Search NASA⌕ Search

SEARCH · Search NASA

Results for “Space Robotics”

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 NTRS1992

A distributed telerobotics system for space operations

Robotic systems for space operations will require a combination of teleoperation, closely supervised autonomy, and loosely supervised autonomy. They may involve multiple robots, multiple controlling sites, and long communication delays. We have constructed a distributed telerobotics system as a framework for studying these problems. Our system is based on a modular interconnection scheme which allows the components of either manual or autonomous control systems to communicate and share information. It uses a wide area network to connect robots and operators at several different sites. This presentation will describe the structure of our system, the components used in our configurations, and results of some of our teleoperation experiments.

Wise, James D.↗
NASA NTRS2016

International Coordination of Exploring and Using Lunar Polar Volatiles

Fourteen international space agencies are participating in the International Space Exploration Coordination Group (ISECG), working together to advance a long-range strategy for human and robotic space exploration beyond low earth orbit. The ISECG is a voluntary, non-binding international coordination mechanism through which individual agencies may exchange information regarding interests, objectives, and plans in space exploration with the goal of strengthening both individual exploration programs as well as the collective effort. The ISECG has developed a Global Exploration Roadmap (GER) that reflects the coordinated international dialog and continued preparation for exploration beyond low-Earth orbit, beginning with the Moon and cis-lunar space, and continuing to near-Earth asteroids, and Mars.

Gruener, J. E.↗
NASA NTRS2015

Quantifying Mapping Orbit Performance in the Vicinity of Primitive Bodies

Predicting and quantifying the capability of mapping orbits in the vicinity of primitive bodies is challenging given the complex orbit geometries that exist and the irregular shape of the bodies themselves. This paper employs various quantitative metrics to characterize the performance and relative effectiveness of various types of mapping orbits including terminator, quasi-terminator, hovering, ping pong, and conic-like trajectories. Metrics of interest include surface area coverage, lighting conditions, and the variety of viewing angles achieved. The metrics discussed in this investigation are intended to enable mission designers and project stakeholders to better characterize candidate mapping orbits during preliminary mission formulation activities. The goal of this investigation is to understand the trade space associated with carrying out remote sensing campaigns at small primitive bodies in the context of a robotic space mission. Specifically, this study seeks to understand the surface viewing geometries, ranges, etc. that are available from several commonly proposed mapping orbits architectures

Pavlak, Thomas A.↗
NASA NTRS1993

Robot Would Reconfigure Modular Equipment

Special-purpose sets of equipment, packaged in identical modules with identical interconnecting mechanisms, attached to or detached from each other by specially designed robot, according to proposal. Two-arm walking robot connects and disconnects modules, operating either autonomously or under remote supervision. Robot walks along row of connected modules by grasping successive attachment subassemblies in hand-over-hand motion. Intended application for facility or station in outer space; robot reconfiguration scheme makes it unnecessary for astronauts to venture outside spacecraft or space station. Concept proves useful on Earth in assembly, disassembly, or reconfiguration of equipment in such hostile environments as underwater, near active volcanoes, or in industrial process streams.

Purves, Lloyd R.↗
NASA NTRS2012

Inflatable Hangar for Assembly of Large Structures in Space

The NASA Human Space Flight program is interested in projects where humans, beyond low-Earth orbit (LEO), can make an important and unique contribution that cannot be reasonably accomplished purely by robotic means, and is commensurate with the effort and cost associated with human spaceflight. Robotic space telescope missions have been conceived and launched as completed assemblies (e.g., Hubble) or as jack-in-the-box one-time deployments (e.g., James Webb). If it were possible to assemble components of a very large telescope from one or two launches into a telescope that was vastly greater in light-gathering power and resolution, that would constitute a breakthrough. Large telescopes on Earth, like all one-off precision assembly tasks, are done by humans. Humans in shirtsleeves (or cleanroom bunny suits) can perform tasks of remarkable dexterity and precision. Unfortunately, astronauts in pressure suits cannot perform such dexterous and precise tasks because of the limitations of the pressurized gloves. If a large, inflatable hangar were placed in high orbit, along with all the components needed for a large assembly such as a large telescope, then humans in bunny suits could perform the same sorts of extremely precise and dexterous assembly that they could be expected to perform on Earth. Calculations show that such an inflatable hangar, and the necessary gas to make it safe to occupy by shirtsleeves humans wearing oxygen masks, fits within the mass and volume limitations of the proposed "Space Launch System" heavy-lift rocket. A second launch could bring up all the components of an approximately 100-meter-diameter or larger telescope. A large [200 ft (approximately 61 m) in diameter] inflated fabric sphere (or hangar) would contain four humans in bunny suits. The sphere would contain sufficient atmospheric pressure so that spacesuits would not be necessary [about 3.2 psi (approximately 22 kPa)]. The humans would require only oxygen masks and small backpacks similar to SCUBA tanks. The oxygen content of the gas would be about 35%, low enough to reduce fire risk but high enough to sustain life in the event of a failure of an oxygen mask. The bunnysuited astronauts could ride on long "cherry-picker" robots with foot restraints somewhat similar to the arm on the International Space Station. Other astronauts would maneuver freely with small propeller fans on their backpacks to provide thrust in the zero-g environment.

