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A force-compensated control method for multiple manipulators is presented that allows coordinated manipulation of a jointly grasped object. In this scheme, each arm independently carries out the motions required to realize the desired motion of a prescribed point on the manipulated object. The approach has been implemented and demonstrated on a laboratory system consisting of two industrial, computer-controller manipulators.
The Compact Microscope Imaging System (CMIS) is a diagnostic tool with intelligent controls for use in space, industrial, medical, and security applications. The CMIS can be used in situ with a minimum amount of user intervention. This system, which was developed at the NASA Glenn Research Center, can scan, find areas of interest, focus, and acquire images automatically. Large numbers of multiple cell experiments require microscopy for in situ observations; this is only feasible with compact microscope systems. CMIS is a miniature machine vision system that combines intelligent image processing with remote control capabilities. The software also has a user-friendly interface that can be used independently of the hardware for post-experiment analysis. CMIS has potential commercial uses in the automated online inspection of precision parts, medical imaging, security industry (examination of currency in automated teller machines and fingerprint identification in secure entry locks), environmental industry (automated examination of soil/water samples), biomedical field (automated blood/cell analysis), and microscopy community. CMIS will improve research in several ways: It will expand the capabilities of MSD experiments utilizing microscope technology. It may be used in lunar and Martian experiments (Rover Robot). Because of its reduced size, it will enable experiments that were not feasible previously. It may be incorporated into existing shuttle orbiter and space station experiments, including glove-box-sized experiments as well as ground-based experiments.
The present symposium on aeronautics and space encompasses DOD research and development, science payloads, small microgravity carriers, the Space Station, technology payloads and robotics, commercial initiatives, STS derivatives, space exploration, and DOD space operations. Specific issues addressed include the use of AI to meet space requirements, the Astronauts Laboratory Smart Structures/Skins Program, the Advanced Liquid Feed Experiment, an overview of the Spacelab program, the Autonomous Microgravity Industrial Carrier Initiative, and the Space Station requirements and transportation options for a lunar outpost. Also addressed are a sensor-data display for telerobotic systems, the Pegasus and Taurus launch vehicles, evolutionary transportation concepts, the upgrade of the Space Shuttle avionics, space education, orbiting security sentinels, and technologies for improving launch-vehicle responsiveness.
NASA s Research and Technology Studies (RATS) team evaluates technology, human-robotic systems and extravehicular equipment for use in future human space exploration missions. Tests are conducted in simulated space environments, or analog tests, using prototype instruments, vehicles, and systems. NASA engineers, scientists and technicians from across the country gather annually with representatives from industry and academia to perform the tests. Test scenarios include future missions to near-Earth asteroids (NEA), the moon and Mars.. Mission simulations help determine system requirements for exploring distant locations while developing the technical skills required of the next generation of explorers.
National Aeronautics and Space Administration (NASA)’s Exploration and In-Space Services (NExIS) Division of Goddard Space Flight Center has been developing technology for the On-orbit Servicing, Assembly and Manufacturing Mission 1 (OSAM-1) to robotically refuel heritage and new satellites on-orbit. OSAM-1, formerly known as Restore-L, successfully passed an important NASA milestone called Key Decision Point-C (KDP-C), receiving agency-level approval for its implementation. The decision point also establishes the mission’s official schedule and budget. The OSAM-1 spacecraft, Servicing Payload and the Space Infrastructure Dexterous Robot (SPIDER) payload will refuel a satellite in space, assemble a communications antenna and manufacture a beam. By demonstrating these capabilities, the mission is advancing never-before tested technologies for use in future missions (by NASA and other government organizations and private industry). The mission is funded by the Technology Demonstration Missions program within NASA’s Space Technology Mission Directorate. This paper covers a review of servicing extensibility and critical technologies that are being developed within NExIS with a focus on the fluid transfer refueling technology within the framework of the Propellant Transfer Subsystem (PTS). An overview of the planned initial technology demonstration servicing mission via the OSAM-1 Space Vehicle is provided as an extension of the technology development progress reported in 20181, and 20192. The general objectives, challenges, and key technologies are presented as an introduction to the context of the OSAM-1 mission, and a precursor to the OSAM-1 PTS specific development status. Development and progress of the Hose Management Assembly (HMA) and Propellant Transfer Assembly (PTA) are discussed. HMA risk reduction test results including those of thermal vacuum testing are presented. Important analytical results are discussed and progress of drawings and procedures developed for the fabrication and testing phase are shown. A summary of the PTS overall verification status and design activities prepared for the critical design peer review are presented. Procurement progress is shown with status on long, medium, and short term efforts to acquire the hardware required to support the mission objectives. Technology development, challenges, and testing status are discussed with particular regard to the OSAM-1 specific key assemblies including the PTA and HMA along with the overall integrated flight mockup of the spacecraft to client fluid transfer testing conducted in the servicing testbeds. The paper concludes with key milestones leading to the goal of on-orbit refueling to be demonstrated in 2024. The overall mission Launch Readiness Date (LRD) has been realigned to accommodate budget profiles and incorporation of additional on-orbit assembly and manufacturing demonstration efforts.
