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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 289 records · Page 16
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Control of free-flying space robot manipulator systems

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Cannon, Robert H., Jr.↗
NASA NTRS1991

A hazard control system for robot manipulators

A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

Carter, Ruth Chiang↗
DOE OSTI2024

Robotics for Systems Integration in Buildings: Pilot Study of Viable Approaches to Install Hygrothermal and Rigid Electrical Systems

The Industrialized Construction Innovation (ICI) team at the National Renewable Energy Laboratory (NREL) has been exploring the use of robotics to integrate hygrothermal, mechanical, electrical, and plumbing systems in prefabricated building assemblies (off-site construction) and 3D-printed buildings (on-site construction). Such multisystem integration tasks often require specialized robots and custom end effectors to handle a range of rigid and nonrigid building components. This paper begins with a brief overview of the current state of robotics in construction, followed by a pilot study exploring the use of robotics to integrate a simple prototype multitrade wall assembly composed of structural studs, hygrothermal layer, wall finishing, and electrical fixtures. The study was funded by the US Department of Energy's (DOE's) Advanced Materials and Manufacturing Technologies Office (AMMTO). Insights about the implementation of design for manufacturing and assembly (DfMA) principles in designing the prototype wall for robotic assembly, and selection of appropriate robotic end-effector hardware to handle these components are included. Detailed comparison of computational toolpath simulations of the robotic assembly process and real-life demonstration of the same are presented. Finally, limitations and lessons learned from this study are included, along with future research recommendations for robotic assembly of more complex multitrade assemblies, including potential scenarios such as robotic outfitting of facilities in extraterrestrial environments.

advanced manufacturing↗
DOE OSTI2026

Synthetic Digital Environments for Training Robots on Earth & Beyond [Poster]

Creating physical replicas of real-world environments to train robots for challenging outdoor tasks, whether constructing energy infrastructure like solar farms on Earth or on the Moon and Mars, is prohibitively expensive. This project will prototype a high-fidelity digital twin framework using NVIDIA IsaacSim to create realistic digital representations of robotic systems and their operating conditions, including varied terrains and environmental factors, allowing robots to learn and adapt in a faster, safer, and more affordable way to tackle unpredictable challenges in terrestrial and extraterrestrial applications. The Robotic Space Exploration (RoSE) Lab at Colorado School of Mines focused on the development and testing of synthetic digital twins to explore multi-physics interactions between robots and unstructured environments, with emphasis on lunar conditions such as deformable regolith, reduced gravity, and terrain-robot contact dynamics. The Industrialized Construction Innovation (ICI) team at National laboratory of the Rockies (NLR), simulated robotic apparatus and construction workflows using synthetic digital twins to inform real-world deployment, targeting application-driven use cases such as robotic construction of a scaled prototype of a photovoltaic energy infrastructure. Joint efforts between RoSE and ICI are continuing to explore how environment-scale multi-physics modeling and application-level robotic system simulation could be integrated to support robotic construction of energy infrastructure in highly unstructured environments, including scenarios relevant to the Lunar South Pole.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRS1989

Control of free-flying space robot manipulator systems

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Cannon, Robert H., Jr.↗
NASA NTRS1992

Design of small Stirling dynamic isotope power system for robotic space missions

Design of a multihundred-watt Dynamic Isotope Power System (DIPS) based on the U.S. Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE) technology is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. Unlike previous DIPS designs which were based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled down to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Preliminary characterization of units in the output power ranges 200-600 We indicate that on an electrical watt basis the GPHS/small Stirling DIPS will be roughly equivalent to an advanced RTG in size and mass but require less than a third of the isotope inventory.

Bents, D. J.↗
NASA NTRS1988

A multi-sensor system for robotics proximity operations

Robots without sensors can perform only simple repetitive tasks and cannot cope with unplanned events. A multi-sensor system is needed for a robot to locate a target, move into its neighborhood and perform operations in contact with the object. Systems that can be used for such tasks are described.

Cheatham, J. B.↗
NASA NTRS1993

Stereoscopic Vision System For Robotic Vehicle

Distances estimated from images by cross-correlation. Two-camera stereoscopic vision system with onboard processing of image data developed for use in guiding robotic vehicle semiautonomously. Combination of semiautonomous guidance and teleoperation useful in remote and/or hazardous operations, including clean-up of toxic wastes, exploration of dangerous terrain on Earth and other planets, and delivery of materials in factories where unexpected hazards or obstacles can arise.

Matthies, Larry H.↗
NASA NTRS1991

Experiences With The JPL Telerobot Testbed

Report identifies problems and technological gaps existing in robotic systems integration. Focuses upon problems experienced during development of Telerobot Testbed System at NASA's Jet Propulsion Laboratory (JPL): integrated robotic testbed used to develop, implement, and evaluate performance of advanced concepts in autonomous, teleautonomous, and teleoperated control of robotic manipulators. Report provides information used to guide and expedite development of future integrated robotic systems.

Stone, Henry W.↗
NASA NTRS1990

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Source record↗
NASA NTRS1991

Design of multihundred-watt dynamic isotope power system for robotic space missions

The design of a multihundred-watt dynamic isotope power system (DIPS) based on the US Department of Energy (DOE) general-purpose heat source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE) is described as a potential lower cost alternative to radioisotope thermoelectric generators (RTGs). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions. Since the competitive potential of FPSE as an isotope convertor was first identified, work has focused on the feasibility of directly integrating GPHS with the Stirling heater head. Thermal modeling of various radiatively coupled heat source/heater head geometries has been performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain safe operating limits under all conditions including shutdown of one engine on a twin engine unit. Based on these results, preliminary characterizations of multihundred-watt units have been established. They indicate that, per electrical watt, the GPHS/small Stirling DIPS will be roughly equivalent to MOD RTG in size and mass but will require about a third the amount of isotope fuel.

