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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 37 records · Page 2

Autonomous Mechanical Assembly on the Space Shuttle: An Overview

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed.

Raibert, M. H.↗

Robotic Assembly of Truss Structures for Space Systems and Future Research Plans

Many initiatives under study by both the space science and earth science communities require large space systems, i.e. with apertures greater than 15 m or dimensions greater than 20 m. This paper reviews the effort in NASA Langley Research Center's Automated Structural Assembly Laboratory which laid the foundations for robotic construction of these systems. In the Automated Structural Assembly Laboratory reliable autonomous assembly and disassembly of an 8 meter planar structure composed of 102 truss elements covered by 12 panels was demonstrated. The paper reviews the hardware and software design philosophy which led to reliable operation during weeks of near continuous testing. Special attention is given to highlight the features enhancing assembly reliability.

Doggett, William↗

Tall Lunar Tower

The Tall Lunar Tower (TLT) In-Space Assembly (ISA) team aims to design, model, fabricate, autonomously assemble, and characterize a TLT engineering development unit (EDU). Cross-cutting truss assembly technology will be developed enabling construction of infrastructure in the lunar environment.

Tall Lunar Tower↗

Automated Multi-Robot Assembly of Compliance Optimized Structures

Autonomous assembly of large structures is one of the fundamental challenges on the way towards NASA’s objectives of deep space exploration. In this work, we propose an algorithmic framework to optimize the assembly process of a prescribed target structure by constraining the assembly effort as well as maintaining structural soundness throughout the process. This framework uses structural topology optimization with assembly effort metrics to generate checkpoints for robotic traversal algorithms. Assembly effort is quantified by the Wasserstein metric between consecutive structural configurations during the assembly process. The robotic assembly task is split into two subtasks, where we first optimize for a set of key frames, then perform reconfiguration between consecutive frames. Key frames are optimized by adopting topology optimization techniques to reduce assembly effort and maintain structural integrity during the assembly process, while reconfiguration between key frames is performed using a path planning algorithm with a minimum weight maximum matching approach on a bipartite graph. We employ a Crystalline robot model in which each structural element is capable of locomotion through the structure and locking into place with neighboring elements after reaching its destination. An example assembly of a two-dimensional cantilever beam under volume constraints and structural compliance considerations is presented to demonstrate the approach. Finally, we conclude by discussing possible future extensions to this work, including adoption of better metrics, extension to three-dimensional large-scale problems, and exacting finer control of structural integrity during the path-planning phase.

robotic assembly↗

Assemblers: A Modular, Reconfigurable Manipulator for Autonomous in-Space Assembly

This paper presents a modular, reconfigurable robotic manipulator for autonomous in-space assembly. On-orbit and planetary surface assembly is a challenging domain that encompasses various technological thrusts to support human exploration, science, and technology demonstration missions. The system architecture presented here addresses the need for robotic assembly of structures in locations that prohibit constant human oversight and/or teleoperation. This system is capable of scheduling, reconfiguring itself, and executing structural assembly tasks with the ability to assess construction and correct errors during the assembly as needed. An example concept of operations is presented. Details of the mechanical and electrical design of the robotic modules as well as the dynamic modeling approach, control algorithms, and sensing and perception systems are also provided.

robotics↗

Verification Test of Automated Robotic Assembly of Space Truss Structures

A multidisciplinary program has been conducted at the Langley Research Center to develop operational procedures for supervised autonomous assembly of truss structures suitable for large-aperture antennas. The hardware and operations required to assemble a 102-member tetrahedral truss and attach 12 hexagonal panels were developed and evaluated. A brute-force automation approach was used to develop baseline assembly hardware and software techniques. However, as the system matured and operations were proven, upgrades were incorporated and assessed against the baseline test results. These upgrades included the use of distributed microprocessors to control dedicated end-effector operations, machine vision guidance for strut installation, and the use of an expert system-based executive-control program. This paper summarizes the developmental phases of the program, the results of several assembly tests, and a series of proposed enhancements. No problems that would preclude automated in-space assembly or truss structures have been encountered. The test system was developed at a breadboard level and continued development at an enhanced level is warranted.

Rhodes, Marvin D.↗

Unreal Engine Testbed for Computer Vision of Tall Lunar Tower Assembly

The Tall Lunar Tower project at the NASA Langley Research Center is focused on the design, modeling, fabrication, and testing of a supervised autonomously assembly engineering development unit for tall lunar towers. The lunar south pole environment poses many challenges for robotic assembly of the tall tower, particularly to computer vision camera systems due to a high-contrast lighting environment. This paper will present an Unreal Engine 5 video game engine Lunar South Pole Lighting Testbed to simulate realistic lunar lighting conditions for synthetic image generation. The fidelity of the simulation environment is investigated by comparing the accuracy of computer vision models trained using synthetic image data and trained from real image data collected in a lunar analog environment.

