Search NASA⌕ Search

SEARCH · Search NASA

Results for “Precision Machining”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Exploring the Unknown

One of the most important developments of the twentieth century has been the movement of humanity into space with machines and people. The extension of human activity into outer space has been accompanied by a high degree of self-awareness of its historical significance. Because most of the activity in outer space was carried out under government sponsorship, it was accompanied by the documentary record required of public institutions, and there has been a spate of official and privately written histories of most major aspects of space achievement to date. When top leaders considered what course of action to pursue in space, their deliberations and decisions often were carefully put on the record. There is, accordingly, no lack of material for those who aspire to understand the origins and evolution of U.S. space policies and programs.This reality forms the rationale for this series. Precisely because there is so much historical material available on space matters, the National Aeronautics and Space Administration (NASA) decided in 1988 that it would be extremely useful to have easily available to scholars and the interested public a selective collection of many of the seminal documents related to the evolution of the U.S. civilian space program. While recognizing that much space activity has taken place under the sponsorship of the Department of Defense and other national security organizations, the U.S. private sector, and in other countries around the world, NASA felt that there would be lasting value in a collection of documentary material primarily focused on the evolution of the U.S. government s civilian space program, most of which has been carried out since 1958 under the Agency s auspices. As a result, the NASA History Office contracted with the Space Policy Institute of George Washington University's Elliott School of International Affairs to prepare such a collection. This is the sixth volume in the documentary history series; two additional ones containing documents and introductory essays related to human space flight, including microgravity research in Earth orbit, will follow. The documents collected during this research project were assembled from a diverse number of both public and private sources. A major repository of primary source materials relative to the history of the civil space program is the NASA Historical Reference Collection of the NASA History Office located at the Agency s Headquarters in Washington, DC.

Logsdon, John M.↗
NASA NTRS2015

Fabrication of Feedhorn-Coupled Transition Edge Sensor Arrays for Measurement of the Cosmic Microwave Background Polarization

Characterization of the minute cosmic microwave background polarization signature requires multi-frequency high-throughput precision instrument systems. We have previously described the detector fabrication of a 40 GHz focal plane and now describe the fabrication of the detector modules for measurement of the CMB at 90GHz. The 74-TES based bolometers in each module are coupled to a niobium based planar orthomode transducer with integrated band defining filters implemented in microstrip transmission line. A single crystal silicon dielectric substrate serves as microstrip dielectric and as a thermal link between the membrane isolated MoAu TES operating at 150mK and the heat bath. A short silicon leg between the heat bath and the TES bolometer is designed for ballistic phonon transport and provides improved process control and uniformity of thermal conductance in the presence of phonon scattering on roughened surfaces. Micro-machined structures are used to realize the orthomode transducer backshort, provide out of band signal rejection, and a silicon photonic choke for feedhorn coupling are described. The backshort, choke wafer, and detector wafer are indium bump bonded to create a single 37-element dual-polarization detector module. Fourteen such hexagonally shaped modules each 90 mm in size comprise two focal planes. These, along with the recently delivered 40GHz focal plane, will survey a large fraction of the sky as part of the Johns Hopkins University led ground based CLASS (Cosmology Large Angular Scale Surveyor) telescope.

Characterization↗
NASA NTRS2018

The Zwicky Transient Facility: Data Processing, Products, and Archive

The Zwicky Transient Facility (ZTF) is a new robotic time-domain survey currently in progress using the Palomar 48-inch Schmidt Telescope. ZTF uses a 47 square degree field with a 600 megapixel camera to scan the entire northern visible sky at rates of ∼3760 square degrees/hour to median depths of g ~ 20.8 and r ~ 20.6 mag (AB, 5σ in 30 sec). We describe the Science Data System that is housed at IPAC, Caltech. This comprises the data-processing pipelines, alert production system, data archive, and user interfaces for accessing and analyzing the products. The real-time pipeline employs a novel image-differencing algorithm, optimized for the detection of point-source transient events. These events are vetted for reliability using a machine-learned classifier and combined with contextual information to generate data-rich alert packets. The packets become available for distribution typically within 13 minutes (95th percentile) of observation. Detected events are also linked to generate candidate moving-object tracks using a novel algorithm. Objects that move fast enough to streak in the individual exposures are also extracted and vetted. We present some preliminary results of the calibration performance delivered by the real-time pipeline. The reconstructed astrometric accuracy per science image with respect to Gaia DR1 is typically 45 to 85 milliarcsec. This is the RMS per-axis on the sky for sources extracted with photometric S/N ≥10 and hence corresponds to the typical astrometric uncertainty down to this limit. The derived photometric precision (repeatability) at bright unsaturated fluxes varies between 8 and 25 millimag. The high end of these ranges corresponds to an airmass approaching ∼2—the limit of the public survey. Photometric calibration accuracy with respect to Pan-STARRS1 is generally better than 2%. The products support a broad range of scientific applications: fast and young supernovae; rare flux transients; variable stars; eclipsing binaries; variability from active galactic nuclei; counterparts to gravitational wave sources; a more complete census of Type Ia supernovae; and solar-system objects.