Two technology highlights from the Science Mission Directorate (SMD) Planetary Science Division and Biological and Physical Sciences division are featured: a) The Dynamic Radioisotope Power Systems Project (DRPS) may enable lunar science payloads to survive and thrive during the harsh lunar night. New robust DRPS have been built and delivered by industry and are in the process of being tested at NASA’s Glenn Research Center. b) NASA's Plant Water Management (PWM) project is demonstrating that even without the help of gravity, hydroponic plant watering methods can enable plant habitats aboard crewed or robotic space missions. On Earth, plants draw water upwards through the roots against gravity, via capillary action, which orients the plant and enables display of its canopy (foliage and branches) for optimal photosynthesis and transpiration. The plant grows above the nutrient-rich soil as the water U.S. Astronaut Kate Rubins poses with PWM after nearly doubling the science returns of the ISS experiment by drawing on her wealth of wet lab operations and handling experience—on Earth and in space.
A capacitive proximity/tactile sensor with unique performance capabilities ('capaciflector' or capacitive reflector) is being developed by NASA/Goddard Space Flight Center (GSFC) for use on robots and payloads in space in the interests of safety, efficiency, and ease of operation. Specifically, this sensor will permit robots and their attached payloads to avoid collisions in space with humans and other objects and to dock these payloads in a cluttered environment. The sensor is simple, robust, and inexpensive to manufacture with obvious and recognized commercial possibilities. Accordingly, NASA/GSFC, in conjunction with industry, is embarking on an effort to 'spin' this technology off into the private sector. This effort includes prototypes aimed at commercial applications. The principles of operation of these prototypes are described along with hardware, software, modelling, and test results. The hardware description includes both the physical sensor in terms of a flexible printed circuit board and the electronic circuitry. The software description will include filtering and detection techniques. The modelling will involve finite element electric field analysis and will underline techniques used for design optimization.
There are vast amounts of resources in the solar system that will be useful to humans in space and possibly on Earth. None of these resources can be exploited without the first necessary step of extra-terrestrial mining. The necessary technologies for tele-robotic and autonomous mining have not matured sufficiently yet. The current state of technology was assessed for terrestrial and extraterrestrial mining and a taxonomy of robotic space mining mechanisms was presented which was based on current existing prototypes. Terrestrial and extra-terrestrial mining methods and technologies are on the cusp of massive changes towards automation and autonomy for economic and safety reasons. It is highly likely that these industries will benefit from mutual cooperation and technology transfer.
