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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 NTRS2004

Sensory-Feedback Exoskeletal Arm Controller

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment between the exoskeletal mechanism and the shoulder. 4. The fourth DOF is that of flexion and extension of the elbow. The reflected torque for this DOF is provided by motor 4 and drum 4, which are mounted on a bracket that can slide longitudinally by a pin-and-slot engagement with the upper-arm cuff to compensate for slight variations in the position of the kinematic center of the elbow. Attached to drum 4 is an adapter plate to which is attached a CRCM for the lower arm. 5. The lower-arm CRCM implements the fifth DOF, which is the twist of the forearm about its longitudinal axis. Motor 5 provides the reflected torque for this DOF by driving the lower-arm cuff. A rod transmits twist and torsion between the lower-arm cuff and the hand cuff. With this system, the motion of the wearer s joints and the reflected torques applied to these joints can be measured and controlled in a relatively simple manner. This is because the anthropomorphic design of the mechanism imitates the kinematics of the human arm, eliminating the need for kinematic conversion of joint-torque and joint-angle data.

An, Bin↗
NASA NTRS1992

Study Of Robotic Replacement Of Equipment Modules

Report discusses issues pertaining to control of single-arm robotic manipulator to remove and install interchangeable equipment modules. Presents preliminary control strategy intended to guide development of control algorithms, along with analyses of problems arising in implementing strategy.

Backes, Paul G.↗
NASA NTRSDate not supplied

Investigating Laser Beam Welding as an In-Space Joining Technique via Thermal Vacuum and Microgravity and Vacuum Experiments

In-space joining technologies are crucial for stimulating an in-space economy and for enabling sustained space exploration by in-space manufacturing and repair of metallic structures. Compared to brazing or soldering, in-space welding (ISW) can provide highly hermetic, strong, and complex joints, potentially without introducing additional material. However, the influence of extreme temperatures, reduced pressure, and reduced gravity on ISW is not yet fully elucidated. Several efforts at NASA are investigating laser beam welding (LBW) as a joining and repair method in both thermal vacuum (TVAC) and combined vacuum & reduced gravity environments. NASA Marshall Space Flight Center (MSFC) shepherded several ISW projects in its past, including the 1973 electron beam welding on Skylab, the 1989 low-power LBW on parabolic flights, and the unflown 1990s-era In-Space Welding Experiment. Recent parabolic flights and 3 degree-of-freedom ground testing build upon this heritage. A collaboration with the Ohio State University using NASA Langley Research Center (LaRC) hardware retrofitted for LBW achieved the first high-powered laser welds under vacuum and low gravity and developed a workforce capable developing such experimental hardware. A ground testing campaign at the MSFC Flat Floor simulated fit-up and welding representative of ISW in 3 degrees of freedom to emulate microgravity effects on inertial systems. One ongoing effort is a NASA Early Career Initiative project – Lunar Assembly and Servicing by Autonomous Robotics (LASAR). Ruggedized LBW components were developed by an external partner for use in TVAC. A TVAC-rated robotic arm was procured by MSFC and used in the first known robotic laser weld where all components save the laser generator were under vacuum. NASA Johnson Space Center (JSC) is advancing supervised autonomy of ISW. NASA LaRC continues to adapt their unique snowflake joint geometry, suitable for connecting segments in trusses and other structures, to LBW. Upcoming TVAC campaigns will focus on testing extreme temperatures, proving out autonomous operations, and demonstrating weld repair. Weld inspection will occur via a non-contact nondestructive evaluation (NDE) technique – electromagnetic acoustic transduction (EMAT). Another ongoing effort based at MSFC is the DISCMAN -- DIsk-Shaped Configurable and Modular vAcuum uNit – which seeks to development a compact, modular payload that can provide a vacuum environment while in a reduced gravity condition. This payload could support multiple in-space manufacturing developmental efforts, with the first demonstration technology being LBW. Currently, the design is targeting operations in the pressurized volume of a space station, but the payload could readily be adapted to other flight platforms such as parabolic or even suborbital vehicles. LASAR elucidates the effects of temperature and vacuum on LBW while DISCMAN probes those of vacuum and gravity. Through these complementary efforts, NASA is addressing the primary challenges of ISW across the space environment while simultaneously developing and maturing technologies including robotic systems and inspection methodologies for future practical implementation on the Moon and beyond. This approach is timely, as upcoming missions requiring sustained human presence in space will depend on reliable ISW capabilities to create robust metallic joints currently unproven in the space environment and to perform repairs in situ .

