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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 NTRSDate not supplied

Integrated System for Autonomous and Adaptive Caretaking (ISAAC): Phase 1 Low-Fidelity Demo

This presentation describes the ISAAC phase 1 low-fidelity demonstration results. The demonstration satisfied the milestone from the Gateway-ISAAC Memorandum of Understanding to "Demonstrate spatial and logical data registration between robotics and spacecraft". It integrated many new ISAAC components, including a spatially linked model, Astrobee multi-sensor mapping, and an integrated data interface. It advanced ISAAC key performance parameters related to mapping, in a lab setting. Areas for phase 1 forward work include: improve maturity toward the high-fidelity demo on the ISS; demonstrate mapping with more sensor modalities; expand initial anomaly detection implementation into a flexible framework with multiple detection algorithms for different tasks; begin open source software release process for releasable ISAAC components.

robotics↗
NASA NTRS2011

Robotic Scaffolds for Tissue Engineering and Organ Growth

The aim of tissue engineering (TE) is to restore tissue and organ functions with minimal host rejection. TE is seen as a future solution to solve the crisis of donor organs for transplant, which faces a shortage expected only to increase in the future. In this innovation, a flexible and configurable scaffold has been conceived that mechanically stresses cells that are seeded on it, stimulating them to increased growth. The influence of mechanical stress/ loading on cell growth has been observed on all forms of cells. For example, for cartilages, studies in animals, tissue explants, and engineered tissue scaffolds have all shown that cartilage cells (chondrocytes) modify their extracellular matrix in response to loading. The chondrocyte EMC production response to dynamics of the physical environment (in vivo cartilage development) illustrates a clear benefit (better growth) when stressed. It has been shown that static and dynamic compression regulates PRG4 biosynthesis by cartilage explants. Mechanical tissue stimulation is beneficial and (flexible) scaffolds with movable components, which are able to induce mechanical stimulation, offer advantages over the fixed, rigid scaffold design. In addition to improved cell growth from physical/mechanical stimulation, additional benefits include the ability to increase in size while preserving shape, or changing shape. By making scaffolds flexible, allowing relative movement between their components, adding sensing (e.g., for detecting response of cells to drug release and to mechanical actions), building controls for drug release and movement, and building even simple algorithms for mapping sensing to action, these structures can actually be made into biocompatible and biodegradable robots. Treating them as robots is a perspective shift that may offer advantages in the design and exploitation of these structures of the future.

Stoica, Adrian↗
NASA NTRS1994

A US-Japan collaborative robotics research program

The Jet Propulsion Laboratory (JPL) and the Electrotechnical Laboratory (ETL) have recently initiated a cooperative R&D effort in telerobotics. This new effort, sponsored by the U.S. National Aeronautics and Space Administration (NASA) and Japan's Ministry of International Trade and Industry (MITI), has two major themes. First, our work broadens the outreach of space telerobotics R&D to international technical collaboration and facilities usage in the United States and Japan. Second, our work fosters development and demonstration of new operator interface technologies to improve the flexibility and reliability of ground-to-orbit telerobotic operations. This new technology is important, given the continuing imperatives to off-load platform maintenance from the extravehicular activity/intravehicular activity (EVA/IVA) crew to on-board robot assists under direct ground mission control.