Technology Demonstration Missions (TDM) is in its third year of execution, being initiated in 2010 and baselined in January of 2012. There are 11 projects that NASA Marshall Space Flight Center (MSFC) has contributed to or led: (1) Evolvable Cryogenics (eCryo): Cyrogenic Propellant Storage and Transfer Engineering Development Unit (EDU), a proof of manufacturability effort, used to enhance knowledge and technology related to handling cryogenic propellants, specifically liquid hydrogen. (2) Composites for Exploration Upper Stage (CEUS): Design, build, test, and address flight certification of a large composite shell suitable for the second stage of the Space Launch System (SLS). (3) Deep Space Atomic Clock (DSAC): Spaceflight to demo small, low-mass atomic clock that can provide unprecedented stability for deep space navigation. (4) Green Propellant Infusion Mission (GPIM): Demo of high-performance, green propellant propulsion system suitable for Evolved Expendable Launch Vehicle (EELV) Secondary Payload Adapter (ESPA)-class spacecraft. (5) Human Exploration Telerobotics (HET): Demonstrating how telerobotics, remote control of a variety of robotic systems, can take routine, highly repetitive, dangerous or long-duration tasks out of human hands. (6) Laser Communication Relay Demo (LCRD): Demo to advance optical communications technology toward infusion into deep space and near Earth operational systems, while growing the capabilities of industry sources. (7) Low Density Supersonic Decelerator (LDSD): Demo new supersonic inflatable decelerator and parachute technologies to enable Mars landings of larger payloads with greater precision at a wider range of altitudes. (8) Mars Science Laboratory (MSL) Entry Descent & Landing Instrumentation (MEDLI): Demo of embedded sensors embedded in the MSL heat shield, designed to record the heat and atmospheric pressure experienced during the spacecraft's high-speed, hot entry in the Martian atmosphere. (9) Solar Electric Propulsion (SEP): 50-kW class spacecraft that uses flexible blanket solar arrays for power generation and an electric propulsion system that delivers payload from low-Earth orbit to higher orbits. (10) Solar Sail Demonstration (SSD): Demo to validate sail deployment techniques for solar sails that are propelled by the pressure of sunlight. (11) Terrestrial HIAD Orbit Reentry (THOR): Demo of a 3.7-m Hypersonic Inflatable Aerodynamic Decelerator (HIAD) entry vehicle to test second generation aerothermal performance and modeling.
The National Aeronautics and Space Administration’s (NASA) Laser Communications Relay Demonstration (LCRD) completed its two-year experiment program in June 2024. The LCRD geosynchronous payload includes two laser communications terminals interconnected via an onboard electronic switch. The payload relays data between two optical ground stations located in California and Hawaii and can also exchange data with an RF ground station in New Mexico. The addition of the Integrated LCRD Low-Earth Orbit (LEO) User Modem and Amplifier Terminal (ILLUMA-T) on the International Space Station in 2023 enabled data relay demonstrations between a laser terminal in low Earth orbit and either one of the optical ground stations or the RF ground station. The experiment program has included a variety of experiments originating within the LCRD project, NASA, and industry. The experiments have included measurements of the effects of the atmospheric optical channel (turbulence, weather) on the performance and availability of laser communications, adaptive optics characterization, demonstration of optimetrics techniques, and demonstration of Delay/Disruption Tolerant Networking (DTN). Furthermore, various future operational scenarios including robotic and exploration missions and various network service configurations have been emulated. This conference paper provides an overview and highlights of the LCRD experiment program with an emphasis on activities and results since the start of the ILLUMA-T testing in December 2023. A discussion of the expectations for the next phase of the LCRD mission, as well as how LCRD results may be applied to future applications is also included. LCRD is a joint project involving NASA Goddard Space Flight Center (GSFC), the California Institute of Technology Jet Propulsion Laboratory (JPL), and Massachusetts Institute of Technology Lincoln Laboratory (MIT LL).