hypogravity↗
NASA NTRS2007

Improving Robotic Operator Performance Using Augmented Reality

The Special Purpose Dexterous Manipulator (SPDM) is a two-armed robot that functions as an extension to the end effector of the Space Station Robotics Manipulator System (SSRMS), currently in use on the International Space Station (ISS). Crew training for the SPDM is accomplished using a robotic hardware simulator, which performs most of SPDM functions under normal static Earth gravitational forces. Both the simulator and SPDM are controlled from a standard robotic workstation using a laptop for the user interface and three monitors for camera views. Most operations anticipated for the SPDM involve the manipulation, insertion, and removal of any of several types of Orbital Replaceable Unit (ORU), modules which control various ISS functions. Alignment tolerances for insertion of the ORU into its receptacle are 0.25 inch and 0.5 degree from nominal values. The pre-insertion alignment task must be performed within these tolerances by using available video camera views of the intrinsic features of the ORU and receptacle, without special registration markings. Since optimum camera views may not be available, and dynamic orbital lighting conditions may limit periods of viewing, a successful ORU insertion operation may require an extended period of time. This study explored the feasibility of using augmented reality (AR) to assist SPDM operations. Geometric graphical symbols were overlaid on one of the workstation monitors to afford cues to assist the operator in attaining adequate pre-insertion ORU alignment. Twelve skilled subjects performed eight ORU insertion tasks using the simulator with and without the AR symbols in a repeated measures experimental design. Results indicated that using the AR symbols reduced pre-insertion alignment error for all subjects and reduced the time to complete pre-insertion alignment for most subjects.

Maida, James C.↗
NASA NTRS1990

Some aspects of robotics calibration, design and control

The main objective is to introduce techniques in the areas of testing and calibration, design, and control of robotic systems. A statistical technique is described that analyzes a robot's performance and provides quantitative three-dimensional evaluation of its repeatability, accuracy, and linearity. Based on this analysis, a corrective action should be taken to compensate for any existing errors and enhance the robot's overall accuracy and performance. A comparison between robotics simulation software packages that were commercially available (SILMA, IGRIP) and that of Kennedy Space Center (ROBSIM) is also included. These computer codes simulate the kinematics and dynamics patterns of various robot arm geometries to help the design engineer in sizing and building the robot manipulator and control system. A brief discussion on an adaptive control algorithm is provided.

Tawfik, Hazem↗
NASA NTRS1993

Self-organization via active exploration in robotic applications. Phase 2: Hybrid hardware prototype

In many environments human-like intelligent behavior is required from robots to assist and/or replace human operators. The purpose of these robots is to reduce human time and effort in various tasks. Thus the robot should be robust and as autonomous as possible in order to eliminate or to keep to a strict minimum its maintenance and external control. Such requirements lead to the following properties: fault tolerance, self organization, and intelligence. A good insight into implementing these properties in a robot can be gained by considering human behavior. In the first phase of this project, a neural network architecture was developed that captures some fundamental aspects of human categorization, habit, novelty, and reinforcement behavior. The model, called FRONTAL, is a 'cognitive unit' regulating the exploratory behavior of the robot. In the second phase of the project, FRONTAL was interfaced with an off-the-shelf robotic arm and a real-time vision system. The components of this robotic system, a review of FRONTAL, and simulation studies are presented in this report.

Oegmen, Haluk↗
NASA NTRS1995

End Effector Coupler/Decoupler

Coupling/decoupling device offers benefits of both stiffness and repositioning. Permits end effector to be released (decoupled) from robot arm while attached to workpiece, and realigned and recoupled to arm when end effector task completed. Relieves necessity for accurate positioning of robot and workpiece, and compensates for deformations initiated by changes in temperature as well as normal machining variations.

Smith, Russell W.↗
NASA NTRS2005

ROBOSIM Modeling of NASA and DoD Robotic Concepts

Dr. Fernandez will discuss using ROBOSIM to model a robotic minesweeper for DoD and to model NASA's use of the Shuttle robot arm to examine shuttle tiles. He will show some of the actual robotic simulations that were developed, and provide some insight on solving the challenging issues involved with developing robotic simulations. Dr. Fernandez developed an earlier version of ROBOSIM with his Ph.D. advisor, Dr. George E. Cook, professor of Electrical Engineering at Vanderbilt University. After being honored as a NASA Administrator s Fellow, he chose Alabama A&M University as the location where he would do a year of teaching and a year of research, provided by the NASA Fellowship Grant. Dr. Trent Montgomery, Associate Dean of Engineering/Chairman Electrical Engineering Department, was his host for the NASA fellowship position at Alabama A&M. Mr. Lionel Macklin is a student at Alabama A&M University who developed the model of the minesweeper concept as his senior project.