Schenker, Paul S.↗
NASA NTRS2012

Next Gen NEAR: Near Earth Asteroid Human Robotic Precursor Mission Concept

Asteroids have long held the attention of the planetary science community. In particular, asteroids that evolve into orbits near that of Earth, called near-Earth objects (NEO), are of high interest as potential targets for exploration due to the relative ease (in terms of delta V) to reach them. NASA's Flexible Path calls for missions and experiments to be conducted as intermediate steps towards the eventual goal of human exploration of Mars; piloted missions to NEOs are such example. A human NEO mission is a valuable exploratory step beyond the Earth-Moon system enhancing capabilities that surpass our current experience, while also developing infrastructure for future mars exploration capabilities. To prepare for a human rendezvous with an NEO, NASA is interested in pursuing a responsible program of robotic NEO precursor missions. Next Gen NEAR is such a mission, building on the NEAR Shoemaker mission experience at the JHU/APL Space Department, to provide an affordable, low risk solution with quick data return. Next Gen NEAR proposes to make measurements needed for human exploration to asteroids: to demonstrate proximity operations, to quantify hazards for human exploration and to characterize an environment at a near-Earth asteroid representative of those that may be future human destinations. The Johns Hopkins University Applied Physics Laboratory has demonstrated exploration-driven mission feasibility by developing a versatile spacecraft design concept using conventional technologies that satisfies a set of science, exploration and mission objectives defined by a concept development team in the summer of 2010. We will describe the mission concept and spacecraft architecture in detail. Configuration options were compared with the mission goals and objectives in order to select the spacecraft design concept that provides the lowest cost, lowest implementation risk, simplest operation and the most benefit for the mission implementation. The Next Gen NEAR spacecraft was designed to support rendezvous with a range of candidate asteroid targets and could easily be launched with one of several NASA launch vehicles. The Falcon 9 launch vehicle supports a Next Gen NEAR launch to target many near-Earth asteroids under consideration that could be reached with a C3 of 18 km2/sec2 or less, and the Atlas V-401 provides added capability supporting launch to NEAs that require more lift capacity while at the same time providing such excess lift capability that another payload of opportunity could be launch in conjunction with Next Gen NEAR. Next Gen NEAR will measure and interact with the target surface in ways never undertaken at an asteroid, and will prepare for first human precursor mission by demonstrating exploration science operations at an accessible NEO. This flexible mission and spacecraft design concept supports target selection based on upcoming Earth-based observations and also provides opportunities for co-manifest & international partnerships. JHU/APL has demonstrated low cost, low risk, high impact missions and this mission will help to prepare NASA for human NEO exploration by combining the best of NASA s human and robotic exploration capabilities.

Rivkin, Andrew S.↗
NASA NTRS1993

Inverse dynamics: Simultaneous trajectory tracking and vibration reduction with distributed actuators

This paper addresses the problem of inverse dynamics for articulated flexible structures with both lumped and distributed actuators. This problem arises, for example, in the combined vibration minimization and trajectory control of space robots and structures. A new inverse dynamics scheme for computing the nominal lumped and distributed inputs for tracking a prescribed trajectory is given.

Devasia, Santosh↗
NASA NTRS2004

Developing Architectures and Technologies for an Evolvable NASA Space Communication Infrastructure

Space communications architecture concepts play a key role in the development and deployment of NASA's future exploration and science missions. Once a mission is deployed, the communication link to the user needs to provide maximum information delivery and flexibility to handle the expected large and complex data sets and to enable direct interaction with the spacecraft and experiments. In human and robotic missions, communication systems need to offer maximum reliability with robust two-way links for software uploads and virtual interactions. Identifying the capabilities to cost effectively meet the demanding space communication needs of 21st century missions, proper formulation of the requirements for these missions, and identifying the early technology developments that will be needed can only be resolved with architecture design. This paper will describe the development of evolvable space communication architecture models and the technologies needed to support Earth sensor web and collaborative observation formation missions; robotic scientific missions for detailed investigation of planets, moons, and small bodies in the solar system; human missions for exploration of the Moon, Mars, Ganymede, Callisto, and asteroids; human settlements in space, on the Moon, and on Mars; and great in-space observatories for observing other star systems and the universe. The resulting architectures will enable the reliable, multipoint, high data rate capabilities needed on demand to provide continuous, maximum coverage of areas of concentrated activities, such as in the vicinity of outposts in-space, on the Moon or on Mars.