Frank J. Masci↗
NASA NTRS2007

The Business Case for Automated Software Engineering

Adoption of advanced automated SE (ASE) tools would be more favored if a business case could be made that these tools are more valuable than alternate methods. In theory, software prediction models can be used to make that case. In practice, this is complicated by the 'local tuning' problem. Normally. predictors for software effort and defects and threat use local data to tune their predictions. Such local tuning data is often unavailable. This paper shows that assessing the relative merits of different SE methods need not require precise local tunings. STAR 1 is a simulated annealer plus a Bayesian post-processor that explores the space of possible local tunings within software prediction models. STAR 1 ranks project decisions by their effects on effort and defects and threats. In experiments with NASA systems. STARI found one project where ASE were essential for minimizing effort/ defect/ threats; and another project were ASE tools were merely optional.

model evaluation↗
NASA NTRS1999

Aircraft as Research Tools

Aeronautical research usually begins with computers, wind tunnels, and flight simulators, but eventually the theories must fly. This is when flight research begins, and aircraft are the primary tools of the trade. Flight research involves doing precision maneuvers in either a specially built experimental aircraft or an existing production airplane that has been modified. For example, the AD-1 was a unique airplane made only for flight research, while the NASA F-18 High Alpha Research Vehicle (HARV) was a standard fighter aircraft that was transformed into a one-of-a-kind aircraft as it was fitted with new propulsion systems, flight controls, and scientific equipment. All research aircraft are able to perform scientific experiments because of the onboard instruments that record data about its systems, aerodynamics, and the outside environment. Since the 1970's, NASA flight research has become more comprehensive, with flights involving everything form Space Shuttles to ultralights. NASA now flies not only the fastest airplanes, but some of the slowest. Flying machines continue to evolve with new wing designs, propulsion systems, and flight controls. As always, a look at today's experimental research aircraft is a preview of the future.

Source record↗
NASA NTRS1994

Neutral ion sources in precision manufacturing

Ion figuring of optical components is a relatively new technology that can alleviate some of the problems associated with traditional contact polishing. Because the technique is non contacting, edge distortions and rib structure print through do not occur. This initial investigation was aimed at determining the effect of ion figuring on surface roughness of previously polished or ductile ground ceramic optical samples. This is the first step in research directed toward the combination of a pre-finishing process (ductile grinding or polishing) with ion figuring to produce finished ceramic mirrors. The second phase of the project is focusing on the development of mathematical algorithms that will deconvolve the ion beam profile from the surface figure errors so that these errors can be successfully removed from the optical components. In the initial phase of the project, multiple, chemical vapor deposited silicon carbide (CVD SiC) samples were polished or ductile ground to specular or near-specular roughness. These samples were then characterized to determine topographic surface information. The surface evaluation consisted of stylus profilometry, interferometry, and optical and scanning electron microscopy. The surfaces, were ion machined to depths from 0-5 microns. The finished surfaces were characterized to evaluate the effects of the ion machining process with respect to the previous processing methods and the pre-existing subsurface damage. The development of the control algorithms for figuring optical components has been completed. These algorithms have been validated with simulations and future experiments have been planned to verify the methods. This paper will present the results of the initial surface finish experiments and the control algorithms simulations.