Fernandez, Kenneth R.↗
NASA NTRS2013

Micro-XRF for In Situ Geological Exploration of Other Planets

In situ analysis of rock chemistry is a fundamental tool for exploration of planets. To meet this need, a high-spatial-resolution micro x-ray fluorescence (Micro-XRF) instrument was developed that is capable of determining the elemental composition of rocks (elements Na U) with 100 microns spatial resolution, thus providing insight to the composition of features as small as sand grains and individual laminae. The resulting excitation beam is of sufficient intensity that high signal-to-noise punctual spectra are acquired in seconds to a few minutes using an Amptek Silicon Drift Detector (SDD). The instrument features a tightly focused x-ray tube and HVPS developed by Moxtek that provides up to 200 micro-A at 10 to 50 keV, with a custom polycapillary optic developed by XOS Inc. and integrated into a breadboard Micro-XRF (see figure). The total mass of the complete breadboard instrument is 2.76 kg, including mounting hardware, mounting plate, camera, laser, etc. A flight version of this instrument would require less than 5W nominal power and 1.5 kg mass. The instrument includes an Amptek SDD that draws 2.5 W and has a resolution of 135 to 155 eV FWHM at 5.9 keV. It weighs 180 g, including the preamplifier, digital pulse processor, multichannel analyzer, detector and preamp power supplies, and packaging. Rock samples are positioned relative to the instrument by a three-axis arm whose position is controlled by closed-loop translators (mimicking the robotic arm of a rover). The distance from the source to the detector is calculated from the position of a focused laser beam on the sample as imaged by the camera. The instrument enables quick scans of major elements in only 1 second, and rapid acquisition (30 s) of data with excellent signal-to-noise and energy resolution for trace element analysis

Wade, Lawrence A.↗
NASA NTRS1990

A laboratory breadboard system for dual-arm teleoperation

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Bejczy, A. K.↗
NASA NTRS1992

Improved computed torque control for industrial robots

The authors examine the computed torque control problem for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators due to the dynamics introduced by the joint drive systems. The proposed approach overcomes this problem by combining a novel computed torque algorithm with simple torque controllers at each joint of the robot. The control scheme is applied to a seven degree-of-freedom industrial manipulator, and the system performance in standard tasks is evaluated using both dynamic simulation and actual experiments. The results show that the proposed controller leads to improved tracking performance over a conventional PD (proportional plus derivative) controller.

Uebel, Mark↗
NASA NTRS1994

Capaciflector Camera

Sensing electrodes arranged in rows and columns used to generate capacitive images. Sensors of this type installed on robot arms, and three-dimensional capacitance images that they generate used by robot-control circuits to prevent collisions with capacitively sensed objects, to image and identify these objects, and to navigate amongst them.

Vranish, John M.↗
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 NTRS1987

Intelligent robotic tracker

An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

Otaguro, W. S.↗
NASA NTRS1987

Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

Wen, J. T.↗
NASA NTRS1990

Random-Field Estimation For Dynamics Of Robots

Report discusses use of random-field mathematical models as alternatives to deterministic models of classical mechanics to describe dynamics of robot arms. These alternative models used to establish relationship between methods of estimation theory and robot dynamics. Approach yields new class of algorithms performing computations typical of estimation theory to solve such fundamental problems in robotics as forward and inverse dynamics and inverse kinematics.

Rodriguez, Guillermo↗
NASA NTRS1999

Electro-Active Polymer (EAP) Actuators for Planetary Applications

NASA is seeking to reduce the mass, size, consumed power, and cost of the instrumentation used in its future missions. An important element of many instruments and devices is the actuation mechanism and electroactive polymers (EAP) are offering an effective alternative to current actuators. In this study, two families of EAP materials were investigated, including bending ionomers and longitudinal electrostatically driven elastomers. These materials were demonstrated to effectively actuate manipulation devices and their performance is being enhanced in this on-going study. The recent observations are reported in this paper, include the operation of the bending-EAP at conditions that exceed the harsh environment on Mars, and identify the obstacles that its properties and characteristics are posing to using them as actuators. Analysis of the electrical characteristics of the ionomer EAP showed that it is a current driven material rather than voltage driven and the conductivity distribution on the surface of the material greatly influences the bending performance. An accurate equivalent circuit modeling of the ionomer EAP performance is essential for the design of effective drive electronics. The ionomer main limitations are the fact that it needs to be moist continuously and the process of electrolysis that takes place during activation. An effective coating technique using a sprayed polymer was developed extending its operation in air from a few minutes to about four months. The coating technique effectively forms the equivalent of a skin to protect the moisture content of the ionomer. In parallel to the development of the bending EAP, the development of computer control of actuated longitudinal EAP has been pursued. An EAP driven miniature robotic arm was constructed and it is controlled by a MATLAB code to drop and lift the arm and close and open EAP fingers of a 4-finger gripper. Keywords: Miniature Robotics, Electroactive Polymers, Electroactive Actuators, EAP Materials

Bar-Cohen, Y.↗
NASA NTRS1989

Force-reflective teleoperated system with shared and compliant control capabilities

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

Szakaly, Z.↗