Bhasin, Kul↗
NASA NTRS2012

NASA Tech Briefs, February 2012

This issue contains the following briefs: (1) Optical Comb from a Whispering Gallery Mode Resonator for Spectroscopy and Astronomy Instruments Calibration (2) Real-Time Flight Envelope Monitoring System (3) Nemesis Autonomous Test System (4) Mirror Metrology Using Nano-Probe Supports (5) Automated Lab-on-a-Chip Electrophoresis System (6) Techniques for Down-Sampling a Measured Surface Height Map for Model Validation (7) Multi-Component, Multi-Point Interferometric Rayleigh/Mie Doppler Velocimeter (8) Frequency to Voltage Converter Analog Front-End Prototype (9) Dust-Tolerant Intelligent Electrical Connection System (10) Gigabit Ethernet Asynchronous Clock Compensation FIFO (11) High-Speed, Multi-Channel Serial ADC LVDS Interface for Xilinx Virtex-5 FPGA (12) Glovebox for GeoLab Subsystem in HDU1-PEM (13) Modified Process Reduces Porosity when Soldering in Reduced Gravity Environments (14) Use of Functionalized Carbon Nanotubes for Covalent Attachment of Nanotubes to Silicon (15) Flexible Plug Repair for Shuttle Wing Leading Edge (16) Three Dimensionally Interlinked, Dense, Solid Form of Single-Walled CNT Ropes (17) Axel Robotic Platform for Crater and Extreme Terrain Exploration (18) Site Tamper and Material Plow Tool - STAMP (19) Magnetic Interface for Segmented Mirror Assembly (20) Transpiration-Cooled Spacecraft-Insulation-Repair Fasteners (21) Fluorescence-Based Sensor for Monitoring Activation of Lunar Dust (22) Aperture Ion Source (23) Virtual Ultrasound Guidance for Inexperienced Operators (24) Model-Based Fault Diagnosis: Performing Root Cause and Impact Analyses in Real Time (25) Interactive Schematic Integration Within the Propellant System Modeling Environment (26) Magnetic and Electric Field Polarizations of Oblique Magnetospheric Chorus Waves (27) Variable Sampling Mapping.

Source record↗
NASA NTRS2005

Mars extant-life campaign using an approach based on Earth-analog habitats

The Mars Robotic Outpost group at JPL has identified sixteen potential momentous discoveries that if found on Mars would alter planning for the future Mars exploration program. This paper details one possible approach to the discovery of and response to the 'momentous discovery'' of extant life on Mars. The approach detailed in this paper, the Mars Extant-Life (MEL) campaign, is a comprehensive and flexible program to find living organisms on Mars by studying Earth-analog habitats of extremophile communities.

orbital surveys↗
NASA NTRS2012

Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection.

Park, Yong-Lae↗
NASA NTRSDate not supplied

Gateway Command and Data Handling Network Implementation and Validation

As initial Lunar Gateway modules approach design maturity, the Artemis Network Validation and Integration Lab (ANVIL) has begun demonstrations to validate avionics network dataflows. The flight architecture design includes utilizing Time-Triggered Ethernet (TTE) and layer-3 switching capabilities to enable greater automation and flexibility of critical and best effort traffic. Critical traffic is considered as Time-Triggered (TT), Rate Constrained (RC) and prioritized Best Effort (BE) traffic classes. End systems, such as mission computers, power control, and robotics, use three planes and all traffic classes while other devices interface via Best Effort. Typical best effort devices include video, laptops, wireless access points, and payloads. Other devices have a various hybrid approach of interfaces including alarms, telemetry/logging, and communication units. In the paper, we will present an update of the Gateway network architecture and how the system will operate nominally and during a stack topology reconfiguration. We will also discuss the network risks, and trade-offs of performance, flexibility, and redundancy. Finally, we will show the process for validation, demonstration, and verification approaches to the vehicle network.

Gateway↗
NASA NTRS1987

Tracking 3-D body motion for docking and robot control

An advanced method of tracking three-dimensional motion of bodies has been developed. This system has the potential to dynamically characterize machine and other structural motion, even in the presence of structural flexibility, thus facilitating closed loop structural motion control. The system's operation is based on the concept that the intersection of three planes defines a point. Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 Hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 Hz data rate includes a worst case resolution of 0.8 mm (0.03 inches), a repeatability of plus or minus 0.635 mm (plus or minus 0.025 inches), and an absolute accuracy of plus or minus 2.0 mm (plus or minus 0.08 inches) within an eight cubic meter volume with all results applicable at the 95 percent level of confidence along each coordinate region. The full six degrees of freedom of a body can be computed by attaching three or more target detectors to the body of interest.

Donath, M.↗
NASA NTRS1988

Recent advances in control of nonlinear and distributed parameter systems, robust control, and aerospace control applications; Proceedings of the Symposium, ASME Winter Annual Meeting, Chicago, IL, Nov. 27-Dec. 2, 1988

Papers are presented on the control of distributed parameter systems using the coprime factorization approach, a hierarchy of geometrically exact models of rotating beams, and the temperature stability of a flux modulated radiant slab. Also considered are a network representation for robots, recovery from controller bounding, and the design of controllers for robust tracking and model following. Other topics include an active control law synthesis for flexible aircraft, the low-order control of large aerospsace structures using residual model filters, and a comparison of component cost methods for component model reduction.