Fawcett, Steven C.↗
NASA NTRS2003

Novel Engineering and Fabrication Techniques Tested in Low-Noise- Research Fan Blades

A major source of fan noise in commercial turbofan engines is the interaction of the wake from the fan blades with the stationary vanes (stators) directly behind them. The Trailing Edge Blowing (TEB) project team at the NASA Glenn Research Center designed and fabricated new fan blades to study the effects of fan trailing edge blowing as a potential noise-reduction concept. The intent is to fill the rotor wake by supplying air to the rotor blade trailing edge at the proper conditions to minimize the wake deficit, and thus generate less noise. The TEB hardware is designed for the Active Noise Control Fan (ANCF) test rig in Glenn's Aeroacoustic Propulsion Laboratory. For this test, the air is fed from an external supply through the shaft of the rig. It is distributed to the base of each blade through an impeller, where it is forced into a plenum at the core of each blade. In actual engine configuration, air would most likely be bled from the compressor, but only at times when noise is an issue, such as takeoffs and landings. Glenn researchers designed and manufactured the blades in-house, using new techniques and concepts. The skins, which were designed for maximum strength in the directions of highest stress, were molded from multiple layers of carbon fiber. Considerable use was made of rapid prototyping techniques, such as laser sintering. The core was sintered from a lightweight polymer, and the retainer was CNC-machined (computer numerical control machined) from aluminum. All the components were joined with a cold-cure aerospace adhesive. These techniques and processes reduced the overall cost and allowed the new concept to be studied much sooner than would be possible using traditional fabrication methods. Since this test rig did not support the use of blade-monitoring techniques such as strain gauges, extensive bench testing was required to qualify the design. The blades were examined using a variety of methods including holography, pull tests (cyclic and failure), shake tests, rap tests, and nondestructive inspection. Acoustic testing of the ANCF fan using TEB has been ongoing since January of 2001. The fan has completed about 100 hr of testing with no structural, vibrational, or fatigue problems. Far-field acoustic measurements, in-duct mode measurements, precise hot wire surveys, and detailed performance measurements are providing data for evaluating the concept. The far-field noise data show that tone noise was reduced significantly with the initial ANCF TEB fan design. In addition, a significant reduction in unsteady stator loading has been measured, indicating the potential for stator broadband noise reduction. The acoustic benefits will be assessed and important design parameters identified to improve the ability to fully exploit any benefit provided by this technique. On the basis of the success of trailing edge blowing, Glenn plans to continue this research with a higher speed, higher pressure ratio fan operating in an acoustic wind tunnel to simulate flight conditions.

Cunningham, Cameron C.↗
NASA NTRSDate not supplied

Artificial Neural Networks to Predict Cognitive Impairment of Rodents Subjected to Space Radiation

INTRODUCTION We use artificial neural networks (ANNs) as an example machine learning (ML) tool to predict the cognitive performance impairment of rats induced by irradiation. The experimental data in the analyses is attentional set-shifting (ATSET) test scores from a rodent model exposed to ≤15 cGy of individual galactic cosmic radiation (GCR) ions: 4He, 28Si, or 56Fe, expected for a Lunar or Mars mission [1]. This work investigates rats at a subject-based level and uses applied dose and performance scores taken before irradiation to predict whether a rat will be impaired when irradiated. The results of this study are significant to crewed space missions as they support the potential of predicting an astronaut’s impairment in a specific task before spaceflight through the implementation of appropriately trained ML tools. METHODS Data used in this work are scores from the ATSET, a multi-stage constrained cognitive flexibility test [2]. Our computational model utilizes the number of attempts to reach the criterion to pass a stage as a behavioral performance measure for rats. We use the post-irradiation scores, generate thresholds from cumulative distribution plots of non-irradiated rats, and calculate the percent of irradiated rats whose scores fall below the threshold to infer how each radiation type/dose affects a population. Rats scoring above the threshold are labeled impaired while the others are non-impaired. We then employ ANNs as a typical ML technique, and use each subject’s individual scores taken before radiation along with the applied dose, to predict their personal susceptibility to cognitive impairment due to space radiation exposure. RESULTS AND CONCLUSION A significant finding is the exhibition of a dose-dependent increasing probability of impairment for 1 to 10 cGy of 28Si or 56Fe in the simple discrimination (SD) stage of the ATSET, and for 1 to 10 cGy of 56Fe in the compound discrimination (CD) stage. On a subject-based level, implementing ML classifiers such as ANNs identifies rats that have a higher tendency for impairment after GCR exposure [1]. The receiver operating characteristic (ROC) and the precision-recall (PR) curves of the ML models show a better prediction of impairment when 56Fe is the ion in question in both SD (Figure 1) and CD stages. They, however, do not depict impairment due to 4He in SD (Figure 1) and 28Si in CD, suggesting no dose-dependent impairment response in these cases. In this work, “good” prediction pertains to “better-than-random-chance”, due to the limited sample size and the high inter- and intra-individual variabilities in response to brain stimulation paradigms, as applicable to both animals and humans. More behavioral tests and biomarkers should be investigated on the same subjects, to be fed to the ML models to capture the agents responsible for performance alterations of some individuals versus others.