"The National Aeronautics and Space Administration’s (NASA) Laser Communications Relay Demonstration (LCRD) completed its two-year experiment program in June 2024. The LCRD geosynchronous payload includes two laser communications terminals interconnected via an onboard electronic switch. The payload relays data between two optical ground stations located in California and Hawaii and can also exchange data with an RF ground station in New Mexico. The addition of the Integrated LCRD Low-Earth Orbit (LEO) User Modem and Amplifier Terminal (ILLUMA-T) on the International Space Station in 2023 enabled data relay demonstrations between a laser terminal in low Earth orbit and either one of the optical ground stations or the RF ground station. The experiment program has included a variety of experiments originating within the LCRD project, NASA, and industry. The experiments have included measurements of the effects of the atmospheric optical channel (turbulence, weather) on the performance and availability of laser communications, adaptive optics characterization, demonstration of optimetrics techniques, and demonstration of Delay/Disruption Tolerant Networking (DTN). Furthermore, various future operational scenarios including robotic and exploration missions and various network service configurations have been emulated. This conference paper provides an overview and highlights of the LCRD experiment program with an emphasis on activities and results since the start of the ILLUMA-T testing in December 2023. A discussion of the expectations for the next phase of the LCRD mission, as well as how LCRD results may be applied to future applications is also included. LCRD is a joint project involving NASA Goddard Space Flight Center (GSFC), the California Institute of Technology Jet Propulsion Laboratory (JPL), and Massachusetts Institute of Technology Lincoln Laboratory (MIT LL). "
Recent developments related to deep space exploration and development have raised the question of whether the paradigm shift that many people have been expecting, from space exploration to space development and industrialization, is finally occurring. These recent events include Space Exploration Technologies (SpaceX) announcement that they have been contacted by two wealthy individuals who would like to travel around the Moon within the next two years and a recently reported story of Jeff Bezos’ proposal to the Trump Administration to offer cargo delivery services to the Lunar surface (Blue Moon) by mid 2020 as part of a public/private partnership with NASA. In addition Bob Bigelow, founder of Bigelow Aerospace, has announced the capability and desire to put a crewed space station in orbit around the Moon in this same 2020 time period. Moon Express has also recently announced that they are fully funded for their attempt to land their robotic probe on the lunar surface at the end of this year, not only to win the Google Lunar XPrize but also to jump start their lunar mining efforts. On the international front the Grand Duchy of Luxembourg has established a 200 million euro fund to invest in space mining companies with the aim of making Luxembourg the European leader in deep space commerce. To date they have made investments in two companies; Deep Space Industries and Planetary Resources both of which were established to prospect and mine near Earth asteroids. Other counties such as India, China, Japan and even Israel are eying this high frontier for deep space commerce. This paper will explore how these developments could help enable this deep space industrialization and jumpstart a thriving deep space economy. The role that NASA and the US government can and should play in this effort and the role of public/private partnerships will also be discussed. Finally, what these developments could lead to over the next 10-15 years will be analysed and the potential size of this deep space economy will be estimated.
The Advanced Solid Rocket Motor program determined the need to inspect ASRM forgings and segments for potentially catastrophic defects. To minimize costs, an automated eddy current inspection system was designed and manufactured for inspection of ASRM forgings in the initial phases of production. This system utilizes custom manipulators and motion control algorithms and integrated six channel eddy current data acquisition and analysis hardware and software. Total system integration is through a personal computer based workcell controller. Segment inspection demands the use of a gantry robot for the EMAT/ET inspection system. The EMAT/ET system utilized similar mechanical compliancy and software logic to accommodate complex part geometries. EMAT provides volumetric inspection capability while eddy current is limited to surface and near surface inspection. Each aspect of the systems are applicable to other industries, such as, inspection of pressure vessels, weld inspection, and traditional ultrasonic inspection applications.
Robotic system devised for use in infrared mapping of large assembly of equipment under test in vacuum chamber. Thermal images recorded from almost any direction. In original intended application, assembly thermally mapped is spacecraft, but system also used on integrated-circuit-fabrication equipment or other industrial equipment operating in vacuum. Mechanism operated in high vacuum and extreme cold.