Bentsman, Joseph↗
NASA NTRS2016

Evolution of Flexible Multibody Dynamics for Simulation Applications Supporting Human Spaceflight

During the course of transition from the Space Shuttle and International Space Station programs to the Orion and Journey to Mars exploration programs, a generic flexible multibody dynamics formulation and associated software implementation has evolved to meet an ever changing set of requirements at the NASA Johnson Space Center (JSC). Challenging problems related to large transitional topologies and robotic free-flyer vehicle capture/ release, contact dynamics, and exploration missions concept evaluation through simulation (e.g., asteroid surface operations) have driven this continued development. Coupled with this need is the requirement to oftentimes support human spaceflight operations in real-time. Moreover, it has been desirable to allow even more rapid prototyping of on-orbit manipulator and spacecraft systems, to support less complex infrastructure software for massively integrated simulations, to yield further computational efficiencies, and to take advantage of recent advances and availability of multi-core computing platforms. Since engineering analysis, procedures development, and crew familiarity/training for human spaceflight is fundamental to JSC's charter, there is also a strong desire to share and reuse models in both the non-realtime and real-time domains, with the goal of retaining as much multibody dynamics fidelity as possible. Three specific enhancements are reviewed here: (1) linked list organization to address large transitional topologies, (2) body level model order reduction, and (3) parallel formulation/implementation. This paper provides a detailed overview of these primary updates to JSC's flexible multibody dynamics algorithms as well as a comparison of numerical results to previous formulations and associated software.

Multibody dynamics↗
NASA NTRS2001

Compact Dexterous Robotic Hand

A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

Lovchik, Christopher Scott↗
NASA NTRS2009

Modeling and Testing of Phase Transition-Based Deployable Systems for Small Body Sample Capture

This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and return. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing equilibrium phases is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan.

flexible appendage↗
NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Reinforcement Learning

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. The goal of reinforcement learning is for an agent to learn a policy (task strategy) through interactions with an environment. When the agent performs an action, a change occurs in environment state and a numerical reward is received which informs the agent whether the action performed was good or not. Since reinforcement learning algorithms learn through trial-and-error, a simulation is a desirable first environment for development and learning. We developed two simulations, the first is a 2D excavation simulation developed to facilitate parameter selection, and a 3D simulation developed using a game physics engine, to simulate simplified soil interactions and increase the fidelity of the dynamic models of the robotic agents. The development of this 3D simulation has enabled the training of additional sensing capabilities and research both at the granular mechanics and operations levels. We experimented with various virtual sensor payloads to identify a combination that enabled efficient excavation operation and learning. Our reward function is based on how much material is excavated per step. A penalty is also received for leaving the dig site and to smooth the acceleration of the drum arms. We implemented pseudo time-of-flight sensors to report distance from each drum to ground and the height above ground which was found to be more efficient than existing solutions. Our findings suggest that reinforcement learning for autonomous operations has learned viable trenching strategies within 3000 training episodes in our simplified 2D environment and helped identify desirable sensing capabilities, arrangements, and considerations such as the positioning of time-of-flight sensors. Future work includes expanding our simulation to more complex environments and scenarios, and transfer learning from simulation to RASSOR 2.0 hardware for deployment in the Regolith Test Bin at NASA's Kennedy Space Center.

rassor↗
NASA NTRS1991

Telerobotic control of a mobile coordinated robotic server

Results from the Master's Degree Thesis of Mr. Robert Stanley, a graduate student supervised by the principal investigator on this project is reported. The goal of this effort is to develop advanced control methods for flexible space manipulator systems. As such, a fuzzy logic controller has been developed in which model structure as well as parameter constraints are not required for compensation. A general rule base is formulated using quantized linguistic terms; it is then augmented to a traditional integral control. The resulting hybrid fuzzy controller stabilizes the structure over a broad range of uncertainties, including unknown initial conditions. An off-line tuning approach using phase portraits gives further insight into the algorithm. The approach was applied to a three-degree-of-freedom manipulator system - the prototype of the coordinated flexible manipulator system currently being designed and built at North Carolina State University.

Lee, Gordon↗
NASA NTRS1991

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Lew, Jae Young↗