance Satellite/Terrestrial-Network Gateway; Internet-Based System for Voice Communication With the ISS; Stripline/Microstrip Transition in Multilayer Circuit Board; Dual-Band Feed for a Microwave Reflector Antenna; Quadratic Programming for Allocating Control Effort; Range Process Simulation Tool; Simulator of Space Communication Networks; Computing Q-D Relationships for Storage of Rocket Fuels; Contour Error Map Algorithm; Portfolio Analysis Tool; Glass Frit Filters for Collecting Metal Oxide Nanoparticles; Anhydrous Proton-Conducting Membranes for Fuel Cells; Portable Electron-Beam Free-Form Fabrication System; Miniature Laboratory for Detecting Sparse Biomolecules; Multicompartment Liquid-Cooling/Warming Protective Garments; Laser Metrology for an Optical-Path-Length Modulator; PCM Passive Cooling System Containing Active Subsystems; Automated Electrostatics Environmental Chamber; Estimating Aeroheating of a 3D Body Using a 2D Flow Solver; Artificial Immune System for Recognizing Patterns; Computing the Thermodynamic State of a Cryogenic Fluid; Safety and Mission Assurance Performance Metric; Magnetic Control of Concentration Gradient in Microgravity; Avionics for a Small Robotic Inspection Spacecraft; and Simulation of Dynamics of a Flexible Miniature Airplane.

Source record↗
NASA NTRS1986

Active control of robot manipulator compliance

Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

Nguyen, C. C.↗
NASA NTRSDate not supplied

Spacecraft Operation Emulation Via Six DOF Tendon-Actuated Robot

NASA Johnson Space Center’s (JSC) Simulation, Emulation, Navigation, Sensors and STAR (SENSS) Laboratory has developed a large-scale six degree of freedom tendon-actuated robot (STAR) for emulation of spacecraft proximity operations and Entry, Descent, and Landing approach trajectories to aid in the rapid development and testing of a wide range of guidance, navigation, and control algorithms at low cost.

navigation↗
NASA NTRS1993

Direct model reference adaptive control of robotic arms

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Kaufman, Howard↗
DOE OSTI2025

Solar Spectrum Conversion for an Algae Bioreactor (CRADA Final Report)

This project focused on developing advanced optical coatings to improve solar energy utilization. The research aimed to create lanthanide-doped upconversion nanoparticles (UCNPs) capable of capturing unused near-infrared (NIR) light from the sun and converting it into visible light (blue and red photons) that can be used for photosynthesis. The primary goal was to identify, synthesize, and integrate highly efficient UCNPs into a transparent thin-film device. Through a comprehensive workflow involving computer simulations, high-throughput robotic synthesis, and detailed optical characterization, the project successfully developed a high-performance material. The key technical achievement was the creation of a core-shell UCNP (NaYF₄:20%Yb³⁺, 2%Er³⁺ coated with a 10 nm NaYF₄ shell) that demonstrated a quantum yield of 3.2% for converting 980 nm NIR light into visible light. Transparent thin films fabricated from these nanoparticles showed excellent optical properties, confirming their potential for practical applications. This research adds to the scientific understanding of energy transfer in lanthanide materials and demonstrates a technically effective method for creating efficient light-converting coatings. The primary benefit to the public lies in the potential for these coatings to enhance the efficiency of solar-driven processes, such as boosting the growth of algae in photobioreactors for biofuel production.

14 SOLAR ENERGY↗
NASA NTRS1988

Distributed cooperating processes in a mobile robot control system

A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

Skillman, Thomas L., Jr.↗
NASA NTRS1992

Predictive Display For Teleoperation With Delay

Computer-graphical simulator helps operator control robotic manipulator when controlling and monitoring signals delayed in transmission. Displays phantom image of robot superimposed on delayed "real" monitoring image. Phantom responds to control signals immediately - motion predicts that of robot. After delay, real image follows motion of phantom. System includes high-fidelity, real-time computer-graphical display which gives depth, perspective, and lighting cues improving control.

Bejczy, Antal K.↗
NASA NTRS1992

Training For Estimation Of Angles Via Perspective Displays

Training helps people estimate angles more accurately from perspective pictures of three-dimensional scenes on two-dimensional displays, according to report. Based on study in which subjects shown scene containing ground plane (represented by perspective display of irregularly spaced parallel lines) and reference cube and target cube floating above ground plane. Scene devised to represent scenes like those occurring in flight simulators and at robot-control stations, where selection of trajectories, perception of obstacles, and manipulation of objects required.

Tharp, Gregory K.↗
NASA NTRS1993

Robust stability of second-order systems

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base.

Chuang, C.-H.↗
NASA NTRS1993

The development of the human exploration demonstration project (HEDP), a planetary systems testbed

The Human Exploration Demonstration Project (HEDP) is an ongoing task at the National Aeronautics and Space Administration's Ames Research Center to address the advanced technology requirements necessary to implement an integrated working and living environment for a planetary surface habitat. The integrated environment will consist of life support systems, physiological monitoring of project crew, a virtual environment workstation, and centralized data acquisition and habitat systems health monitoring. There will be several robotic systems on a simulated planetary landscape external to the habitat environment to provide representative work loads for the crew. This paper describes the status of the HEDP after one year, the major facilities composing the HEDP, the project's role as an Ames Research Center testbed, and the types of demonstration scenarios that will be run to showcase the technologies.

Chevers, Edward S.↗
NASA NTRS1993

A passivity based controller for free base manipulators

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for free base robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar space manipulator with freely floating base.

Chuang, C.-H.↗
NASA NTRS1999

Test Results for the Automated Rendezvous and Capture System

The Automated Rendezvous and Capture (AR&C) system was designed and tested at NASA's Marshall Space Flight Center (MSFC) to demonstrate technologies and mission strategies for automated rendezvous and docking of spacecraft in Earth orbit, The system incorporates some of the latest innovations in Global Positioning, System space navigation, laser sensor technologies and automated mission sequencing algorithms. The system's initial design and integration was completed in 1998 and has undergone testing at MSFC. This paper describes the major components of the AR&C system and presents results from the official system tests performed in MSFC's Flight Robotics Laboratory with digital simulations and hardware in the loop tests. The results show that the AR&C system can safely and reliably perform automated rendezvous and docking missions in the absence of system failures with 100 percent success. When system failures are included, the system uses its automated collision avoidance maneuver logic to recover in a safe manner. The primary objective of the AR&C project is to prove that by designing a safe and robust automated system, mission operations cost can be reduced by decreasing the personnel required for mission design, preflight planning and training required for crewed rendezvous and docking missions.

Cruzen, Craig↗