machine learning↗
NASA NTRSDate not supplied

Machine Learning Models to Predict Cognitive Impairment of Rodents Subjected to Space Radiation

INTRODUCTION We use artificial neural networks (ANNs) as an example machine learning (ML) tool to predict the cognitive performance impairment of rats induced by irradiation. The experimental data in the analyses is attentional set-shifting (ATSET) test scores from a rodent model exposed to ≤15 cGy of individual galactic cosmic radiation (GCR) ions: 4He, 28Si, or 56Fe, expected for a Lunar or Mars mission [1]. This work investigates rats at a subject-based level and uses applied dose and performance scores taken before irradiation to predict whether a rat will be impaired when irradiated. The results of this study are significant to crewed space missions as they support the potential of predicting an astronaut’s impairment in a specific task before spaceflight through the implementation of appropriately trained ML tools. METHODS Data used in this work are scores from the ATSET, a multi-stage constrained cognitive flexibility test [2]. Our computational model utilizes the number of attempts to reach the criterion to pass a stage as a behavioral performance measure for rats. We use the post-irradiation scores, generate thresholds from cumulative distribution plots of non-irradiated rats, and calculate the percent of irradiated rats whose scores fall below the threshold to infer how each radiation type/dose affects a population. Rats scoring above the threshold are labeled impaired while the others are non-impaired. We then employ ANNs as a typical ML technique, and use each subject’s individual scores taken before radiation along with the applied dose, to predict their personal susceptibility to cognitive impairment due to space radiation exposure. RESULTS AND CONCLUSION A significant finding is the exhibition of a dose-dependent increasing probability of impairment for 1 to 10 cGy of 28Si or 56Fe in the simple discrimination (SD) stage of the ATSET, and for 1 to 10 cGy of 56Fe in the compound discrimination (CD) stage. On a subject-based level, implementing ML classifiers such as ANNs identifies rats that have a higher tendency for impairment after GCR exposure [1]. The receiver operating characteristic (ROC) and the precision-recall (PR) curves of the ML models show a better prediction of impairment when 56Fe is the ion in question in both SD (Figure 1) and CD stages. They, however, do not depict impairment due to 4He in SD (Figure 1) and 28Si in CD, suggesting no dose-dependent impairment response in these cases. In this work, “good” prediction pertains to “better-than-random-chance”, due to the limited sample size and the high inter- and intra-individual variabilities in response to brain stimulation paradigms, as applicable to both animals and humans. More behavioral tests and biomarkers should be investigated on the same subjects, to be fed to the ML models to capture the agents responsible for performance alterations of some individuals versus others.

machine learning↗
NASA NTRS2012

Beam Steering Devices Reduce Payload Weight

Scientists have long been able to shift the direction of a laser beam, steering it toward a target, but often the strength and focus of the light is altered. For precision applications, where the quality of the beam cannot be compromised, scientists have typically turned to mechanical steering methods, redirecting the source of the beam by swinging the entire laser apparatus toward the target. Just as the mechanical methods used for turning cars has evolved into simpler, lighter, power steering methods, so has the means by which researchers can direct lasers. Some of the typical contraptions used to redirect lasers are large and bulky, relying on steering gimbals pivoted, rotating supports to shift the device toward its intended target. These devices, some as large and awkward as a piece of heavy luggage, are subject to the same issues confronted by mechanical parts: Components rub, wear out, and get stuck. The poor reliability and bulk not to mention the power requirements to run one of the machines have made mechanical beam steering components less than ideal for use in applications where weight, bulk, and maneuverability are prime concerns, such as on an unmanned aerial vehicle (UAV) or a microscope. The solution to developing reliable, lighter weight, nonmechanical steering methods to replace the hefty steering boxes was to think outside the box, and a NASA research partner did just that by developing a new beam steering method that bends and redirects the beam, as opposed to shifting the entire apparatus. The benefits include lower power requirements, a smaller footprint, reduced weight, and better control and flexibility in steering capabilities. Such benefits are realized without sacrificing aperture size, efficiency, or scanning range, and can be applied to myriad uses: propulsion systems, structures, radiation protection systems, and landing systems.

