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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 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored.

Wheatley, Thomas E.↗
NASA NTRS2017

CRUX: a Compliant Robotic Upper-Extremity eXosuit for Lightweight, Portable, Multi-DoF Muscular Augmentation

Wearable robots can potentially offer their users enhanced stability and strength. These augmentations are ideally designed to actuate harmoniously with the users movements and provide extra force as needed. The creation of such robots, however, is particularly challenging due to the complexity of the underlying human body. In this paper, we present a compliant, robotic exosuit for upper-extremities called CRUX. This exosuit, inspired by tensegrity models of the human arm, features a lightweight (1.3 kg), flexible design for portability. We also show how CRUX maintains full flexibility of the upper-extremities for its users while providing multi- DoF augmentative strength to the major muscles of the arm, as evident by tracking the heart rate of an individual exercising said arm. Exosuits such as CRUX may be useful in physical therapy and in extreme environments where users are expected to exert their bodies to the fullest extent.

Robotics↗
NASA NTRS2021

Scalability and Design of Six Rod Tensegrity Soft Robotic Structure

Robots based on tensegrity structures (interconnected rods and cables) offer many advantages such as low weight, small volume when packed, and have high impact resistance. Unfortunately tensegrity robots can be difficult to make and scale due a fundamental design trade-off: they need to have enough tension in the structure to maintain its integrity, while not having so much tension that it is difficult to actuate,change shape and move. This paper addresses this issue with three approaches:1) Traction based pulley actuation that is less sensitive to the tensioning of the structure, 2) A mix of elastic and inelastic cables allowing for a better balance between tensioning and actuation and 3) Using flexible rods allowing for actuation with inelastic cables. We test configurations and show that these approaches can indeed increase the scalability and usefulness of tensegrity robots.

Tensegrity↗
NASA NTRS1987

Development of Moire machine vision

Three dimensional perception is essential to the development of versatile robotics systems in order to handle complex manufacturing tasks in future factories and in providing high accuracy measurements needed in flexible manufacturing and quality control. A program is described which will develop the potential of Moire techniques to provide this capability in vision systems and automated measurements, and demonstrate artificial intelligence (AI) techniques to take advantage of the strengths of Moire sensing. Moire techniques provide a means of optically manipulating the complex visual data in a three dimensional scene into a form which can be easily and quickly analyzed by computers. This type of optical data manipulation provides high productivity through integrated automation, producing a high quality product while reducing computer and mechanical manipulation requirements and thereby the cost and time of production. This nondestructive evaluation is developed to be able to make full field range measurement and three dimensional scene analysis.

Harding, Kevin G.↗
NASA NTRS1990

Order (n) DISCOS for multibody systems with gear reduction

Recent developments in O(n) algorithms (where n is the number of bodies in the system) and parallel processing have drastically reduced the computer time needed to simulate systems involving many bodies. This paper presents a gear-reduction model for the O(n) version of DISCOS, a standard software package for simulation and analysis of flexible multibody systems. The gear-reduction model allows the accurate modeling of harmonic drives, which are commonly used in robot joints. The formulation has been implemented and validated with known results. The gear model can also be used for gear-train, rack-and-pinion, and screw joints.

Chun, Hon M.↗
NASA NTRS2001

Actuator for Flexing a Resilient Covering

The present invention provides a power assisted actuator assembly for flexing restraints in response to movement of an underlying member or a controller. The actuator assembly generally includes a flexible member, such as a cord or fabric panel, having a first end coupled to the restraint and a second end coupled to a drive member, such as a drive roller or winch. The drive member, which may be located remotely or locally, pulls on the flexible member to flex the restraint. The actuator assemblies are useful in many applications, including space suit gloves and compliant robot arms.

Daniel George Cencer↗
NASA NTRS1988

Flexible Ceramic-Insulated Cable

Cable withstands heat, radiation, and oxidation. Ceramic beads electrically insulate copper conductor from sheath of copper tape. Also suitable for furnaces, nuclear reactors, and robots operating in hot, radioactive environments.

Bouquet, Frank L.↗
NASA NTRS1984

Human capabilities

In conclusion, habitability is more than just life support and there is a substantial technology application void. Habitability needs both visibility and responsibility in the space station program to ensure the optimum use of man in space. In the area of work technology, IVA and EVA teleoperators and robotics should be considered as tools and not competitors. A generic work station is a contemporary of the early space stations. Flexibility of a future space station requires this.

Augerson, W.↗
NASA NTRS2008

NASA Tech Briefs, September 2008

Topics covered include: Nanotip Carpets as Antireflection Surfaces; Nano-Engineered Catalysts for Direct Methanol Fuel Cells; Capillography of Mats of Nanofibers; Directed Growth of Carbon Nanotubes Across Gaps; High-Voltage, Asymmetric-Waveform Generator; Magic-T Junction Using Microstrip/Slotline Transitions; On-Wafer Measurement of a Silicon-Based CMOS VCO at 324 GHz; Group-III Nitride Field Emitters; HEMT Amplifiers and Equipment for their On-Wafer Testing; Thermal Spray Formation of Polymer Coatings; Improved Gas Filling and Sealing of an HC-PCF; Making More-Complex Molecules Using Superthermal Atom/Molecule Collisions; Nematic Cells for Digital Light Deflection; Improved Silica Aerogel Composite Materials; Microgravity, Mesh-Crawling Legged Robots; Advanced Active-Magnetic-Bearing Thrust- Measurement System; Thermally Actuated Hydraulic Pumps; A New, Highly Improved Two-Cycle Engine; Flexible Structural-Health-Monitoring Sheets; Alignment Pins for Assembling and Disassembling Structures; Purifying Nucleic Acids from Samples of Extremely Low Biomass; Adjustable-Viewing-Angle Endoscopic Tool for Skull Base and Brain Surgery; UV-Resistant Non-Spore-Forming Bacteria From Spacecraft-Assembly Facilities; Hard-X-Ray/Soft-Gamma-Ray Imaging Sensor Assembly for Astronomy; Simplified Modeling of Oxidation of Hydrocarbons; Near-Field Spectroscopy with Nanoparticles Deposited by AFM; Light Collimator and Monitor for a Spectroradiometer; Hyperspectral Fluorescence and Reflectance Imaging Instrument; Improving the Optical Quality Factor of the WGM Resonator; Ultra-Stable Beacon Source for Laboratory Testing of Optical Tracking; Transmissive Diffractive Optical Element Solar Concentrators; Delaying Trains of Short Light Pulses in WGM Resonators; Toward Better Modeling of Supercritical Turbulent Mixing; JPEG 2000 Encoding with Perceptual Distortion Control; Intelligent Integrated Health Management for a System of Systems; Delay Banking for Managing Air Traffic; and Spline-Based Smoothing of Airfoil Curvatures.

Source record↗
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↗
DOE OSTI2023

Exploring Benchmarks for Self-Driving Labs using Color Matching

Self Driving Labs (SDLs) that combine automation of experimental procedures with autonomous decision making are gaining popularity as a means of increasing the throughput of scientific workflows. The task of identifying quantities of supplied colored pigments that match a target color, the color matching problem, provides a simple and flexible SDL test case, as it requires experiment proposal, sample creation, and sample analysis, three common components in autonomous discovery applications. We present a robotic solution to the color matching problem that allows for fully autonomous execution of a color matching protocol. Our solution leverages the WEI science factory platform to enable portability across different robotic hardware, the use of alternative optimization methods for continuous refinement, and automated publication of results for experiment tracking and post-hoc analysis.

Artificial intelligence↗