The Centennial Challenges (CC) program, part of NASA's Space Technology Mission Directorate (STMD), was founded upon the principle that engaging the public at large was a very important part of garnering the true magnitude of grassroots American innovation and ingenuity. The program uses a focused problem-statement approach to obtain solutions and/or stimulate innovation in key NASA technology gaps by catalyzing sources outside of the traditional aerospace community. The CC program announced the first two challenge competitions in 2005 incentivizing the public to participate using a congressionally authorized prize purse. Since then, the program has developed and executed more than 18 competitions and has awarded over $9 million in prize money. The challenges have covered a variety of technology areas, including propulsion, robotics, communications and navigation, human health, science instrumentation, nanotech, materials and structures, and aerodynamics. Centennial Challenges' accomplishments from October 2016 to December 2017--including significant increases in the amount and diversity of participants; increase in prize purse awards; strong alignments with NASA missions; and partnerships with industry, academia, and other government agencies-are summarized in this paper. Technological advancements, communication strategies, and legal authority are also discussed. NASA is leading the government agencies in the area of prizes and competitions to push technologies, and the CC program is one powerful example of NASA's continuing commitment to technological advancement and innovation through non-traditional programs. Currently, the Agency has in place the proven infrastructure, policies, and people needed to enable the successful use of competition tools, including the ones used as part of the CC program.
The National Aeronautics and Space Administration (NASA) of the United States of America (US) has ambitious objectives for robust logistics solutions to commercialization of geocentric space, sustainable presence in Cislunar space and on the Lunar Surface, Human Mars exploration and expanded deep space robotic exploration. Critical to all these objectives are robust and affordable in-space transportation solutions. Resilient logistics is a precursor to sustained development and leveraging commercial investments. A range of near-term priority investments are required to enable the future envisioned state for In-Space Transportation. Advanced technology components and integrated system demonstrations for cryogenic fluid management are appropriate for viable human class propulsion and future leverage of In-Situ Resources Utilization propellant products. Space Nuclear Propulsion, both thermal and electric, investments enable human Mars exploration with reduced earth launches. Advanced propulsion investments enable lower cost development cycles and operations in addition to higher performance solutions for future robotic and extreme environment exploration. This paper provides a high-level overview of NASA’s plans for the development of in-space transportation capabilities, a description of the state-of-the-art, capability goals, technical challenges and gaps, and options for partnerships with industry and other agencies towards developing a robust power logistics infrastructure to support NASA’s objectives.
The National Aeronautics and Space Administration (NASA) of the United States of America (US) has ambitious objectives for robust logistics solutions to commercialization of geocentric space, sustainable presence in Cislunar space and on the Lunar Surface, Human Mars exploration and expanded deep space robotic exploration. Critical to all these objectives are robust and affordable in-space transportation solutions. Resilient logistics is a precursor to sustained development and leveraging commercial investments. A range of near-term priority investments are required to enable the future envisioned state for In-Space Transportation. Advanced technology components and integrated system demonstrations for cryogenic fluid management are appropriate for viable human class propulsion and future leverage of In-Situ Resources Utilization propellant products. Space Nuclear Propulsion, both thermal and electric, investments enable human Mars exploration with reduced earth launches. Advanced propulsion investments enable lower cost development cycles and operations in addition to higher performance solutions for future robotic and extreme environment exploration. This paper provides a high-level overview of NASA’s plans for the development of in-space transportation capabilities, a description of the state-of-the-art, capability goals, technical challenges and gaps, and options for partnerships with industry and other agencies towards developing a robust power logistics infrastructure to support NASA’s objectives.
Space construction projects will require careful coordination between managers, designers, manufacturers, operators, astronauts, and robots with large volumes of information of varying resolution, timeliness, and accuracy flowing between the distributed participants over computer communications networks. Within the CSC Operations Branch, we are researching the requirements and options for such communications. Based on our work to date, we feel that communications standards being developed by the International Standards Organization, the CCITT, and other groups can be applied to space construction. We are currently studying in depth how such standards can be used to communicate with robots and automated construction equipment used in a space project. Specifically, we are looking at how the Manufacturing Automation Protocol (MAP) and the Manufacturing Message Specification (MMS), which tie together computers and machines in automated factories, might be applied to space construction projects. Together with our CSC industrial partner Computer Technology Associates, we are developing a MAP/MMS companion standard for space construction and we will produce software to allow the MAP/MMS protocol to be used in our CSC operations testbed.