Unreal Engine↗

Unreal Engine Testbed for Computer Vision of Tall Lunar Tower Assembly

The Tall Lunar Tower project at the NASA Langley Research Center is focused on the design, modeling, fabrication, and testing of a supervised autonomously assembled engineering development unit for tall lunar towers. The lunar south pole environment poses many challenges for robotic assembly of the tall tower, particularly to computer vision camera systems due to a high-contrast lighting environment. This paper will present an Unreal Engine 5 video game engine Lunar South Pole Lighting Testbed to simulate realistic lunar lighting conditions for synthetic image generation. The fidelity of the simulation environment is investigated by comparing the accuracy of computer vision models trained using synthetic image data and trained from real image data collected in a lunar analog environment.

Unreal Engine↗

Unreal Engine Testbed for Computer Vision of Tall Lunar Tower Assembly

The Tall Lunar Tower project at the NASA Langley Research Center is focused on the design, modeling, fabrication, and testing of a supervised autonomously assembly engineering development unit for tall lunar towers. The lunar south pole environment poses many challenges for robotic assembly of the tall tower, particularly to computer vision camera systems due to a high-contrast lighting environment. This paper will present an Unreal Engine 5 video game engine Lunar South Pole Lighting Testbed to simulate realistic lunar lighting conditions for synthetic image generation. The fidelity of the simulation environment is investigated by comparing the accuracy of computer vision models trained using synthetic image data and trained from real image data collected in a lunar analog environment.

Unreal Engine↗

Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS)

To meet the needs of future deep space exploration, NASA is interested in large-scale hardware systems in the agency’s thrust areas of solar power, communications, habitats and science interests. Scalable in-space assembly of physical systems is critical to massless exploration and in-space reliance goals. The ARMADAS project demonstrates the autonomous assembly of digital materials and structures. This provides automation technologies with potential for meeting long duration and deep space infrastructure needs, such as construction and maintenance of long duration spaceport, surface infrastructure, and habitat scale systems. Project demonstrations to date include a system that can fit into a small satellite-sized payload, which automatically assembles into primary structures, such as a small habitat module or array/antenna, using onboard robotic assemblers.

In Space Assembly↗

Opportunities for space station assembly operations during crew absence

Prior to Permanently Manned Capability (to be achieved approximately 21 months after the First Element Launch), the Space Station will be manned for less than 10 percent of its total staytime on orbit. The most intensive and critical Station assembly operations will occur during these early flights. Some robotic resources may be available to perform assembly operations while the Station crew is absent; however, the use of robotic devices for assembly operations during unmanned phases has not yet been adopted by the Space Station program. This paper studies the relevant aspects of teleoperated and autonomous assembly activities, and presents candidate assembly operations that could be performed during crew absence. From this analysis, the potential benefits of remote control of robotic resources can be weighed against any associated increase in cost and complexity that would accompany implementation of this capability.

Parrish, Joseph C.↗

Developing Humanoid Robots for Real-World Environments

Humanoids are steadily improving in appearance and functionality demonstrated in controlled environments. To address the challenges of operation in the real-world, researchers have proposed the use of brain-inspired architectures for robot control, and the use of robot learning techniques that enable the robot to acquire and tune skills and behaviours. In the first part of the paper we introduce new concepts and results in these two areas. First, we present a cerebellum-inspired model that demonstrated efficiency in the sensory-motor control of anthropomorphic arms, and in gait control of dynamic walkers. Then, we present a set of new ideas related to robot learning, emphasizing the importance of developing teaching techniques that support learning. In the second part of the paper we propose the use in robotics of the iterative and incremental development methodologies, in the context of practical task-oriented applications. These methodologies promise to rapidly reach system-level integration, and to early identify system-level weaknesses to focus on. We apply this methodology in a task targeting the automated assembly of a modular structure using HOAP-2. We confirm this approach led to rapid development of a end-to-end capability, and offered guidance on which technologies to focus on for gradual improvement of a complete functional system. It is believed that providing Grand Challenge type milestones in practical task-oriented applications accelerates development. As a meaningful target in short-mid term we propose the 'IKEA Challenge', aimed at the demonstration of autonomous assembly of various pieces of furniture, from the box, following included written/drawn instructions.