Source record↗
NASA NTRS2015

Fabrication of Feedhorn-Coupled Transition Edge Sensor Arrays for Measurement of the Cosmic Microwave Background Polarization

Characterization of the minute cosmic microwave background (CMB) polarization signature requires multi-frequency high-throughput precision instrument systems. We have previously described the detector fabrication of a 40 gigahertz focal plane and now describe the fabrication of a 37-element dual-polarization detector module for measurement of the CMB at 90 gigahertz. The 72-TES (Transition Edge Sensor)-based bolometers in each module are coupled to a niobium-based planar orthomode transducer with integrated band defining filters implemented in microstrip transmission line. A single crystal silicon dielectric substrate serves as microstrip dielectric and as a thermal link between the membrane isolated MoAu TES operating at 150 millikelvins and the heat bath. A short silicon leg between the heat bath and the TES bolometer is designed for ballistic phonon transport and provides improved process control and uniformity of thermal conductance in the presence of phonon scattering on roughened surfaces. Micro-machined structures are used to realize the orthomode transducer backshort, provide out of band signal rejection, and a silicon photonic choke for feedhorn coupling are described. The backshort, choke wafer, and detector wafer are indium bump-bonded to create a single 37-element dual-polarization detector module. Fourteen such hexagonally shaped modules each 80 millimeters in size comprise two focal planes. These, along with the recently delivered 40 gigahertz focal plane, will survey a large fraction of the sky as part of the Johns Hopkins University-led ground-based CLASS (Cosmology Large Angular Scale Surveyor) telescope.

Detectors↗
NASA NTRSDate not supplied

Natural Language Processing (NLP) Analysis of NOTAMs for Air Traffic Management Optimization

With new emerging technologies in the field of NLP, we explore their applications to digitize and analyze heritage Air Traffic Management (ATM) documents for planning and optimizing airspace operations. Specifically, this research focuses on harvesting semi-structured or un-structured information contained in Notices to Airmen (NOTAMs). Using NLP and other advanced data analytics, we will construct a data-driven framework which facilitates finding language patterns and the use of pretrained language models for classification and extraction of useful airspace constraints and restrictions. These may lead to tools that assist airspace users in understanding the constraints more efficiently, contributing to better route planning and safer execution. This paper explores three workflows entailing different NLP tasks. First, unsupervised techniques like word embedding and topic modeling are used for pattern finding and document classification. Second, a dataset is created by extracting information from the semi-structured NOTAM format as metadata for categorizing, visualizing, and extracting key entities driving NOTAM content. Third, modern pre-built deep learning based transformer models such as BERT, RoBERTa, and XLNet are evaluated on the question answering task, an even more robust approach to information extraction, as well as their respective fine-tuning tasks. In this work we include various performance metrics for the trained models to evaluate both accuracy and precision and we show that the models can be generalized for their respective tasks. The research work developed shows promise in uncovering trends in digital NOTAMs in the NAS and also offers a new framework for digitizing and inferring insights from free-form legacy NOTAMs, that are yet to be digitized. Video is an mp4 download, with a play time of 9 min 35 secs.

Natural Language Processing↗
NASA NTRS2017

Pairwise Trajectory Management (PTM): Concept Overview

Pairwise Trajectory Management (PTM) is an Interval Management (IM) concept that utilizes airborne and ground-based capabilities to enable the implementation of airborne pairwise spacing capabilities in oceanic regions. The goal of PTM is to use airborne surveillance and tools to manage an "at or greater than" inter-aircraft spacing. Due to the precision of Automatic Dependent Surveillance-Broadcast (ADS-B) information and the use of airborne spacing guidance, the PTM minimum spacing distance will be less than distances a controller can support with current automation systems that support oceanic operations. Ground tools assist the controller in evaluating the traffic picture and determining appropriate PTM clearances to be issued. Avionics systems provide guidance information that allows the flight crew to conform to the PTM clearance issued by the controller. The combination of a reduced minimum distance and airborne spacing management will increase the capacity and efficiency of aircraft operations at a given altitude or volume of airspace. This paper provides an overview of the proposed application, description of a few key scenarios, high level discussion of expected air and ground equipment and procedure changes, overview of a potential flight crew human-machine interface that would support PTM operations and some initial PTM benefits results.

