Search NASA⌕ Search

SEARCH · Search NASA

Results for “robotic hardware”

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 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Space missions for automation and robotics technologies (SMART) program

The motivations, features and expected benefits and applications of the NASA SMART program are summarized. SMART is intended to push the state of the art in automation and robotics, a goal that Public Law 98-371 mandated be an inherent part of the Space Station program. The effort would first require tests of sensors, manipulators, computers and other subsystems as seeds for the evolution of flight-qualified subsystems. Consideration is currently being given to robotics systems as add-ons to the RMS, MMU and OMV and a self-contained automation and robotics module which would be tended by astronaut visits. Probable experimentation and development paths that would be pursued with the equipment are discussed, along with the management structure and procedures for the program. The first hardware flight is projected for 1989.

Ciffone, D. L.↗
NASA NTRS1992

EXOS research on master controllers for robotic devices

Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

Marcus, Beth A.↗
NASA NTRS2000

The Transition from Spacecraft Development Ot Flight Operation: Human Factor Considerations

In the field of aeronautics and astronautics, a paradigm shift has been witnessed by those in academia, research and development, and private industry. Long development life cycles and the budgets to support such programs and projects has given way to aggressive task schedules and leaner resources to draw from all the while challenging assigned individuals to create and produce improved products of processes. however, this "faster, better, cheaper" concept cannot merely be applied to the design, development, and test of complex systems such as earth-orbiting of interplanetary robotic spacecraft. Full advantage is not possible without due consideration and application to mission operations planning and flight operations, Equally as important as the flight system, the mission operations system consisting of qualified personnel, ground hardware and software tools, and verified and validated operational processes, should also be regarded as a complex system requiring personnel to draw upon formal education, training, related experiences, and heuristic reasoning in engineering an effective and efficient system. Unquestionably, qualified personnel are the most important elements of a mission operations system. This paper examines the experiences of the Deep Space I Project, the first in a series of new technology in-flight validation missions sponsored by the United States National Aeronautics and Space Administration (NASA), specifically, in developing a subsystems analysis and technology validation team comprised of former spacecraft development personnel. Human factor considerations are investigated from initial concept/vision formulation; through operational process development; personnel test and training; to initial uplink product development and test support. Emphasis has been placed on challenges and applied or recommended solutions, so as to provide opportunities for future programs and projects to address and disposition potential issues and concerns as early as possible to reap the benefits associated with learning from other's past experiences.

Basilio, Ralph R.↗
NASA NTRS2020

Mars 2020 Rover Adaptive Caching Assembly: Caching Martian Samples for Potential Earth Return

The Adaptive Caching Assembly (ACA) is part of the Sampling and Caching System on the Mars 2020 Perseverance Rover, and consists of multiple stations that process, hermetically seal, and store sample tubes containing collected Martian material, either rock cores or regolith samples, in preparation for caching on the surface of Mars. The ACA stations consist of seven active degrees-of-freedom, as well as a large number of passive mechanisms that must operate in extreme Mars temperature and pressure conditions. A robotic arm within the Rover manipulates the sample tubes between ACA stations as part of an end-to-end sampling sequence, and utilizes a compliant end effector to accommodate misalignments during station interactions. Stringent hardware cleanliness requirements were dictated to ensure collected samples would not be compromised, which significantly impacted the design, assembly, and test operations of the ACA. Three ACAs were assembled to support ground testing and flight operations, which were exposed to environmental testing to validate functionality in Mars-like conditions. A number of challenges existed from design through test, including volume constraints, mechanism controllability and operation, the effects of tight tolerances, and cleanliness requirements.

Lin, Justin↗
NASA NTRS1987

A synchronized computational architecture for generalized bilateral control of robot arms

This paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balaced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.

Bejczy, Antal K.↗
NASA NTRS1989

Implementation and design of a teleoperation system based on a VMEBUS/68020 pipelined architecture

A pipelined control design and architecture for a force-feedback teleoperation system that is being implemented at the Jet Propulsion Laboratory and which will be integrated with the autonomous portion of the testbed to achieve share control is described. At the local site, the operator sees real-time force/torque displays and moves two 6-degree of freedom (dof) force-reflecting hand-controllers as his hands feel the contact force/torques generated at the remote site where the robots interact with the environment. He also uses a graphical user menu to monitor robot states and specify system options. The teleoperation software is written in the C language and runs on MC68020-based processor boards in the VME chassis, which utilizes a real-time operating system; the hardware is configured to realize a four-stage pipeline configuration. The environment is very flexible, such that the system can easily be configured as a stand-alone facility for performing independent research in human factors, force control, and time-delayed systems.