Stoica, Adrian↗

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Nguyen, Charles C.↗

Evolution and advanced technology

The NASREM architecture with its standard interfaces permits development and evolution of the Flight Telerobotic Servicer to greater autonomy. Technologies in control strategies for an arm with seven DOF, including a safety system containing skin sensors for obstacle avoidance, are being developed. Planning and robotic execution software includes symbolic task planning, world model data bases, and path planning algorithms. Research over the last five years has led to the development of laser scanning and ranging systems, which use coherent semiconductor laser diodes for short range sensing. The possibility of using a robot to autonomously assemble space structures is being investigated. A control framework compatible with NASREM is being developed that allows direct global control of the manipulator. Researchers are developing systems that permit an operator to quickly reconfigure the telerobot to do new tasks safely.

Ollendorf, Stanford↗

A 100 kW-Class Technology Demonstrator for Space Solar Power

A first step in the development of solar power from space is the flight demonstration of critical technologies. These fundamental technologies include efficient solar power collection and generation, power management and distribution, and thermal management. In addition, the integration and utilization of these technologies into a viable satellite bus could provide an energy-rich platform for a portfolio of payload experiments such as wireless power transmission (WPT). This paper presents the preliminary design of a concept for a 100 kW-class free-flying platform suitable for flight demonstration of technology experiments. Recent space solar power (SSP) studies by NASA have taken a stepping stones approach that lead to the gigawatt systems necessary to cost-effectively deliver power from space. These steps start with a 100 kW-class satellite, leading to a 500 kW and then a 1 MW-class platform. Later steps develop a 100 MW bus that could eventually lead to a 1-2 GW pilot plant for SSP. Our studies have shown that a modular approach is cost effective. Modular designs include individual laser-power-beaming satellites that fly in constellations or that are autonomously assembled into larger structures at geosynchronous orbit (GEO). Microwave power-beamed approaches are also modularized into large numbers of identical units of solar arrays, power converters, or supporting structures for arrays and microwave transmitting antennas. A cost-effective approach to launching these modular units is to use existing Earth-to-orbit (ETO) launch systems, in which the modules are dropped into low Earth orbit (LEO) and then the modules perform their own orbit transfer to GEO using expendable solar arrays to power solar electric thrusters. At GEO, the modules either rendezvous and are assembled robotically into larger platforms, or are deployed into constellations of identical laser power-beaming satellites. Since solar electric propulsion by the modules is cost-effective for both self-transport of the modules from LEO to GEO, and for on-orbit stationkeeping and repositioning capability during the satellite’s lifetime, this technology is also critical in technology development for SSP. The 100 kW-class technology demonstrator will utilize advanced solar power collection and generation technologies, power management and distribution, advanced thermal management, and solar electric propulsion. State-of-the-art solar concentrators, highly efficient multi-junction solar cells, integrated thermal management on the arrays, and innovative deployable structure design and packaging make the 100 kW satellite feasible for launch on one existing launch vehicle. Early SSP studies showed that a major percentage of the on-orbit mass for power-beaming satellites was from massive power converters at the solar arrays, at the bus, at the power transmitter, or at combinations of these locations. Higher voltage mays and power management and distribution (PMAD) systems reduce or eliminate the need for many of these massive power converters, and could enable direct-drive of high-voltage solar electric thrusters. Lightweight, highly efficient thermal management systems are a critical technology that must be developed and flown for SSP feasibility. Large amounts of power on satellites imply that large amounts of waste heat will need to be managed. In addition, several of the more innovative lightweight configurations proposed for SSP satellites take advantage of solar concentrators that are intractable without advanced thermal management technologies for the solar arrays. These thermal management systems include efficient interfaces with the WPT systems or other high-power technology experiments, lightweight deployable radiators that can be easily integrated into satellite buses, and efficient reliable thermal distribution systems that can pipe heat from the technology experiments to the radiators. In addition to demonstrating the integration and use of these mission-critical technologies, the 100 kw-class satellite will provide a large experiment deck for a portfolio of technology experiments. Current plans for this technology demonstrator allow 2000 kg of payload capability and up to 100 kW of power. The technology experiments could include one or more wireless power transmission demonstrations, either to the Earth’s surface or to a suitable space-based receiver. Technology experiments to quantify the on-orbit performance of critical technologies for SSP or space exploration are welcomed. In addition, the technology experiments provide an opportunity for international cooperation, to advance technology readiness levels of SSP technologies that require flight demonstration. This paper will present the preliminary design for a 100 kW solar-powered satellite and a variety of technology experiments that may be suitable for flight demonstration. In addition, a space-to-Earth-surface WPT experiment will be discussed.

Connie Carrington↗