Jones, Kenneth M.↗
NASA NTRS1997

Planetary Systems Around Neutron Stars

This project was initiated in 1993, about one year after the announcement of two planets around PSR B1257+12. Its goal was to investigate planetary systems around neutron stars using high precision timing of radio pulsars as a tool. A microsecond precision of the pulse timing analysis, which is equivalent to a millimeter-per-second radial velocity resolution, makes it possible to detect asteroid-mass bodies in orbit around pulsars and to study the dynamics of pulsar planetary systems. The project originally consisted of two longterm efforts: (i) routine observations and timing analysis of the millisecond pulsar PSR B1257+12 which was found to be orbited by at least two earth-mass bodies (Wolszczan and Frail, Nature, 355, 145) and (ii) a sensitive all-sky search for millisecond pulsars to detect further examples of neutron stars with planetary systems. In the third year of the project, it was expanded to include long-term timing observations of slow pulsars in search for planetary systems around these younger neutron stars. The instrumentation used to conduct these investigations included the 305-m Arecibo antenna with the Penn State Pulsar Machine (PSPM-1), the 100-m Effelsberg telescope with the local pulse timing hardware, and the 32-m paraboloid of the Torun Centre for Astronomy in Torun, Poland (TCFA) with the PSPM-2, the second pulsar machine built at Penn State. The PI's collaborators included pulsar groups led by D. Backer (Berkeley), R. Foster (NRL), S. Kulkarni (Caltech), J. Taylor (Princeton) and R. Wielebinski (Bonn). One postdoc (Stuart Anderson), one graduate student (Brian Cadwell) and several undergraduates have been engaged in various aspects of research related to this project.

Wolszczan, Alexander↗
NASA NTRS1992

Engineering design constraints of the lunar surface environment

Living and working on the lunar surface will be difficult. Design of habitats, machines, tools, and operational scenarios in order to allow maximum flexibility in human activity will require paying attention to certain constraints imposed by conditions at the surface and the characteristics of lunar material. Primary design drivers for habitat, crew health and safety, and crew equipment are: ionizing radiation, the meteoroid flux, and the thermal environment. Secondary constraints for engineering derive from: the physical and chemical properties of lunar surface materials, rock distributions and regolith thicknesses, topography, electromagnetic properties, and seismicity. Protection from ionizing radiation is essential for crew health and safety. The total dose acquired by a crew member will be the sum of the dose acquired during EVA time (when shielding will be least) plus the dose acquired during time spent in the habitat (when shielding will be maximum). Minimizing the dose acquired in the habitat extends the time allowable for EVA's before a dose limit is reached. Habitat shielding is enabling, and higher precision in predicting secondary fluxes produced in shielding material would be desirable. Means for minimizing dose during a solar flare event while on extended EVA will be essential. Early warning of the onset of flare activity (at least a half-hour is feasible) will dictate the time available to take mitigating steps. Warning capability affects design of rovers (or rover tools) and site layout. Uncertainty in solar flare timing is a design constraint that points to the need for quickly accessible or constructible safe havens.

Morrison, D. A.↗
NASA NTRS2023

Compliant Behaviors for Supervised and Autonomous Robotic Operations

The demands of traditional industrial robotics differ significantly from those of remote, supervised operations in hostile environments, such as operations in space. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. PTWL was tested on a variety of quasi-static and dynamic tasks that may be useful for future space operations. Results demonstrate that PTWL is a powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Joseph D. Cressman↗
NASA NTRS2023

Compliant Robotic Behaviors for Satellite Servicing

The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Compliance↗
NASA NTRS2000

Design and Testing of the X-38 Spacecraft Primary Parafoil

In August of 1995 the NASA began testing large ram-air parafoils for potential use in the landing phase of spacecraft recovery. This effort eventually became a part of the X-38 project, a technology demonstrator for the International Space Station Emergency Crew Return Vehicle. This paper traces how the original parafoil, used in the U.S. Army Graded Precision Air Delivery System (GPADS), was modified to improve the initial deployment dynamics. A discussion of how test experience with 750 sq ft parafoils has been used to scale up to the full-scale 5500 sq ft and 7500 sq ft parafoils is presented. In particular, the development of two techniques that have greatly improved the repeatability of the parafoil initial deployment and decreased the first stage deployment dynamics are discussed: a first stage upper surface energy modulator and floor vents. Comparisons of trends and results from the various scale parachutes are presented as well as constraints that at times have driven the direction that the design has taken.

DESIGN OPTIMIZATION↗