Wilcox, Brian H.↗
NASA NTRS1990

Studies in knowledge-based diagnosis of failures in robotic assembly

The telerobot diagnostic system (TDS) is a knowledge-based system that is being developed for identification and diagnosis of failures in the space robotic domain. The system is able to isolate the symptoms of the failure, generate failure hypotheses based on these symptoms, and test their validity at various levels by interpreting or simulating the effects of the hypotheses on results of plan execution. The implementation of the TDS is outlined. The classification of failures and the types of system models used by the TDS are discussed. A detailed example of the TDS approach to failure diagnosis is provided.

Lam, Raymond K.↗
NASA NTRS1998

Space Environment Effects: Low-Altitude Trapped Radiation Model

Accurate models of the Earth's trapped energetic proton environment are required for both piloted and robotic space missions. For piloted missions, the concern is mainly total dose to the astronauts, particularly in long-duration missions and during extravehicular activity (EVA). As astronomical and remote-sensing detectors become more sensitive, the proton flux can induce unwanted backgrounds in these instruments. Due to this unwanted background, the following description details the development of a new model for the low-trapped proton environment. The model is based on nearly 20 years of data from the TIRO/NOAA weather satellites. The model, which has been designated NOAAPRO (for NOAA protons), predicts the integral omnidirectional proton flux in three energy ranges: >16, >36, and >80 MeV. It contains a true solar cycle variation and accounts for the secular variation in the Earth's magnetic field. It also extends to lower values of the magnetic L parameter than does AP8. Thus, the model addresses the major shortcomings of AP8.

Huston, S. L.↗
NASA NTRS2006

Foundations of Supply Chain Management for Space Application

Supply Chain Management (SCM) is a key piece of the framework for America's space technology investment as the National Aeronautics and Space Administration (NASA), the aerospace industry, and international partners embark on a bold new vision of human and robotic space exploration beyond Low-Earth-Orbit (LEO). This type of investment is driven by the Agency's need for cost efficient operational support associated with, processing and operating space vehicles and address many of the biggest operational challenge including extremely tight funding profiles, seamless program-to-program transition activities and the reduction of the time gap with human spaceflight capabilities in the post-Shuttle era. An investment of this magnitude is a multiyear task and must include new patterns of thought within the engineering community to respect the importance of SCM and the integration of the material and information flow. Experience within the Department of Defense and commercial sectors which has shown that support cost reductions and or avoidances of upwards to 35% over business as usual are achievable. It is SCM that will ultimately bring the solar system within the economic sphere of our society.

supply chain managemen↗
NASA NTRSDate not supplied

Quasi-Wireless Capacitive Power Transfer with Secure Data Acquisition for Robotic Systems in Space Infrastructure

Space exploration is dependent on robotic systems that utilize end-effectors to collect samples, probe surfaces, and manipulate objects. These systems can rarely be designed to do all three, forcing engineers to make tradeoffs based on the mission parameters - i.e. should the robotic appendage have a claw, drill, or shovel, and which would be best suited for the mission? Additionally, as more industrial and government entities partake in space exploration, data protection is needed in transit and at rest. To address these challenges, we present a first-of-its- kind robotic linkage that has no wiring between the joints. Instead, quasi-wireless capacitive (QWiC) power transfer is used to send energy over the robot’s chassis without a return wire. This enables the system to be completely modular through the use of single-contact permanent magnet connections, allowing rapid alterations in joint kinematics and/or the changing of end-effectors. For collecting sensor data from the robotic arm and to send remote commands to it, we use a Supervisory Control and Data Acquisition (SCADA) system. Data transmission relies on MQTT and OPC UA communication protocols with encryption. The SCADA server logs and archives sensor data and provides the functionality for authorized users to send remote commands from SCADA client(s) to motors. A SCADA client can be any of the web browsers that connects to a server via a secure communication channel using SSL protocol. Furthermore, as an extra data protection mechanism, we inject noise to the sensor data traffic, which obfuscates the timing of sensor data packets and adds confusion about which data packet represents which motor.

wireless sensor networks↗
NASA NTRS1994

A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.