Bents, D. J.↗
NASA NTRS1992

Small Stirling dynamic isotope power system for robotic space missions

The design of a multihundred-watt Dynamic Isotope Power System (DIPS), based on the U.S. Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE), is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. The incentive for any dynamic system is that it can save fuel and reduce costs and radiological hazard. Unlike DIPS based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Stirling conversion extends the competitive range for dynamic systems down to a few hundred watts--a power level not previously considered for dynamic systems. The challenge for Stirling conversion will be to demonstrate reliability and life similar to RTG experience. Since the competitive potential of FPSE as an isotope converter was first identified, work has focused on feasibility of directly integrating GPHS with the Stirling heater head. Thermal modeling of various radiatively coupled heat source/heater head geometries has been performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain within acceptable operating limits. Based on these results, preliminary characterizations of multihundred-watt units have been established.

Bents, D. J.↗
NASA NTRS1989

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

Mclauchlan, Robert A.↗
NASA NTRS2017

Demonstrations of Deployable Systems for Robotic Precursor Missions

NASA is developing thin-film based, deployable propulsion, power, and communication systems for small spacecraft that serve as enabling technologies for exploration of the solar system. By leveraging recent advancements in thin films, photovoltaics, deployment systems, and miniaturized electronics, new mission-level capabilities will be demonstrated aboard small spacecraft enabling a new generation of frequent, inexpensive, and highly capable robotic precursor missions with goals extensible to future human exploration. Specifically, thin-film technologies are allowing the development and use of solar sails for propulsion, small, lightweight photovoltaics for power, and omnidirectional antennas for communication as demonstrated by recent advances on the Near Earth Asteroid (NEA) Scout and Lightweight Integrated Solar Array and anTenna (LISA-T) projects.

Dervan, J.↗
NASA NTRS2006

Integrated Planning for Telepresence with Time Delays

Teleoperation of remote robotic systems over time delays in the range of 2-10 seconds poses a unique set of challenges. In the context of a supervisory control system for the JSC Robonaut humanoid robot, we have developed an 'intelligent assistant' that integrates an Artificial Intelligence planner (JSHOP2) with execution monitoring of the state of both the human supervisor and the remote robot. The assistant reasons simultaneously about the world state on both sides of the time delay, which represents a novel application of this technology. The purpose of the assistant is to provide advice to the human supervisor about current and future activities, derived from a sequence of high-level goals to be achieved. To do this, the assistant must simultaneously monitor and react to various data sources, including actions taken by the supervisor who is issuing commands to the robot (e.g. with a data glove), actions taken by the robot, and the environment of the robot, both as currently perceived over the time delay, along with the current sequence of goals. We have developed a 'leader/follower' software architecture to handle the dual time-shifted streams of execution feedback. In this paper we describe the integrated planner and its executive, and how it operates in normal and anomaly situations.

remote robotic systems↗
NASA NTRS1994

Fuzzy logic based robotic controller

Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.

Attia, F.↗
DOE OSTI2020

Irradiation Assessment of a Lightweight Industrial Robot - Towards Faster, Safer and Sooner Waste Decommissioning - 20317

Robotic systems have been successfully applied in the nuclear industry for several decades as a safe approach to minimize the exposure dose of human operators. As nuclear waste management and decommissioning gathers pace, there is an emerging interest integrating modern off-the-shelf industrial robots in nuclear robotic systems which make use of complex electronics and software to improve functionality over traditional machines. The use of the industrial robots will significantly increase the pace of development of automated waste management systems at a reduced cost, and although these off-the-shelf robots are proven robust in typical industrial environments, performance in radioactive environments is less clear. This paper investigates the performance degradation of a lightweight industrial robot (KUKA iiwa 7 LBR 800) in a controlled radiation field, aiming to simulate conditions in highly radioactive nuclear waste handling facilities. The degradation of the industrial robot's performance is identified while measuring the air kerma dose-tolerance of sensitive components, via a systematic experimental methodology. The experience from this experiment has demonstrated the significant capabilities of industrial robots, which tolerated a large gamma dose of 164 Gy before a system failure. Future tests are planned, aiming to enable faster, safer and sooner waste management and decommissioning using complex robotic systems. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2019

Active Array Measurements using the Portable Laser Guided Robotic Metrology System

In this paper, we will discuss the impact of mounting structures on the installed performance of phased arrays. In particular, performance data for the Conformal, Lightweight Antennas for Aeronautical Communications Technology (CLAS-ACT) antenna will be presented. Performance data from a series of mounting configurations will show that null depth and location is particularly susceptible to change while the main beam steering angle remains relatively stable. In addition, the Portable Laser Guided Robotic Metrology (PLGRM) system will be discussed as a suitable instrument for measuring antenna patterns in complex or difficult locations that are challenging for traditional ranges. The PLGRM system was recently developed at the National Aeronautics and Space Administration's (NASA) Glenn Research Center (GRC) and deployed to measure in situ antenna patterns.

Piasecki, Marie↗