Lee, Thomas S.↗
NASA NTRS1990

On-orbit assembly/servicing task definition study

The OEXP vehicles being envisioned to carry out the Presidential space goals of a lunar outpost and human exploration of Mars will require on-orbit assembly, refurbishment, checkout, and launch. The On-orbit Assembly/Servicing Task Definition Study applies the space vehicle processing experience and procedures archives resident at NASA's Kennedy Space Center (KSC) to determine the task flows, and resources/facilities necessary to process the OEXP vehicles at Space Station Freedom (SSF). This data base is examined to find the closest analogies to OEXP vehicle components and assembly/refurbishment tasks. Transition tables are generated to provide traceability from KSC hardware processing experience to analogous on-orbit processing of the OEXP vehicles. Iterations in which the task flows are broken down into realistic extravehicular activity (EVA) primitive subtasks and times, and to apply automation and robotic technology to reduce crew risks and minimize EVA time, will enhance the value and accuracy of the predicted flows. These processing scenarios and the resulting resource/facility requirements are used to determine impacts of SSF, resulting in change requests to SSF requirements for provision of 'hooks and scars' to evolve the assembly complete Space Station into a transportation node. Study results to date include assembly analysis of the Martin Marietta Phobos Gateway Vehicle, refurbishment analysis of the Martin Marietta Lunar Evolution Piloted and Cargo Vehicles, and assembly analysis of the Boeing Mars Evolution Vehicle. The results of this study will be accumulated into the vehicle processing operations data base for subsequent modeling, life cycle cost, vehicle growth, and SSF impact analysis.

Vargo, Rick↗
NASA NTRS1991

Control algorithm implementation for a redundant degree of freedom manipulator

This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior. The control algorithms are subjected to a dynamic simulation before implementation.

Cohan, Steve↗
DOE OSTI2025

Production of alternate realizations of DESI fiber assignment for unbiased clustering measurement in data and simulations

A critical requirement of spectroscopic large scale structure analyses is correcting for selection of which galaxies to observe from an isotropic target list. This selection is often limited by the hardware used to perform the survey which will impose angular constraints of simultaneously observable targets, requiring multiple passes to observe all of them. In SDSS this manifested solely as the collision of physical fibers and plugs placed in plates. In DESI, there is the additional constraint of the robotic positioner which controls each fiber being limited to a finite patrol radius. A number of approximate methods have previously been proposed to correct the galaxy clustering statistics for these effects, but these generally fail on small scales. To accurately correct the clustering we need to upweight pairs of galaxies based on the inverse probability that those pairs would be observed (Bianchi & Percival 2017). This paper details an implementation of that method to correct the Dark Energy Spectroscopic Instrument (DESI) survey for incompleteness. To calculate the required probabilities, we need a set of alternate realizations of DESI where we vary the relative priority of otherwise identical targets. These realizations take the form of alternate Merged Target Ledgers (AMTL), the files that link DESI observations and targets. We present the method used to generate these alternate realizations and how they are tracked forward in time using the real observational record and hardware status, propagating the survey as though the alternate orderings had been adopted. We detail the first applications of this method to the DESI One-Percent Survey (SV3) and the DESI year 1 data. We include evaluations of the pipeline outputs, estimation of survey completeness from this and other methods, and validation of the method using mock galaxy catalogs.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1993

An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation.

Lindley, Craig A.↗
NASA NTRS2002

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↗
NASA NTRS2008

Update on the Ares V to Support Heavy Lift for U.S. Space Exploration Policy

When NASA's Ares V cargo launch vehicle begins flying late next decade, its capabilities will significantly exceed the 1960s-era Saturn V. It will send more crew and cargo to more places on the lunar surface than Apollo and provide ongoing support to a permanent lunar outpost that will open the Moon to greater exploration, science and adventure than ever before. Moreover, it will restore the United States heavy-lift capability, which can support human and robotic exploration for decades to come. Ares V remains in a pre-design analysis cycle stage pending a planned Authority to Proceed (ATP) in late 2010. Ares V benefits from the decision to draw from heritage hardware and its commonality with the Ares I crew launch vehicle, which completed its preliminary design review (PDR) in September 2008. Most of the work on Ares V to date has been focused on refining the vehicle design through a variety of internal studies. This paper will provide background information on the Ares V evolution, emphasizing the vehicle configuration as it exists today.