Hein, C.↗
NASA NTRS2017

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

Fong, Terry↗
NASA NTRS1994

Robot arm system for automatic satellite capture and berthing

Load control is one of the most important technologies for capturing and berthing free flying satellites by a space robot arm because free flying satellites have different motion rates. The performance of active compliance control techniques depend on the location of the force sensor and the arm's structural compliance. A compliance control technique for the robot arm's structural elasticity and a consideration for an end-effector appropriate for it are presented in this paper.

Nishida, Shinichiro↗
NASA NTRS2004

Intelligent Systems: Shaping the Future of Aeronautics and Space Exploration

Intelligent systems are nature-inspired, mathematically sound, computationally intensive problem solving tools and methodologies that have become important for NASA's future roles in Aeronautics and Space Exploration. Intelligent systems will enable safe, cost and mission-effective approaches to air& control, system design, spacecraft autonomy, robotic space exploration and human exploration of Moon, Mars, and beyond. In this talk, we will discuss intelligent system technologies and expand on the role of intelligent systems in NASA's missions. We will also present several examples of which some are highlighted m this extended abstract.

Krishnakumar, Kalmanje↗
NASA NTRS2016

Materials for Space: It's Challenging!

Space environments place tremendous demands on materials that must perform with exceptional reliability to realize the goals of human or robotic space exploration missions. Materials are subjected to extremes of temperature, pressure, radiation and mechanical loads during all phases of use, including takeoff and ascent, exposure to space or entry into an atmosphere, and operation in a planetary atmosphere. Space materials must be robust and enable the formation of lightweight structures or components that perform the required functions; materials that perform multiple functions are of particular interest. This talk will review the unique challenges for materials in space and some of the specific material capabilities that will be needed for future exploration missions. A description of needs and trends in thermal protection materials and systems will complete the talk.

ablators↗
NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗
NASA NTRS2014

Extensibility of Human Asteroid Mission to Mars and Other Destinations

This paper will describe the benefits of execution of the Asteroid Redirect Mission as an early mission in deep space, demonstrating solar electric propulsion, deep space robotics, ground and on-board navigation, docking, and EVA. The paper will also discuss how staging in trans-lunar space and the elements associated with this mission are excellent building blocks for subsequent deep space missions to Mars or other destinations.

McDonald, Mark A.↗
NASA NTRS2005

Large Liquid Rocket Testing: Strategies and Challenges

Rocket propulsion development is enabled by rigorous ground testing in order to mitigate the propulsion systems risks that are inherent in space flight. This is true for virtually all propulsive devices of a space vehicle including liquid and solid rocket propulsion, chemical and non-chemical propulsion, boost stage and in-space propulsion and so forth. In particular, large liquid rocket propulsion development and testing over the past five decades of human and robotic space flight has involved a combination of component-level testing and engine-level testing to first demonstrate that the propulsion devices were designed to meet the specified requirements for the Earth to Orbit launchers that they powered. This was followed by a vigorous test campaign to demonstrate the designed propulsion articles over the required operational envelope, and over robust margins, such that a sufficiently reliable propulsion system is delivered prior to first flight. It is possible that hundreds of tests, and on the order of a hundred thousand test seconds, are needed to achieve a high-reliability, flight-ready, liquid rocket engine system. This paper overviews aspects of earlier and recent experience of liquid rocket propulsion testing at NASA Stennis Space Center, where full scale flight engines and flight stages, as well as a significant amount of development testing has taken place in the past decade. The liquid rocket testing experience discussed includes testing of engine components (gas generators, preburners, thrust chambers, pumps, powerheads), as well as engine systems and complete stages. The number of tests, accumulated test seconds, and years of test stand occupancy needed to meet varying test objectives, will be selectively discussed and compared for the wide variety of ground test work that has been conducted at Stennis for subscale and full scale liquid rocket devices. Since rocket propulsion is a crucial long-lead element of any space system acquisition or development, the appropriate plan and strategy must be put in place at the outset of the development effort. A deferment of this test planning, or inattention to strategy, will compromise the ability of the development program to achieve its systems reliability requirements and/or its development milestones. It is important for the government leadership and support team, as well as the vehicle and propulsion development team, to give early consideration to this aspect of space propulsion and space transportation work.

Rahman, Shamim A.↗