Sumrall, John P.↗
DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗
NASA NTRS2022

Actuator and Motor Control End-to-End V&V on the Mars 2020 Rover

The Mars 2020 Perseverance rover is the most advanced robotic exploration system ever sent to another planet. To support the complex scientific and mobility needs of the mission, the rover utilizes 33 actuators, three multi-degree-of-freedom force-torque sensors, fifteen single or dual-speed resolvers, two solenoid valves, and twelve contact switches. The control for these actuators and sensors is achieved by several levels of flight software, coordinated between two computers with varying bandwidth control loops. Furthermore, the actuators and sensors were integrated into multiple larger robotic mechanisms that were delivered by different organizations at various points in the Integration and Test (I&T) timeline. All of this created a very complex Verification and Validation (V&V) scenario involving multiple subsystems and teams, several hardware and software testbeds with varying levels of fidelity, and significant systems engineering to ensure the overall I&T schedule could be maintained while ensuring system hardware safety.This paper details the integrated V&V effort across multiple teams and venues to provide full coverage of all necessary functionality, performance, and fault protection. First, it provides an overview of how the V&V campaign was subdivided among teams and venues and provides descriptions of the various hardware configurations used to support the testing. The Mars 2020 implementation of the plan incorporates many of the lessons learned from Mars Science Laboratory’s test campaign, and these value-added modifications are discussed here. Also included in this section is the system-level environmental testing approach used for mechanisms. Second, the paper describes the phased approach used by the teams to support new hardware and software deliveries to testbed and Systems I&T. In this approach the test campaign was built upon higher-level mechanism needs for performance, functionality, and safety at specific times in the campaign. Finally, the paper discusses lessons learned from the V&V campaign that should be applied to future large-scale motion control testing efforts.

Borne, Davis↗
NASA NTRS1991

Robot graphic simulation testbed

The objective of this research was twofold. First, the basic capabilities of ROBOSIM (graphical simulation system) were improved and extended by taking advantage of advanced graphic workstation technology and artificial intelligence programming techniques. Second, the scope of the graphic simulation testbed was extended to include general problems of Space Station automation. Hardware support for 3-D graphics and high processing performance make high resolution solid modeling, collision detection, and simulation of structural dynamics computationally feasible. The Space Station is a complex system with many interacting subsystems. Design and testing of automation concepts demand modeling of the affected processes, their interactions, and that of the proposed control systems. The automation testbed was designed to facilitate studies in Space Station automation concepts.

Cook, George E.↗
NASA NTRS2013

Development of a Centrifugal Technique for the Microbial Bioburden Analysis of Freon (CFC-11)

NASA Procedural Requirement 8020.12C entitled "Planetary Protection Provisions for Robotic Extraterrestrial Missions" states that the source-specific encapsulated microbial density for encapsulated organisms (div(0)) in nonmetallic materials ranges from 1-30 spores/cubic cm. The standard laboratory procedure, NASA Standard Procedures for the Microbial Examination of Space Hardware, NHB 5340.1B, does not provide any direction into the methodologies to understand the bioburden within such a fluid as CFC-11 (Freon). This general specification value for the Freon would be applicable to the Freon charged within the Mars Science Laboratory fs (MSL fs) Heat Rejection System. Due to the large volume required to fill this system, MSL could not afford to conservatively allocate 55.8% of the total spore budget of the entire laboratory system (rover, descent stage, cruise stage, and aeroshell) of 5.00 X 10(exp 5) spores at launch. A novel filtration approach was developed to analyze the Freon employing a 50 kDa molecular weight cutoff (MCO) filter, followed by 0.22-micron pore-size filter to establish a calculated microbial bioburden.

Benardini, James N.↗
NASA NTRS2017

Electronics and Software Engineer for Robotics Project Intern

I was assigned to mentor high school students for the 2017 First Robotics Competition. Using a team based approach, I worked with the students to program the robot and applied my electrical background to build the robot from start to finish. I worked with students who had an interest in electrical engineering to teach them about voltage, current, pulse width modulation, solenoids, electromagnets, relays, DC motors, DC motor controllers, crimping and soldering electrical components, Java programming, and robotic simulation. For the simulation, we worked together to generate graphics files, write simulator description format code, operate Linux, and operate SOLIDWORKS. Upon completion of the FRC season, I transitioned over to providing full time support for the LCS hardware team. During this phase of my internship I helped my co-intern write test steps for two networking hardware DVTs , as well as run cables and update cable running lists.

Teijeiro, Antonio↗